CN113033508A - Point cloud-based fine routing inspection waypoint rapid generation method - Google Patents
Point cloud-based fine routing inspection waypoint rapid generation method Download PDFInfo
- Publication number
- CN113033508A CN113033508A CN202110552071.2A CN202110552071A CN113033508A CN 113033508 A CN113033508 A CN 113033508A CN 202110552071 A CN202110552071 A CN 202110552071A CN 113033508 A CN113033508 A CN 113033508A
- Authority
- CN
- China
- Prior art keywords
- tower
- template
- point
- inspected
- waypoint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The invention relates to the technical field of power inspection and discloses a method for quickly generating a fine inspection waypoint based on point cloud, which comprises the steps of taking one of the towers of the same type as a template tower to generate a template matching point set, a template target point set and a template waypoint set; marking a matching point set at the same position on another tower to be inspected of the same type; solving conversion parameters R and t between the template matching point and the tower matching point to be inspected through the rotation translation matrix Q = R × P + t; and solving a tower target point set to be inspected, a tower waypoint set to be inspected and parameters of a target point corresponding to each waypoint through the rotation translation matrix Q = R P + t. According to the method, the target point set and the waypoint set are automatically generated in batches for the same type of towers by establishing the template model for the same type of towers, huge workload caused by repeated labor is simplified, waypoint generation efficiency is improved, and time cost and labor cost are reduced.
Description
Technical Field
The invention relates to the technical field of power inspection and discloses a method for quickly generating a fine inspection waypoint based on point cloud.
Background
Unmanned aerial vehicle fine inspection is usually applied to transmission line inspection. The main inspection modes comprise photographing and video recording; the inspection content mainly comprises the steps of carrying out visible light photographing on the tower body and key parts of auxiliary facilities of the tower body, and submitting abnormity and related reports found in inspection.
Unmanned aerial vehicle meticulous patrol inspection relies on automatic airline, and usually every airline contains hundreds of grades of shaft towers, and every grade of shaft tower has tens of waypoints of shooing. There are currently two ways to generate routes: the first method is that an unmanned aerial vehicle is manually controlled to fly to each target point position, and coordinates (represented by a space rectangular coordinate system) of a photographing point, a course and a course angle and a pitch angle of a holder during photographing are recorded one by using an unmanned aerial vehicle remote controller and matched software; and secondly, selecting target point clouds in the three-dimensional point clouds by using software, setting parameters such as photographing distance, angle and the like, and generating photographing waypoints one by one.
Because the number of target points is huge, the two methods need to collect or generate the waypoints one by one, batch operation cannot be achieved, and the processing of the waypoint data on one line usually needs several days to be completed.
Therefore, it is necessary to provide a fast waypoint generation method to solve the problem of low processing efficiency of the traditional waypoint data.
Disclosure of Invention
In order to solve the problems, the invention provides a method for quickly generating a fine routing inspection waypoint based on point cloud, which comprises the following steps:
step one, taking one of towers of the same type as a template tower to generate a template target point set and a template waypoint set corresponding to the template target point set; marking three non-collinear points on the template tower to generate a template matching point set; storing the template target point set, the template waypoint set and the template matching point set as template data of the type of tower;
marking three non-collinear points on the tower to be inspected aiming at the same type of towers to be inspected to generate a set of tower matching points to be inspected, wherein the positions of the tower matching points to be inspected on the tower to be inspected are consistent with the positions of the template matching points on the template tower, and solving conversion parameters R and t between the template tower and the corresponding points of the tower to be inspected through a rotation and translation matrix Q = R + P + t; the point P is a point on the template tower, and the point Q is a point on the tower to be patrolled and examined which is the same type as the template tower; the position of the point Q on the tower to be patrolled and examined is the same as the position of the point P on the template tower; the point Q and the point P both adopt a space rectangular coordinate system to represent three-dimensional coordinates; r and t are constant matrixes;
step three, substituting R, t and the template target point set into a rotation translation matrix Q = R × P + t to obtain a tower target point set to be patrolled; r, t and the template waypoint set are substituted into the rotation translation matrix Q = R × P + t, and a tower waypoint set to be patrolled is solved;
step four, solving the distance, the X-direction difference, the Y-direction difference, the Z-direction difference, the tripod head course angle and the tripod head pitch angle of the target point corresponding to each navigation point by using the tower target point set to be inspected and the tower navigation point set to be inspected to generate corresponding navigation points;
and step five, repeating the step two to the step four for other towers to be inspected of the same type to generate corresponding waypoints.
The invention has the advantages that:
according to the method, the target point set and the waypoint set are automatically generated in batches for the same type of towers by establishing the template model for the same type of towers, huge workload caused by repeated labor is simplified, waypoint generation efficiency is improved, and time cost and labor cost are reduced.
In addition, the method is not limited to various limits required by the existing waypoint generation, and can quickly generate the waypoint required by fine routing inspection by randomly selecting the starting point position, so that the shortest routing inspection path is formed later, and the routing inspection operation is greatly facilitated.
The noun explains:
1. navigation points: the method comprises the following steps that at a suspension point when an unmanned aerial vehicle photographs a component on a tower, data related to a navigation point comprise a serial number and a tower number; three-dimensional coordinates represented by a space rectangular coordinate system where the navigation points are located; the unmanned aerial vehicle route, the heading of the holder, the pitch angle of the holder, the hovering time, the hovering action and other parameters.
2. Target point: a point position on a photographed component on a tower is usually the central position of the component, and target point data comprises parameters such as a serial number, a tower number, three-dimensional coordinates represented by a space rectangular coordinate system, a target point name, a target point type, a size number side and a channel.
3. Matching points: points marked on the tower are manually used to calculate the translation rotation matrix R, t parameters.
4. Rotational translation matrix Q = R × P + t:
the point P is positioned on the template tower, and the point Q is positioned on the tower to be patrolled and examined of the same type as the template tower; the position of the point Q on the tower to be patrolled and examined is the same as the position of the point P on the template tower;
the three-dimensional coordinate represented by the P point space rectangular coordinate system is P { Px, Py, Pz }; the three-dimensional coordinate represented by the Q point space rectangular coordinate system is Q { Qx, Qy, Qz }; for determining the template tower and the towers to be patrolled and examined of the same type, the corresponding relation exists as follows: q { Qx, Qy, Qz } = R × P { Px, Py, Pz } + t, where R and t are constants.
Further, when the template matching point set is generated in the step of generating, three non-collinear points marked on the template tower are mutually dispersed in position.
The three selected matching points are not collinear, and the relative positions of the three points are dispersed as much as possible. The larger the coordinate difference between the three points, the more favorable the accuracy of calculating the parameters of the translational rotation matrix R, t.
Further, marking matching points of the towers to be inspected on all the towers to be inspected of the same type as the template towers between the first step and the second step; the position of the pole tower matching point to be patrolled and examined on the pole tower to be patrolled and examined is the same as the position of the template matching point on the template pole tower.
The matching points are marked at the same positions of the corresponding positions of the towers, so that the unmanned aerial vehicle can quickly identify the type of the tower.
Further, in step one, all matching points within the set of matching points are located at the intersection of the tower tip and the tower pole.
The selection of the tower tip and the cross point is easier, and the accuracy of selecting the matching point is improved.
Further, in the step one, marking three non-collinear points on the template tower to generate a template matching point set specifically comprises positioning and marking template matching points according to the installation position of the accessory equipment installed on each tower; in the second step, the three non-collinear points on the tower to be inspected are marked, and the generation of the set of tower matching points to be inspected is specifically that the positioning and marking of the tower matching points to be inspected are carried out according to the installation position of the accessory equipment installed on each tower.
And subdivision area division is carried out on the auxiliary equipment on the tower body according to the installation position of the auxiliary equipment, so that fine division and routing inspection of the route are realized.
Further, the accessory equipment comprises at least one of a wire end hanging point, an insulator, a cross arm end hanging point, a ground wire, a wire clamp and a shockproof hammer.
Above article are discerned by unmanned aerial vehicle more easily.
And further, planning the shortest routing inspection path of the unmanned aerial vehicle by adjusting the connection sequence of the waypoints between the fourth step and the fifth step.
The corresponding waypoints can be calculated conveniently, meanwhile, the waypoint connection sequence can be adjusted timely, the shortest routing inspection path of the unmanned aerial vehicle can be planned, and the routing inspection path can be adjusted dynamically in real time conveniently.
And further, after the fifth step, planning the shortest routing inspection path of the unmanned aerial vehicle by adjusting the connection sequence of the waypoints.
The shortest route of patrolling and examining is favorable to practicing thrift unmanned aerial vehicle's the time of patrolling and examining, improves and patrols and examines efficiency.
Further, the unmanned aerial vehicle searches for the tower to be patrolled and examined closest to the current position in the air route through satellite cruising.
Such setting enables unmanned aerial vehicle to shoot the most target point in the shortest path, not only practices thrift unmanned aerial vehicle and patrols and examines the energy consumption, also shortens unmanned aerial vehicle and patrols and examines the time, makes and patrols and examines efficiency and reaches the highest.
Drawings
Fig. 1 is a schematic diagram of point location distribution of a template tower in embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of point location distribution of a tower to be inspected in embodiment 1 of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the method comprises a first template matching point PP1, a second template matching point PP2, a third template matching point PP3, a first template waypoint PH1, a second template waypoint PH2, a third template waypoint PH3, a first template target point PM1, a second template target point PM2, a third template target point PM3, a first tower matching point QP1 to be patrolled and examined, a second tower matching point QP2 to be patrolled and examined, a third tower matching point QP3 to be patrolled and examined, a first tower target point QM1 to be patrolled and examined, a second tower target point QM2 to be patrolled and examined, a third tower target point QM3 to be patrolled and examined, a first tower waypoint QH1 to be patrolled and examined, a second tower point QH2 to be patrolled and examined, and examined third tower point QH 3.
Example 1
Example 1 is substantially as shown in figure 1: randomly selecting one type of tower, randomly selecting one tower from the towers as a template tower in the towers of the same type, arranging a plurality of template target points on the template tower to form a template target point set, wherein each template target point corresponds to one template waypoint, so that the template waypoint set corresponding to the template target point set is formed; any three non-collinear points on the template tower are marked, the difference distance between the marked three points is large, and the mutual positions are dispersed. Positioning and marking template matching points according to the mounting positions of the auxiliary equipment mounted on each tower to generate a template matching point set; and storing the template target point set, the template waypoint set and the template matching point set as template data of the type of tower.
As shown in fig. 2, a certain type of tower to be inspected is randomly selected, three non-collinear points on one tower to be inspected are marked, the towers to be inspected of the same type are marked according to the three non-collinear points, a set of tower matching points to be inspected is generated, and the positions of the tower matching points to be inspected on the tower to be inspected are consistent with the positions of the template matching points on the template tower; the position of the pole tower matching point to be patrolled is compared with the pole tower to be patrolled to form a position relation, and the position relation is the same as the position relation of the template matching point relative to the template pole tower. For example, if a certain tower matching point to be inspected is located at a position 10 cm away from the right end of the tower to be inspected, a template matching point which is 10 cm away from the right end of the template tower is necessarily located on the template tower corresponding to the tower to be inspected. Calculating conversion parameters R and t between the template tower and the corresponding point of the tower to be inspected through the template matching point set and the corresponding tower matching point set to be inspected through a rotation translation matrix Q = R × P + t; the point P is a point on the template tower, and the point Q is a point on the tower to be patrolled and examined which is the same type as the template tower; the position of the point Q on the tower to be patrolled and examined is the same as the position of the point P on the template tower; the point Q and the point P both adopt a space rectangular coordinate system to represent three-dimensional coordinates; r and t are constant matrices.
R, t and the template target point set are substituted into a rotation translation matrix Q = R × P + t, and a tower target point set to be inspected is solved; r, t and the template waypoint set are substituted into the rotation translation matrix Q = R × P + t, and a tower waypoint set to be patrolled is solved;
and solving the distance, the X-direction difference, the Y-direction difference, the Z-direction difference, the tripod head course angle and the tripod head pitch angle of the target point corresponding to each navigation point by using the tower target point set to be inspected and the tower navigation point set to be inspected, and generating a corresponding navigation point for a certain tower.
And finally, repeating the contents for other towers to be inspected of the same type to generate a corresponding waypoint for a certain route.
Due to the fact that common pole towers are limited in types, such as cat-head towers, thousand-character towers, wine glass towers, door-shaped towers and the like, especially, the pole towers on the same air route are mostly of the same type. The towers with the same structure are distributed with the same number of waypoints and the relative positions of the waypoints and the tower where the waypoints are located are also the same. For towers of the same type, only any one tower is taken as a template tower, and a target point is selected to generate a target point set template; marking the waypoints corresponding to the target points on the template tower to form waypoint coordinate set templates, and connecting the waypoints to form the route template of the template tower. Other towers of the same type only need to apply the waypoint coordinate set template and the route template. However, the applying is not equal to the full-disk copying, and since the size, the installation direction, and the three-dimensional coordinates (in this embodiment, coordinates of longitude, latitude, and height) represented by the rectangular coordinate system of the space where each tower is located may be inconsistent, the coordinates of the waypoint on each tower, the coordinates of the target point, and the photographing parameters: the distance, the heading angle and the pitch angle of the holder are different from those of the template tower.
Specifically, a point cloud-based fine routing inspection waypoint rapid generation method is applied to primary power routing inspection in C city, and the method comprises the following implementation steps:
s1, marking one of the towers of the same type as a template tower, and generating a template target point set PM { PM1, PM2 and PM3} and a template waypoint set PH { PH1, PH2 and PH3} corresponding to the template target point set;
the first template target point PM1 coordinate is (522145.368, 3835382.710, 625.991), the second template target point PM2 coordinate is (522144.421, 3835384.502, 635.324), the third template target point PM3 coordinate is (522142.454, 3835390.295, 635.530), the first template waypoint PH1 coordinate is (522147.730, 3835375.363, 627.099), the second template waypoint PH2 coordinate is (522145.032, 3835383.115, 643.179), and the third template waypoint PH3 coordinate is (522142.103, 3835390.359, 643.522).
S2, selecting three points at the intersection of a tower tip and a tower pole as template matching points on a template tower, wherein the three points are respectively a first template matching point PP1, a second template matching point PP2 and a third template matching point PP3, and forming a template matching point set PP { PP1, PP2 and PP3} aiming at the template tower; the distances among PP1, PP2 and PP3 are large and are not on the same straight line; and forming different position relations for the three matching points selected on different types of towers. The data processor calculates and stores the proportional relation between the angle and the length formed between the matching points of the templates of the same type of towers, determines different tower types according to the proportional relation between the corresponding angle and the length in the routing inspection process, and sends a template switching instruction to the unmanned aerial vehicle in real time so as to switch corresponding sub routes for different types of towers.
Wherein PP1 is labeled (522141.455, 3835391.572, 625.002), PP2 is labeled (522144.986, 3835383.152, 625.031), and PP3 is labeled (522144.316, 3835384.420, 635.380).
And S3, storing the template target point set PM { PM1, PM2 and PM3}, the template waypoint set PH { PH1, PH2 and PH3}, and the template matching point set PP { PP1, PP2 and PP3} as template data of the type of tower.
S4, selecting matching point sets QP { QP1, QP2 and QP3} of the towers to be inspected, which correspond to the positions of the template matching point sets PP { PP1, PP2 and PP3} aiming at the towers to be inspected of the same type; the positions of QP1, QP2 and QP3 relative to the tower to be patrolled are the same as the positions of PP1, PP2 and PP3 relative to the template tower; namely, the position of the first pole tower matching point QP1 to be patrolled on the pole tower to be patrolled is the same as the position of the first template matching point PP1 on the template pole tower, the position of the second pole tower matching point QP2 to be patrolled on the pole tower to be patrolled is the same as the position of the second template matching point PP2 on the template pole tower, and the position of the third pole tower matching point QP3 to be patrolled on the pole tower to be patrolled is the same as the position of the third template matching point PP3 on the template pole tower.
Wherein QP1 coordinate is (522461.303, 3835516.780, 617.354), QP2 coordinate is (522464.854, 3835508.185, 617.612), QP3 coordinate is (522464.308, 3835509.825, 627.911).
S5, substituting the pole tower matching point set QP { QP1, QP2 and QP3} corresponding to the template matching point set PP { PP1, PP2 and PP3} into the rotation translation matrix Q = R × P + t, and solving conversion parameters R and t between the pole tower matching point to be patrolled and the pole tower corresponding point to be patrolled;
wherein:
t = [ -41941.750， 7062.500， 85752.797 ]
s6, substituting R, t and the template target point set PM { PM1, PM2 and PM3} into a rotation translation matrix { QM1, QM2 and QM3} = R { PM1, PM2 and PM3} + t, and solving a tower target point set QM { QM1, QM2 and QM3} to be inspected; r, t and the template waypoint set PH { PH1, PH2 and PH3} are substituted into a rotation translation matrix { QH1, QH2 and QH3} = R × PH { PH1, PH2 and PH3} + t, and a tower waypoint set QH { QH1, QH2 and QH3} to be inspected is obtained;
wherein
The coordinates of the first tower target point QM1 to be patrolled are (522465.125, 3835507.500 and 617.531),
the coordinates of the second tower target point QM2 to be inspected are (522464.375, 3835509.500 and 627.844),
the coordinates of the third tower target point QM3 to be inspected are (522462.500, 3835515.250 and 627.961),
the QH1 coordinate of the first tower navigation point to be inspected is (522467.500, 3835500.250, 619.758),
the QH2 coordinate of the second tower navigation point to be inspected is (522465.125, 3835508.250, 635.719),
and the third tower navigation point QH3 to be inspected has the coordinates of (522462.250, 3835515.500 and 635.961).
S7, solving the photographing parameters of the relative target point of each waypoint by utilizing the tower target point set QM { QM1, QM2 and QM3} to be inspected and the tower waypoint set QH { QH1, QH2 and QH3} to be inspected: distance, pan-tilt course angle and pan-tilt pitch angle.
The navigation point, the heading angle of the holder, the pitch angle of the holder and the shooting distance form the following matrix together:
in traditional electric power inspection, one relates to 100 shaft towers, 3000 waypoints and 3000 target points's the circuit of patrolling and examining, needs the power company to dispatch 3 staff, spends 20-30 workdays to drive to every scene, under every shaft tower, the position and the angle of shooing of manual control and adjustment unmanned aerial vehicle realize gathering one by one the waypoint data. Because the accuracy of data acquisition depends on human factors to a great extent, a large amount of time is often spent, the obtained data is not ideal, and sometimes shooting is missed. The cost of completing such a route plan requires at least 5 ten thousand dollars. If continuous thunderstorm weather is met, the inspection work is delayed backwards for the safety of workers. By using the method, the target point set and the waypoint set are automatically generated in batches for the same type of towers by establishing the template model for the same type of towers, and the airline planning can be completed only by 1 person in 1-2 working days. The cost is greatly reduced. By the method, huge workload caused by repeated labor is greatly reduced, the waypoint generation efficiency is improved, and time cost and labor cost are reduced.
Example 2
The difference from the embodiment 1 is that, in the embodiment, for different inspection requirements, templates of corresponding types can be generated for different types of towers, and inspection routes of corresponding types, including channel inspection, fine inspection routes of different levels, and the like, are correspondingly generated.
Specifically, the number of waypoints is usually small, and usually one waypoint is a certain distance away from the top of each tower, in this embodiment, the first waypoint away from the top of each tower is a distance away from the top of each tower by one tenth to one hundredth of the height of each tower, and a small number of additional waypoints may exist in a line channel between the towers, and the method is mainly used for task scenes such as channel photo collection, video collection, three-dimensional laser scanning and the like of the line channel.
Specifically, in the fine routing inspection of different levels, the route comprises the steps of photographing the point positions of each detailed part of a tower head, a tower footing, a whole tower, a channel and a tower, such as an insulator, a vibration damper, a hanging point, a ground point and the like.
Example 3
The difference from embodiment 1 is that in this embodiment, a flight path is quickly generated, a flight path file is exported, unmanned aerial vehicle operation software on an intelligent terminal, a mobile phone and a computer imports the flight path, and the starting point position of the unmanned aerial vehicle is determined according to the position information acquired by the intelligent terminal from the unmanned aerial vehicle. The unmanned aerial vehicle operation software extracts a waypoint set (usually, all waypoints of a tower form a unit set) closest to the waypoint set by searching waypoint coordinate information of a route file, and the extracted result is confirmed and selected by an operator and then transmitted to the unmanned aerial vehicle to execute a routing inspection task.
Example 4
The difference with embodiment 1 is that in this embodiment, the unmanned aerial vehicle has a data processor, and the data processor is connected with a database. Before the inspection is carried out, the geographical coordinate information of the tower to be inspected is input into a database in advance, the unmanned aerial vehicle acquires the geographical coordinate of the tower to be inspected through a Beidou satellite navigation system, the geographical coordinate of the unmanned aerial vehicle is matched with the geographical coordinate information of the tower to be inspected in the database, and the tower to be inspected with the minimum matching difference is searched to serve as the next inspection object. Therefore, the shortest routing inspection line and the highest routing inspection efficiency are ensured.
Example 5
The difference from the embodiment 1 is that for routes with a large number of towers and a large number of waypoints, the route division strategy is adopted and is limited by the cruising mileage of the unmanned aerial vehicle. One of the division strategies is to divide the tower into units, if the route comprises N tower stages, the route is divided into N sub routes, each sub route only comprises a waypoint of the same tower, when the unmanned aerial vehicle patrols and examines, the tower closest to the unmanned aerial vehicle is searched according to the positioning of the unmanned aerial vehicle, so that the route corresponding to the tower is obtained, an patrolling and examining task is executed, and when the next tower is reached, the process is analogized; and a second division strategy, obtaining a cruising range S according to the cruising time of the unmanned aerial vehicle multiplied by the polling flight speed, accumulating the distances L = L1+ L2+ L3+ … + Ln between the waypoints one by one according to the waypoint sequence until L is closest to S and L < S, dividing 1-n waypoints into sub-routes 1, and dividing the rest of sub-routes by analogy, searching the sub-route of the first waypoint closest to the unmanned aerial vehicle when the unmanned aerial vehicle executes the polling task, and executing the polling task.
Example 6
The difference with embodiment 1 lies in that, when selecting the template tower, the embodiment is within 30 meters of the square circle of the position where the unmanned aerial vehicle takes off, and the template tower is the type of tower with the largest number in the area range, and the template tower is the tower closest to the take-off position of the unmanned aerial vehicle in the type of tower, if more than two towers meet the condition at the same time, the tower with the highest top height position is selected, and if more than two towers meet the condition at the same time, one tower is randomly selected from all towers meeting the condition as the template tower. Through this embodiment, can confirm the template shaft tower fast to generate meticulous navigation point of patrolling and examining fast.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. A point cloud-based fine routing inspection waypoint rapid generation method is characterized by comprising the following steps:
step one, taking one of towers of the same type as a template tower to generate a template target point set and a template waypoint set corresponding to the template target point set; marking three non-collinear points on the template tower to generate a template matching point set; storing the template target point set, the template waypoint set and the template matching point set as template data of the type of tower;
marking three non-collinear points on the tower to be inspected aiming at the same type of towers to be inspected to generate a set of tower matching points to be inspected, wherein the positions of the tower matching points to be inspected on the tower to be inspected are consistent with the positions of the template matching points on the template tower, and solving conversion parameters R and t between the template tower and the corresponding points of the tower to be inspected through a rotation and translation matrix Q = R + P + t; the point P is a point on the template tower, and the point Q is a point on the tower to be patrolled and examined which is the same type as the template tower; the position of the point Q on the tower to be patrolled and examined is the same as the position of the point P on the template tower; the point Q and the point P both adopt a space rectangular coordinate system to represent three-dimensional coordinates; r and t are constant matrixes;
step three, substituting R, t and the template target point set into a rotation translation matrix Q = R × P + t to obtain a tower target point set to be patrolled; r, t and the template waypoint set are substituted into the rotation translation matrix Q = R × P + t, and a tower waypoint set to be patrolled is solved;
step four, solving the distance, the X-direction difference, the Y-direction difference, the Z-direction difference, the tripod head course angle and the tripod head pitch angle of the target point corresponding to each navigation point by using the tower target point set to be inspected and the tower navigation point set to be inspected to generate corresponding navigation points;
and step five, repeating the step two to the step four for other towers to be inspected of the same type to generate corresponding waypoints.
2. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 1, characterized in that: when the template matching point set is generated in the step, three marked non-collinear points on the template tower are mutually dispersed in position.
3. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 1, characterized in that: marking matching points of the towers to be inspected on all the towers to be inspected with the same type as the template tower between the first step and the second step; the position of the pole tower matching point to be patrolled and examined on the pole tower to be patrolled and examined is the same as the position of the template matching point on the template pole tower.
4. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 1, characterized in that: in step one, all matching points in the set of matching points are located at the intersection of the tower tip and the tower pole.
5. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 1, characterized in that: in the first step, the three non-collinear points on the template tower are marked to generate a template matching point set, specifically, the template matching points are positioned and marked according to the installation position of the accessory equipment installed on each tower; in the second step, the three non-collinear points on the tower to be inspected are marked, and the generation of the set of tower matching points to be inspected is specifically that the positioning and marking of the tower matching points to be inspected are carried out according to the installation position of the accessory equipment installed on each tower.
6. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 5, wherein the method comprises the following steps: the accessory equipment comprises at least one of a wire end hanging point, an insulator, a cross arm end hanging point, a ground wire, a wire clamp and a shockproof hammer.
7. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 1, characterized in that: and between the fourth step and the fifth step, planning the shortest routing inspection path of the unmanned aerial vehicle by adjusting the connection sequence of the waypoints.
8. The method for rapidly generating the fine routing inspection waypoint based on the point cloud according to claim 1, characterized in that: and after the fifth step, planning the shortest routing inspection path of the unmanned aerial vehicle by adjusting the connection sequence of the waypoints.
9. The fine routing inspection waypoint rapid generation method based on the point cloud according to any one of claims 7 or 8, characterized in that: the unmanned aerial vehicle searches for the tower to be patrolled and examined closest to the current position in the air route through satellite cruising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110552071.2A CN113033508B (en) | 2021-05-20 | 2021-05-20 | Point cloud-based fine routing inspection waypoint rapid generation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110552071.2A CN113033508B (en) | 2021-05-20 | 2021-05-20 | Point cloud-based fine routing inspection waypoint rapid generation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113033508A true CN113033508A (en) | 2021-06-25 |
| CN113033508B CN113033508B (en) | 2021-08-10 |
Family
ID=76455415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110552071.2A Active CN113033508B (en) | 2021-05-20 | 2021-05-20 | Point cloud-based fine routing inspection waypoint rapid generation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113033508B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113419559A (en) * | 2021-07-08 | 2021-09-21 | 国网江西省电力有限公司电力科学研究院 | Three-dimensional route planning and patrolling system and method based on transmission line GIM model |
| CN114384937A (en) * | 2022-01-20 | 2022-04-22 | 成都奥伦达科技有限公司 | Tower and automatic marking method of key points thereof |
| CN114661062A (en) * | 2022-02-22 | 2022-06-24 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle-based power transmission line inspection method, device and equipment |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561834A (en) * | 2009-06-03 | 2009-10-21 | 湖南大学 | Method for aligning point cloud and geometric digifax based on analyses using section lines |
| CN102044094A (en) * | 2009-10-10 | 2011-05-04 | 中国移动通信集团福建有限公司 | Line polling management system and method |
| CN103852077A (en) * | 2014-03-19 | 2014-06-11 | 北京航空航天大学 | Automatic anti-cheating judgment method for unmanned aerial vehicle positioning information in link failure process |
| CN104881841A (en) * | 2015-05-20 | 2015-09-02 | 南方电网科学研究院有限责任公司 | Aerial high voltage electric tower image splicing method based on edge characteristics and point characteristics |
| CA2942569A1 (en) * | 2014-03-31 | 2015-10-08 | Intelsat Corporation | Multichannel content distribution via satellite to broadcast-capable mobile networks |
| CN106652020A (en) * | 2016-12-05 | 2017-05-10 | 成都通甲优博科技有限责任公司 | Three-dimensional reconstruction method for pole on the basis of model |
| CN109002055A (en) * | 2018-06-11 | 2018-12-14 | 广州中科云图智能科技有限公司 | A kind of High Precision Automatic method for inspecting and system based on unmanned plane |
| CN109358644A (en) * | 2018-11-13 | 2019-02-19 | 广州优飞信息科技有限公司 | Unmanned plane makes an inspection tour the generation method and device in course line automatically |
| CN109872352A (en) * | 2018-12-29 | 2019-06-11 | 中国科学院遥感与数字地球研究所 | Power-line patrolling LiDAR data autoegistration method based on shaft tower characteristic point |
| CN110133440A (en) * | 2019-05-27 | 2019-08-16 | 国电南瑞科技股份有限公司 | Electric power unmanned plane and method for inspecting based on Tower Model matching and vision guided navigation |
| CN110555909A (en) * | 2019-08-29 | 2019-12-10 | 中国南方电网有限责任公司 | Power transmission tower model construction method and device, computer equipment and storage medium |
| CN110580717A (en) * | 2019-08-15 | 2019-12-17 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle autonomous inspection route generation method for electric power tower |
| CN110619678A (en) * | 2019-08-15 | 2019-12-27 | 成都优艾维智能科技有限责任公司 | Electric power tower inspection track generation method based on point cloud matching |
| CN110727288A (en) * | 2019-11-13 | 2020-01-24 | 昆明能讯科技有限责任公司 | Point cloud-based accurate three-dimensional route planning method for power inspection |
| KR102110339B1 (en) * | 2020-01-31 | 2020-05-14 | (주)선운이앤지 | Three-dimensional line spacing review method using overhead transmission line |
| CN111490489A (en) * | 2020-04-16 | 2020-08-04 | 北京天下宏图空间信息技术有限公司 | Unmanned aerial vehicle trajectory planning method and device for power transmission line inspection |
| CN111609855A (en) * | 2019-12-27 | 2020-09-01 | 北京数字绿土科技有限公司 | Method for generating refined routing inspection routes in batch based on tower shapes |
| CN111913495A (en) * | 2020-08-17 | 2020-11-10 | 国网浙江省电力有限公司 | Unmanned aerial vehicle autonomous inspection method and device for power transmission line |
| CN112033414A (en) * | 2020-09-11 | 2020-12-04 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle inspection route generation method, device, equipment and medium |
-
2021
- 2021-05-20 CN CN202110552071.2A patent/CN113033508B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561834A (en) * | 2009-06-03 | 2009-10-21 | 湖南大学 | Method for aligning point cloud and geometric digifax based on analyses using section lines |
| CN102044094A (en) * | 2009-10-10 | 2011-05-04 | 中国移动通信集团福建有限公司 | Line polling management system and method |
| CN103852077A (en) * | 2014-03-19 | 2014-06-11 | 北京航空航天大学 | Automatic anti-cheating judgment method for unmanned aerial vehicle positioning information in link failure process |
| CA2942569A1 (en) * | 2014-03-31 | 2015-10-08 | Intelsat Corporation | Multichannel content distribution via satellite to broadcast-capable mobile networks |
| CN104881841A (en) * | 2015-05-20 | 2015-09-02 | 南方电网科学研究院有限责任公司 | Aerial high voltage electric tower image splicing method based on edge characteristics and point characteristics |
| CN106652020A (en) * | 2016-12-05 | 2017-05-10 | 成都通甲优博科技有限责任公司 | Three-dimensional reconstruction method for pole on the basis of model |
| CN109002055A (en) * | 2018-06-11 | 2018-12-14 | 广州中科云图智能科技有限公司 | A kind of High Precision Automatic method for inspecting and system based on unmanned plane |
| CN109358644A (en) * | 2018-11-13 | 2019-02-19 | 广州优飞信息科技有限公司 | Unmanned plane makes an inspection tour the generation method and device in course line automatically |
| CN109872352A (en) * | 2018-12-29 | 2019-06-11 | 中国科学院遥感与数字地球研究所 | Power-line patrolling LiDAR data autoegistration method based on shaft tower characteristic point |
| CN110133440A (en) * | 2019-05-27 | 2019-08-16 | 国电南瑞科技股份有限公司 | Electric power unmanned plane and method for inspecting based on Tower Model matching and vision guided navigation |
| CN110580717A (en) * | 2019-08-15 | 2019-12-17 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle autonomous inspection route generation method for electric power tower |
| CN110619678A (en) * | 2019-08-15 | 2019-12-27 | 成都优艾维智能科技有限责任公司 | Electric power tower inspection track generation method based on point cloud matching |
| CN110555909A (en) * | 2019-08-29 | 2019-12-10 | 中国南方电网有限责任公司 | Power transmission tower model construction method and device, computer equipment and storage medium |
| CN110727288A (en) * | 2019-11-13 | 2020-01-24 | 昆明能讯科技有限责任公司 | Point cloud-based accurate three-dimensional route planning method for power inspection |
| CN111609855A (en) * | 2019-12-27 | 2020-09-01 | 北京数字绿土科技有限公司 | Method for generating refined routing inspection routes in batch based on tower shapes |
| KR102110339B1 (en) * | 2020-01-31 | 2020-05-14 | (주)선운이앤지 | Three-dimensional line spacing review method using overhead transmission line |
| CN111490489A (en) * | 2020-04-16 | 2020-08-04 | 北京天下宏图空间信息技术有限公司 | Unmanned aerial vehicle trajectory planning method and device for power transmission line inspection |
| CN111913495A (en) * | 2020-08-17 | 2020-11-10 | 国网浙江省电力有限公司 | Unmanned aerial vehicle autonomous inspection method and device for power transmission line |
| CN112033414A (en) * | 2020-09-11 | 2020-12-04 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle inspection route generation method, device, equipment and medium |
Non-Patent Citations (3)
| Title |
|---|
| JIANG BIAN 等: "A monocular vision–based perception approach for unmanned aerial vehicle close proximity transmission tower inspection", 《INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS》 * |
| 唐泽亮: "无人机电力巡线系统的设计与仿真", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
| 高旭东: "无人机线路巡检安全距离的分析与测量", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113419559A (en) * | 2021-07-08 | 2021-09-21 | 国网江西省电力有限公司电力科学研究院 | Three-dimensional route planning and patrolling system and method based on transmission line GIM model |
| CN114384937A (en) * | 2022-01-20 | 2022-04-22 | 成都奥伦达科技有限公司 | Tower and automatic marking method of key points thereof |
| CN114661062A (en) * | 2022-02-22 | 2022-06-24 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle-based power transmission line inspection method, device and equipment |
| CN114661062B (en) * | 2022-02-22 | 2023-11-28 | 广州中科云图智能科技有限公司 | Inspection method, device and equipment for power transmission line based on unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113033508B (en) | 2021-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113033508B (en) | Point cloud-based fine routing inspection waypoint rapid generation method | |
| CN110727288A (en) | Point cloud-based accurate three-dimensional route planning method for power inspection | |
| Li | The UAV intelligent inspection of transmission lines | |
| CN111259097B (en) | Fine waypoint checking method applied to photovoltaic industry unmanned aerial vehicle inspection | |
| CN114035614B (en) | Unmanned aerial vehicle autonomous inspection method and system based on prior information and storage medium | |
| CN111006646B (en) | Method for monitoring construction progress based on unmanned aerial vehicle oblique photography measurement technology | |
| CN107168370A (en) | The fine intelligent inspection system of transmission line of electricity multi-rotor unmanned aerial vehicle and its method | |
| CN113340277B (en) | High-precision positioning method based on unmanned aerial vehicle oblique photography | |
| CN113963276A (en) | Unmanned aerial vehicle autonomous inspection method and system for power transmission line | |
| CN112326686A (en) | Unmanned aerial vehicle intelligent cruise pavement disease detection method, unmanned aerial vehicle and detection system | |
| CN113534846A (en) | Unmanned aerial vehicle autonomous intelligent inspection system for power transmission line | |
| CN115240093A (en) | Automatic power transmission channel inspection method based on visible light and laser radar point cloud fusion | |
| CN113253290A (en) | Unmanned aerial vehicle inspection route template matching method | |
| CN113031640B (en) | Method and device for realizing unmanned aerial vehicle inspection of tower, terminal equipment and medium | |
| CN115167504A (en) | Unmanned aerial vehicle-based power line inspection method and system | |
| CN117557931A (en) | Planning method for meter optimal inspection point based on three-dimensional scene | |
| CN116774736B (en) | Unmanned aerial vehicle autonomous inspection system and method free of preset route | |
| CN116594426A (en) | Substation unmanned aerial vehicle routing planning method and system | |
| Wang et al. | Recognition and locating of damaged Poles in distribution network through images shot by unmanned aerial vehicle (UA V) | |
| CN113256839B (en) | AI-based intelligent inspection system for power distribution network | |
| CN115268488A (en) | Automatic generation method and system for take-off and landing points of power inspection unmanned aerial vehicle | |
| CN113066123A (en) | Tower data processing method and device based on functional semantic coordinate system | |
| CN112987781A (en) | Unmanned aerial vehicle route generation method and device | |
| CN115268499A (en) | Unmanned aerial vehicle overhead transmission line inspection method and system | |
| CN112306093A (en) | Extra-high voltage power grid unmanned aerial vehicle autonomous automatic channel inspection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |