CN113095168B - Water flow prediction method and system for assisting unmanned aerial vehicle in cleaning insulator - Google Patents
Water flow prediction method and system for assisting unmanned aerial vehicle in cleaning insulator Download PDFInfo
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- CN113095168B CN113095168B CN202110321437.5A CN202110321437A CN113095168B CN 113095168 B CN113095168 B CN 113095168B CN 202110321437 A CN202110321437 A CN 202110321437A CN 113095168 B CN113095168 B CN 113095168B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a water flow prediction method and a water flow prediction system for assisting an unmanned aerial vehicle in cleaning an insulator, which belong to the technical field of unmanned aerial vehicle cleaning and comprise the following steps: acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle; and predicting the water flow curve track by using the visual information. The water flow curve track is predicted and displayed in real time according to the spray rod angle in the visual information obtained by the cloud deck, the unmanned aerial vehicle can be suspended at a proper position by the aid of a flying hand, further insulator cleaning operation is carried out, and compared with manual cleaning or helicopter manned cleaning, the unmanned aerial vehicle cleaning system has the advantages of being flexible in operation, high in safety, low in cost and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cleaning, in particular to a water flow prediction method and a water flow prediction system for assisting an unmanned aerial vehicle in cleaning an insulator.
Background
The power industry is the fundamental industry of national economy, and the transmission line is an indispensable part of the power system. With the development of social economy and the acceleration of industrialization process, people have higher and higher requirements on the safe operation of the transformer substation of the power system. Frequent pollution flashover and large-area power failure accidents of power transmission equipment cause huge loss to power enterprises and bring great harm to national economy.
Insulators are special insulating controls that increase creepage distance, and are often used in power transmission lines to secure electrical conductors, ensuring adequate distance and insulation between the conductors and the ground. As one of the most important components of a power supply system, the insulator is in an exposed environment for a long time, and dust particles in the atmosphere are easily attached to the insulator in the working process to form a dirty layer. When the insulator meets special weather such as fog, rain and the like, electrolyte contained in the dirt is dissolved in water, so that the surface conductance of the insulator is increased, the partial discharge phenomenon is caused, and the dirt flashover is easy to occur. The pollution flashover of the insulator is one of the core factors causing the tripping fault of a contact network power supply system, so that the guarantee of clean surface of the insulator is a key link for guaranteeing the stable operation of a power system.
The anti-pollution flashover work of the electrified system in China has been carried out for nearly 40 years, and the most common methods in the process of insulating and maintaining the electric power facilities have the following three methods:
(1) the creepage distance is adjusted, and the creepage distance of the external insulation of the power equipment is increased through structural adjustment or other modes, so that the equipment has higher pollution resistance. The method has the advantages of well meeting the requirement of improving the circuit insulation, but has the defect of relatively high cost.
(2) The surface of the power equipment is coated with stain-resistant materials such as silicone oil, silicone grease or organic coating RTV and the like so as to increase the adhesion difficulty of stains and reduce the pollution of the equipment. The method has the advantages that the antifouling coating can prevent the surface of the insulator from forming a water film, effectively avoids pollution flashover, but has the defect that the coating is difficult to clean.
(3) The dirt is removed by a cleaning mode, including power-off cleaning and electrified cleaning. The charged cleaning includes mainly charged water rinsing, charged air blowing, charged mechanical dry cleaning, and charged chemical cleaning developed in recent years. The method is simple and easy to operate, needs power failure operation, and has huge workload and high danger coefficient. The unmanned aerial vehicle carrying water tank used by the invention has the advantages of strong capability of handling sudden water flushing, no requirement of power failure operation, small influence on production and operation, lower cost and the like.
Disclosure of Invention
The invention aims to overcome the defects in the background technology so as to assist the unmanned aerial vehicle in cleaning the insulator.
In order to achieve the above object, in one aspect, a water flow prediction method for assisting an unmanned aerial vehicle in cleaning an insulator is adopted, and the method includes the following steps:
acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle;
and predicting the water flow curve track by using the visual information.
Further, unmanned aerial vehicle is last to be loaded with camera and water tank, visual information includes unmanned aerial vehicle's pitch angle and yaw angle, the pitch angle and the yaw angle of cloud platform, the length of the spray rod of water tank and the position and the contained angle of spray rod for the camera coordinate system, the nozzle on the spray rod for the initial velocity of the rivers of camera coordinate system and water tank water spray, the calibration parameter and the size of camera plane and the screen size of display screen.
Further, the predicting the water flow curve trajectory by using the visual information includes:
calculating an equation of a water flow curve relative to an inertia coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank;
based on an equation of a water flow curve relative to an inertial coordinate system, calculating a curve equation of the water flow curve in a camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the holder;
calculating a curve equation of the water flow curve projected onto a camera plane according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system;
and according to the screen size of the display screen and the size of the camera plane, calculating a curve equation on the camera plane and converting the curve equation into a water flow curve track on the display screen.
Further, the equation for calculating the water flow curve relative to the inertial coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to the camera coordinate system, the included angle of the spray nozzle on the spray rod relative to the camera coordinate system, and the initial speed of the water flow sprayed by the water tank is as follows:
y curve ＝y nozzle ＝y init
wherein alpha is stick Is the angle of the boom relative to an inertial coordinate system, α nozzle Is the angle, x, of the nozzle on the spray bar relative to an inertial coordinate system nozzle ，y nozzle And z nozzle Respectively, the position coordinates, x, of the spray nozzles of the spray bar relative to an inertial coordinate system init ，y init And z init Respectively the position coordinates of the spray bar relative to the inertial frame,/ stick Is the length of the spray rod, v is the initial velocity of the water flow, x curve Is an independent variable, y curve And z curve Respectively, the coordinates of the water flow curve relative to an inertial coordinate system, and g is the gravity acceleration.
Further, the equation based on the water flow curve relative to the inertial coordinate system calculates a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the pan-tilt, and includes:
calculating a rotation matrix R of the camera reference system relative to the inertial coordinate system according to the yaw angle and the pitch angle of the unmanned aerial vehicle and the yaw angle and the pitch angle of the holder;
according to the rotation matrix R and the coordinates of the water flow curve relative to the inertial coordinate system, calculating a curve equation of the water flow curve in the camera coordinate system as follows:
wherein x is image ，y image And z image Three orthogonal coordinates, x, of the water flow curve in a camera coordinate system, respectively curve ，y curve And z curve Respectively the coordinates of the water flow curve relative to an inertial coordinate system.
Further, the calculating a curve equation of the water flow curve projected onto the camera plane according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system includes:
calculating coordinates of the water flow curve after distortion correction projected on a camera plane according to the distortion parameters and a curve equation of the water flow curve in a camera coordinate system;
and calculating a curve equation of the water flow curve projected to the camera plane according to the coordinates of the water flow curve projected to the camera plane after the distortion correction.
Further, after the predicting the water flow curve trajectory by using the visual information, the method further comprises:
and the unmanned aerial vehicle is assisted to carry out insulator cleaning operation by utilizing the water flow curve track.
On the other hand, adopt a rivers prediction system that is used for assisting unmanned aerial vehicle to carry out insulator washing, the last cloud platform that carries of unmanned aerial vehicle, camera and water tank, unmanned aerial vehicle include visual information acquisition module and rivers curve track prediction module, wherein:
the information acquisition module is used for acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle;
the water flow curve track prediction module is used for predicting the water flow curve track by using the visual information.
Further, unmanned aerial vehicle is last to be loaded with camera and water tank, visual information includes unmanned aerial vehicle's pitch angle and yaw angle, the pitch angle and the yaw angle of cloud platform, the length of the spray rod of water tank and the position and the contained angle of spray rod for the camera coordinate system, the nozzle on the spray rod for the initial velocity of the rivers of camera coordinate system and water tank water spray, the calibration parameter and the size of camera plane and the screen size of display screen.
Further, the water flow curve trajectory prediction module comprises a first calculation unit, a second calculation unit, a third calculation unit and a fourth calculation unit, wherein:
the first calculation unit is used for calculating an equation of a water flow curve relative to an inertial coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank;
the second calculation unit is used for calculating a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the holder based on an equation of the water flow curve relative to an inertial coordinate system;
the third calculation unit is used for calculating a curve equation of the water flow curve projected onto the camera plane according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system;
and the fourth calculation unit is used for calculating a curve equation on the camera plane to be transformed into a water flow curve track on the display screen according to the screen size of the display screen and the size of the camera plane.
Compared with the prior art, the invention has the following technical effects: the invention uses the unmanned aerial vehicle carrying water tank to carry out charged water cleaning on the insulator, and has the advantages of flexible operation, high safety, lower cost and the like compared with manual cleaning or helicopter carrying cleaning. When unmanned aerial vehicle was in the air, the visual information in unmanned aerial vehicle the place ahead is obtained to the cloud platform of carrying on from unmanned aerial vehicle, carries out the prediction of rivers curve orbit and shows in real time according to the spray lance angle in the visual information, and supplementary flyer that can be fine hovers unmanned aerial vehicle in suitable position and further carries out further insulator cleaning operation.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
fig. 1 is a flow chart of a water flow prediction method for assisting an unmanned aerial vehicle in insulator cleaning;
fig. 2 is a schematic diagram of the relative position reference of the spray bar, water flow curve and inertial frame.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In the embodiments of the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, top, and bottom" is generally used with respect to the orientation shown in the drawings or the positional relationship of the components with respect to each other in the vertical, or gravitational direction.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
As shown in fig. 1, the present embodiment discloses a water flow prediction method for assisting an unmanned aerial vehicle in cleaning an insulator, including the following steps S1 to S2:
s1, acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle;
and S2, predicting the water flow curve track by using the visual information.
It should be noted that, when the unmanned aerial vehicle actually operates, it is difficult for the flying hand to determine the accurate position of the unmanned aerial vehicle, which enables the water flow sprayed from the water gun to clean the insulator. Because unmanned aerial vehicle is when aerial, the visual information in unmanned aerial vehicle the place ahead is obtained to the cloud platform that the flyer can only carry on from unmanned aerial vehicle, this embodiment need carry out the prediction of rivers curve orbit and show in real time through the spray lance angle in the visual information, supplementary flyer that can be fine hovers unmanned aerial vehicle in suitable position and further advance further insulator cleaning operation, compare manual cleaning or the washing of helicopter manned and have advantages such as flexible operation, the security is high, the cost is lower.
As a further preferable technical solution, the unmanned aerial vehicle is mounted with a camera and a water tank, and the visual information includes a pitch angle and a yaw angle of the unmanned aerial vehicle, a pitch angle and a yaw angle of the pan head, a length of a spray bar of the water tank, a position and an included angle of the spray bar relative to a camera coordinate system, an included angle of a nozzle on the spray bar relative to the camera coordinate system, an initial speed of water flow sprayed by the water tank, a calibration parameter of the camera, a size of a camera plane, and a screen size of the display screen.
As a more preferable embodiment, in step S1: the method comprises the following steps of acquiring visual information in front of the unmanned aerial vehicle by using a cloud deck carried on the unmanned aerial vehicle, and specifically comprising the following steps of S11-S13:
s11, acquiring the length of the spray rod of the water tank, the position and the included angle of the spray rod relative to the camera coordinate system, the included angle of the spray nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank:
in this embodiment, the origin of the inertial coordinate system is the origin of the camera, the x-axis of the inertial coordinate system is perpendicular to the ground, the y-axis is along the direction of the unmanned plane body, and the z-axis is perpendicular to the plane of the unmanned plane body. The above parameters are all referenced to an inertial frame.
Under the circumstances that unmanned aerial vehicle rotates and the attached cloud platform of unmanned aerial vehicle rotates, the inertial coordinate system remains unchanged. Length l of spray rod stick As the starting point of the spray lanceAbsolute distance to endpoint. Position of the spray bar (x) init ，y init ，z init ) The coordinates of the starting point of the spray rod in an inertial coordinate system are shown. Angle alpha of the spray bar stick Is the angle formed by the spray bar and the y-z plane in the inertial coordinate system, the angle varies with the spray bar remote controller, and the value can be obtained from the spray bar remote controller. Angle alpha of the nozzle nozzle The angle formed by the spray head and the spray rod is fixed, and the value can be obtained by the standard parameters of the spray head. The initial velocity v of the water flow is the velocity of the water flow just after the water flow goes out of the spray head, and the numerical value can be obtained in real time by a speedometer.
In this example, the position (x) of the nozzle of the spray bar relative to the inertial coordinate system nozzle ，y nozzle ，z nozzle ) The position, length and angle of the starting point of the spray rod to the y-z plane under the inertial coordinate system can be calculated, and the following formula is shown:
x nozzle ＝x init +l stick cos(α stick )
z nozzle ＝z init +l stick sin(α stick )
wherein x is init ，y init And z init Respectively the position coordinates of the spray bar relative to the inertial frame,/ stick Length of a nozzle, alpha, of a water tank of the unmanned aerial vehicle stick Is the included angle of the spray rod of the water tank of the unmanned aerial vehicle relative to an inertial coordinate system.
S12, acquiring the pitch angle and yaw angle of the unmanned aerial vehicle and the pitch angle and yaw angle of the tripod head:
in this embodiment, before the unmanned aerial vehicle takes off, the origin of the camera coordinate system and the inertial coordinate system is consistent with the direction of the coordinate axis. The direction of the coordinate axis is represented by a rotation matrix, and the rotation matrix is a function of the yaw angle and the pitch angle of the unmanned aerial vehicle and the attached holder. The yaw angle of the unmanned aerial vehicle is an included angle between a positive direction vector of the unmanned aerial vehicle and an x-z plane in an inertial coordinate system, and numerical values can be obtained by real-time state feedback of the unmanned aerial vehicle. The pitch angle of the unmanned aerial vehicle is an included angle between a positive direction vector of the unmanned aerial vehicle and a y-z plane in an inertial coordinate system, and the numerical value can be obtained by real-time state feedback of the unmanned aerial vehicle. The yaw angle of the cloud deck attached to the unmanned aerial vehicle is the included angle between the positive direction vector of the unmanned aerial vehicle and the x-z plane in the inertial coordinate system, and numerical values can be obtained by the real-time state feedback of the cloud deck attached to the unmanned aerial vehicle. The pitch angle of the attached tripod head of the unmanned aerial vehicle is the included angle between the positive direction vector of the unmanned aerial vehicle and the y-z plane in the inertial coordinate system, and the numerical value can be obtained by the real-time state feedback of the attached tripod head of the unmanned aerial vehicle.
S13, acquiring calibration parameters of the camera, the size of a camera plane and the screen size of the display screen:
in this example, to obtain the camera calibration parameters, the camera needs to be calibrated using a camera calibration program in OpenCV or MATLAB. Since the used camera will generate tangential distortion, 5 distortion parameters k need to be obtained 1 ,k 2 ,k 3 ,p 1 ,p 2 . The internal parameter of the camera is f x ,f y ,u d ,v d Wherein f is x ,f y Focal lengths of the camera in x and y directions, u, respectively d ,v d The number of pixels in the x and y directions of the phase difference between the center pixel coordinate of the image and the origin pixel coordinate of the image, respectively. Plane size of camera
And
namely, the pixel numbers of the x direction and the y direction of the projection plane of the camera are also obtained by the calibration of the camera. Android screen size
And
that is, the number of pixels in the x and y directions of the android screen can be obtained through an android screen size program interface.
As a more preferable aspect, in step S2: predicting the water flow curve track by using the visual information, wherein the method comprises the following subdivision steps S21 to S24:
s21, calculating an equation of a water flow curve relative to an inertial coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank;
s22, based on the equation of the water flow curve relative to the inertial coordinate system, calculating a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the holder;
s23, calculating a curve equation of the water flow curve projected onto the plane of the camera according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system;
and S24, according to the screen size of the display screen and the size of the camera plane, calculating a curve equation on the camera plane and converting the curve equation into a water flow curve track on the display screen.
As a more preferable embodiment, in step S21: according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank, calculating the equation of a water flow curve relative to an inertia coordinate system as follows:
y curve ＝y nozzle ＝y init
wherein alpha is stick Is the angle of the spray bar relative to the inertial frame, alpha nozzle Is the angle, x, of the nozzle on the spray bar relative to an inertial coordinate system nozzle ，y nozzle And z nozzle Respectively, the position coordinates, x, of the spray nozzles of the spray bar relative to an inertial coordinate system init ，y init And z init Respectively is opposite to the spray rodPosition coordinates in the inertial frame,/ stick Is the length of the spray rod, v is the initial velocity of the water flow, x curve Is an independent variable, y curve And z curve Respectively, the coordinates of the water flow curve relative to an inertial coordinate system, and g is the gravity acceleration.
It should be noted that, in this embodiment, a reasonable assumption is made about the water flow curve according to the physical law, that is, in the case of a sufficiently high speed, the water flow does not atomize and takes the standard quadratic curve as a path under the influence of gravity. The relative positions of the spray bar, the water flow curve and the inertial frame can be referred to in figure 2.
As a more preferable embodiment, in step S22: based on the equation of the water flow curve relative to the inertial coordinate system, calculating a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the pan-tilt, wherein the curve equation comprises the following subdivision steps S221 to S222:
s221, calculating a rotation matrix R of the camera reference system relative to the inertial coordinate system according to the yaw angle and the pitch angle of the unmanned aerial vehicle and the yaw angle and the pitch angle of the holder;
s222, calculating a curve equation of the water flow curve in a camera coordinate system according to the rotation matrix R and the coordinates of the water flow curve relative to an inertial coordinate system, wherein the curve equation comprises the following steps:
wherein x is image ，y image And z image Three orthogonal coordinates, x, of the water flow curve in a camera coordinate system, respectively curvr ，y curve And z curve Respectively the coordinates of the water flow curve relative to an inertial coordinate system.
In this embodiment, the relative relationship between the camera coordinate system and the inertial coordinate system is represented by a classical rotation matrix, and the rotation matrix is represented by the euler angle, i.e., the yaw angle ψ UAV ，ψ gimbal To the pitch angle theta UAV ，θ gimbal The real-time state of the unmanned aerial vehicle can be fed back continuously during flying by calculation, the states comprise the yaw angle and the pitch angle of the unmanned aerial vehicle and an attached holder, and a curve equation of a water flow curve under a camera coordinate system can change along with the change of the variables.
As a further preferred solution, the rotation matrix obtained in this example may be derived from the yaw angle ψ of the drone UAV To the pitch angle theta UAV Yaw angle psi with attached pan tilt head of unmanned aerial vehicle gimbal To the pitch angle theta gimbal And (4) obtaining through calculation, wherein the following formula is shown:
ψ＝ψ UAV -ψ gimbal
θ＝θ UAV -θ gimbal
where ψ and θ are the yaw and pitch angles, respectively, of the camera reference frame relative to an inertial coordinate system, R ψ And R θ And the rotation matrixes are respectively corresponding to the yaw angle and the pitch angle of the camera reference system relative to the inertial coordinate system.
As a more preferable aspect, in step S23: calculating a curve equation of the water flow curve projected onto a camera plane according to the calibration parameters of the camera and a curve equation of the water flow curve in a camera coordinate system, and specifically comprising the following subdivision steps S231 to S232:
s231, calculating coordinates of the water flow curve projected on a camera plane after distortion correction according to the distortion parameters and a curve equation of the water flow curve in a camera coordinate system, specifically:
u dist ＝u(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+2p 1 uv+p 2 (r 2 +2u 2 )
v dist ＝v(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+2p 2 uv+p 1 (r 2 +2v 2 )
wherein u and v are two coordinates of the water flow curve projected on the plane of the camera before distortion correction, r is the intermediate variable, i.e. the module length of the coordinates, and u dist ,v dist The two coordinates of the water flow curve projected on the plane of the camera after distortion correction are respectively carried out.
S232, according to the coordinates of the water flow curve projected on the camera plane after the distortion correction, calculating a curve equation of the water flow curve projected on the camera plane, specifically:
u plane ＝f x u dist +u d
v plane ＝f y v dist +v d
wherein u is plane And v plane Which are respectively two coordinates of the water flow curve projected on the plane of the camera.
As a more preferable aspect, in step S24: calculating a curve equation on the camera plane to be transformed into a water flow curve track on the display screen according to the screen size of the display screen and the size of the camera plane, specifically calculating a curve equation of a water flow prediction curve to be solved, which is the transformation from the curve equation on the camera plane to the screen, according to the following formula:
wherein the content of the first and second substances,
and
is the screen size of the android device,
and
is the size of the camera plane, p x And p y The coordinates of the water flow prediction curves on the screen are respectively, so that the water flow prediction curves required to be obtained can be drawn on the screen according to the coordinates.
As a more preferable embodiment, in step S2: after the water flow curve trajectory is predicted by using the visual information, the method further comprises the step S3:
and S3, assisting an unmanned aerial vehicle in cleaning the insulator by using the water flow curve track.
It should be noted that, through the technical scheme, the invention provides a water flow prediction curve for assisting an unmanned aerial vehicle in cleaning an insulator. Through the position, the angle that combine the spray lance, relative relation and camera reference, distortion parameter and the tall and erect end screen size of ann between camera coordinate system and the inertial coordinate system for in unmanned aerial vehicle actual flight, can follow tall and erect end screen observation rivers prediction curve.
The embodiment discloses a rivers prediction system for assisting unmanned aerial vehicle carries out insulator cleaning, wherein the unmanned aerial vehicle is last to carry on cloud platform, camera and water tank, and unmanned aerial vehicle includes visual information acquisition module and rivers curve track prediction module, wherein:
the information acquisition module is used for acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle;
the water flow curve track prediction module is used for predicting the water flow curve track by using the visual information.
As a further preferable technical solution, the unmanned aerial vehicle is mounted with a camera and a water tank, and the visual information includes a pitch angle and a yaw angle of the unmanned aerial vehicle, a pitch angle and a yaw angle of the pan head, a length of a spray bar of the water tank, a position and an included angle of the spray bar relative to a camera coordinate system, an included angle of a nozzle on the spray bar relative to the camera coordinate system, an initial speed of water flow sprayed by the water tank, a calibration parameter of the camera, a size of a camera plane, and a screen size of the display screen.
As a further preferred technical solution, the water flow curve trajectory prediction module includes a first calculation unit, a second calculation unit, a third calculation unit, and a fourth calculation unit, wherein:
the first calculation unit is used for calculating an equation of a water flow curve relative to an inertial coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank;
the second calculation unit is used for calculating a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the holder based on an equation of the water flow curve relative to an inertial coordinate system;
the third calculation unit is used for calculating a curve equation of the water flow curve projected onto the camera plane according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system;
and the fourth calculation unit is used for calculating a curve equation on the camera plane to be transformed into a water flow curve track on the display screen according to the screen size of the display screen and the size of the camera plane.
It should be noted that the water flow prediction system for assisting the unmanned aerial vehicle in cleaning the insulator disclosed in this embodiment has the same or corresponding technical features and effects as the water flow prediction method for assisting the unmanned aerial vehicle in cleaning the insulator disclosed in the above embodiment, and details are not repeated here.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a (may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And displaying the water flow prediction curve by using a screen.
In addition, any combination of various different embodiments of the present invention may be made, and the same should be considered as what is disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (6)
1. The utility model provides a rivers prediction method for assisting unmanned aerial vehicle carries out insulator washing which characterized in that includes:
acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle;
predicting a water flow curve track by using visual information;
the unmanned aerial vehicle is provided with a camera and a water tank, and the visual information comprises a pitch angle and a yaw angle of the unmanned aerial vehicle, a pitch angle and a yaw angle of the holder, the length of a spray rod of the water tank, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system, the initial speed of water flow sprayed by the water tank, calibration parameters of the camera, the size of a camera plane and the size of a screen of a display screen;
the predicting the water flow curve track by using the visual information comprises the following steps:
calculating an equation of a water flow curve relative to an inertia coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank;
based on an equation of a water flow curve relative to an inertial coordinate system, calculating a curve equation of the water flow curve in a camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the holder;
calculating a curve equation of the water flow curve projected onto a camera plane according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system;
and according to the screen size of the display screen and the size of the camera plane, calculating a curve equation on the camera plane and converting the curve equation into a water flow curve track on the display screen.
2. The method for predicting water flow for assisting unmanned aerial vehicle in insulator cleaning according to claim 1, wherein the equation for calculating the water flow curve relative to the inertial coordinate system according to the length of the water spray rod, the position and the included angle of the water spray rod relative to the camera coordinate system, the included angle of the nozzle on the water spray rod relative to the camera coordinate system, and the initial speed of the water flow sprayed from the water tank is as follows:
y curve ＝y nozzle ＝y init
wherein alpha is stick Is the angle of the spray bar relative to the inertial frame, alpha nozzle Is the angle, x, of the nozzle on the spray bar relative to an inertial coordinate system nozzle ，y nozzle And z nozzle Respectively, the position coordinates, x, of the spray nozzles of the spray bar relative to an inertial coordinate system init ，y init And z init Respectively the position coordinates of the spray bar relative to the inertial frame,/ stick Is the length of the spray bar, v is the initial velocity of the water flow, x curve Is an independent variable, y curve And z curve The coordinates of the water flow curve relative to an inertial coordinate system are respectively shown, and g is gravity acceleration.
3. The method for predicting water flow for assisting unmanned aerial vehicle in insulator cleaning according to claim 1, wherein the calculating a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the pan head based on the equation of the water flow curve relative to the inertial coordinate system comprises:
calculating a rotation matrix R of the camera reference system relative to the inertial coordinate system according to the yaw angle and the pitch angle of the unmanned aerial vehicle and the yaw angle and the pitch angle of the holder;
according to the rotation matrix R and the coordinates of the water flow curve relative to the inertial coordinate system, calculating a curve equation of the water flow curve in the camera coordinate system as follows:
wherein x is image ，y image And z image Three orthogonal coordinates, x, of the water flow curve in a camera coordinate system, respectively curve ，y curve And z curve Respectively the coordinates of the water flow curve relative to an inertial coordinate system.
4. The method for predicting the water flow for assisting the unmanned aerial vehicle in cleaning the insulator according to claim 1, wherein the calculating a curve equation of the water flow curve projected onto a camera plane according to the calibration parameters of the camera and a curve equation of the water flow curve in a camera coordinate system comprises:
calculating coordinates of the water flow curve after distortion correction projected on a camera plane according to the distortion parameters and a curve equation of the water flow curve in a camera coordinate system;
and calculating a curve equation of the water flow curve projected on the camera plane according to the coordinates of the water flow curve projected on the camera plane after the distortion correction.
5. The water flow prediction method for assisting unmanned aerial vehicle in insulator cleaning according to any one of claims 1-4, wherein after the predicting the water flow curve trajectory by using the visual information, the method further comprises:
and the unmanned aerial vehicle is assisted to carry out insulator cleaning operation by utilizing the water flow curve track.
6. The utility model provides a rivers prediction system for assisting unmanned aerial vehicle carries out insulator cleaning which characterized in that includes: unmanned aerial vehicle is last to carry on and carries cloud platform, camera and water tank, and unmanned aerial vehicle includes visual information acquisition module and rivers curve orbit prediction module, wherein:
the information acquisition module is used for acquiring visual information in front of the unmanned aerial vehicle by using a holder carried on the unmanned aerial vehicle;
the water flow curve track prediction module is used for predicting a water flow curve track by using visual information;
the unmanned aerial vehicle is provided with a camera and a water tank, and the visual information comprises a pitch angle and a yaw angle of the unmanned aerial vehicle, a pitch angle and a yaw angle of the holder, the length of a spray rod of the water tank, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a spray nozzle on the spray rod relative to the camera coordinate system, the initial speed of water flow sprayed by the water tank, calibration parameters of the camera, the size of a camera plane and the size of a screen of a display screen;
the water flow curve trajectory prediction module comprises a first calculation unit, a second calculation unit, a third calculation unit and a fourth calculation unit, wherein:
the first calculation unit is used for calculating an equation of a water flow curve relative to an inertial coordinate system according to the length of the spray rod, the position and the included angle of the spray rod relative to a camera coordinate system, the included angle of a nozzle on the spray rod relative to the camera coordinate system and the initial speed of water flow sprayed by the water tank;
the second calculation unit is used for calculating a curve equation of the water flow curve in the camera coordinate system according to the pitch angle and the yaw angle of the unmanned aerial vehicle and the pitch angle and the yaw angle of the holder based on an equation of the water flow curve relative to an inertial coordinate system;
the third calculation unit is used for calculating a curve equation of the water flow curve projected onto the camera plane according to the calibration parameters of the camera and the curve equation of the water flow curve in the camera coordinate system;
and the fourth calculating unit is used for calculating a curve equation on the camera plane and converting the curve equation into a water flow curve track on the display screen according to the screen size of the display screen and the size of the camera plane.
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| CN113448344B (en) * | 2021-07-12 | 2022-07-15 | 中国科学技术大学 | Unmanned aerial vehicle two-degree-of-freedom spray pipe aiming control method and device |
| CN113477617B (en) * | 2021-07-13 | 2022-05-13 | 中国科学技术大学先进技术研究院 | Distance measuring device, unmanned aerial vehicle cleaning equipment, cleaning control method and control device |
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