CN113110565A - Method and system for detecting tree obstacle distance by using multi-rotor unmanned aerial vehicle - Google Patents
Method and system for detecting tree obstacle distance by using multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of power transmission line inspection systems, and discloses a method and a system for detecting a tree obstacle distance by using a multi-rotor unmanned aerial vehicle. According to the method and the system for detecting the distance between the tree barriers by using the multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle is used as a sensor load platform, a set of inspection equipment capable of automatically and accurately detecting the distance between the tree barriers in the flight process is designed, an IMU sensor is arranged for obtaining the actual and accurate distance between the tree barriers, the accurate detection of the distance between the tree barriers by the unmanned aerial vehicle is realized, the inspection efficiency and the defect finding rate are improved, the operation safety is ensured, the operation intensity is reduced, and the intelligent operation and maintenance level of a power transmission line is improved.
Description
Technical Field
The invention relates to the technical field of power transmission line inspection systems, in particular to a method and a system for detecting a tree obstacle distance by using a multi-rotor unmanned aerial vehicle.
Background
The power transmission line inspection refers to inspection of the power transmission line, the aim is to master the operation condition of the power transmission line and find the fault of the power transmission line in time, the current team-level unmanned aerial vehicle fine inspection has the following operation characteristics,
1. the defects of the lead are more hidden and difficult to discover compared with other defects;
2. in the process of wire shooting, the whole section of wire must be shot completely, and omission cannot occur, so that data acquisition needs to be carried out at equal intervals;
3. one piece of image data can be generated every several meters in the process of wire inspection, and a large amount of data can be generated in the whole operation process;
4. the lead inspection task volume is large, and the data volume is large, so the operating efficiency needs to be improved, including the efficiency of data acquisition and the efficiency of data analysis, and therefore the picture needs to be shot close to the lead in flight to obtain higher-quality image data.
The prior art has the following defects and shortcomings:
the electric power tower needs to be strideed across automatically to the in-process aircraft is patrolled and examined to the wire, and the tree obstacle or switch the phase line carry out next section wire flight, and current aircraft is not accurate enough to the detection of aircraft flight in-process tree obstacle distance, and the potential safety hazard is many, scientific analysis is few, patrol and examine inefficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method and a system for detecting the distance of a tree barrier by using a multi-rotor unmanned aerial vehicle, which can solve the problems that the existing method and system for detecting the distance of the tree barrier by using the multi-rotor unmanned aerial vehicle cannot detect the distance of the tree barrier accurately enough in the flying process of an aircraft, the potential safety hazard is more, the scientific analysis is less, and the inspection efficiency is low; the invention adopts a multi-rotor unmanned aerial vehicle as a sensor load platform, designs a set of inspection equipment capable of automatically and accurately detecting the distance of the tree barrier in the flight process, is provided with an IMU sensor for obtaining the actual accurate distance of the tree barrier, and corrects the flight track of the unmanned aerial vehicle through data collected by the IMU sensor through an embedded computing unit, solves the problems of large inspection workload, low efficiency, more potential safety hazards, less scientific analysis, low precision, laggard management mode and the like of the existing team-level unmanned aerial vehicle, realizes the accurate detection of the distance of the tree barrier by the unmanned aerial vehicle, improves the inspection efficiency and the defect discovery rate, ensures the operation safety, reduces the operation intensity and improves the intelligent operation and maintenance level of a power transmission line.
In order to achieve the purposes of accurate detection, less potential safety hazard, more scientific analysis and high inspection efficiency by using the method and the system for detecting the distance between the tree barriers by using the multi-rotor unmanned aerial vehicle, the invention provides the following technical scheme: a method and a system for detecting the distance of a tree barrier by using a multi-rotor unmanned aerial vehicle are provided.
Preferably, unmanned aerial vehicle is many rotor unmanned aerial vehicle equipment, many rotor unmanned aerial vehicle equipment adopts general flight platform, many rotor unmanned aerial vehicle built-in GPS, RTK sensor, gyroscope, speedometer, barometer, multiple sensors such as magnetic compass.
Preferably, the cloud platform camera includes infrared and visible light camera module, the cloud platform camera is fixed to be carried on the unmanned aerial vehicle platform, the cloud platform camera is used for realizing that the imitative line is automatic to be patrolled and examined and the synchronous acquisition of image data.
Preferably, the three-dimensional laser radar module is fixedly carried on the unmanned aerial vehicle, the three-dimensional laser radar module is used for achieving a three-dimensional modeling function, the three-dimensional modeling function achieves offline post-resolving processing through POS data and a three-dimensional point cloud streaming file containing a GPS timestamp, information such as the GPS timestamp, RTK coordinate information, angular velocity and acceleration in the three-axis direction and a course angle is contained in the POS data, and the three-dimensional laser radar module is used for collecting a tree barrier below the unmanned aerial vehicle in the flying process and three-dimensional space position information of an inspection lead.
Preferably, unmanned aerial vehicle, three-dimensional laser radar module, IMU, cloud platform camera, remote controller respectively with embedded computational unit electric connection, embedded computational unit is fixed to be carried on at unmanned aerial vehicle group, embedded computational unit is used for realizing the flight control to unmanned aerial vehicle, embedded computational unit is used for the below tree barrier that three-dimensional laser radar sensor gathered and patrols and examines the three-dimensional spatial position information of wire, adjusts unmanned aerial vehicle and carries out the wire and follow the flight, notes below tree barrier distance and position, wire sag distance, carries out the response in real time and handles, realizes that unmanned aerial vehicle wire follows the flight function.
Preferably, the remote controller is wirelessly connected with the unmanned aerial vehicle set through a radar, and the remote controller is used for displaying the PSDK image stream, radar data and defect positions.
Preferably, the IMU is used for measuring linear motion of each axis direction in the flight process of the unmanned aerial vehicle, and is used for correcting the unmanned aerial vehicle set through real-time IMU data to obtain actual and accurate tree barrier distance.
Compared with the prior art, the invention provides a method and a system for detecting the distance of a tree barrier by using a multi-rotor unmanned aerial vehicle, and the method and the system have the following beneficial effects:
the utility model relates to a method and a system for detecting the distance of a tree barrier by using a multi-rotor unmanned aerial vehicle, which realizes wire following flight, three-dimensional modeling and real-time detection of the distance of the tree barrier by adopting three-dimensional laser radar, inertial navigation IMU, a double-light (visible light and infrared light) pan-tilt camera and multi-sensor data of RTK, and realizes the off-line later-stage resolving processing of POS data and a three-dimensional point cloud streaming file containing a GPS timestamp, wherein the POS data contains the information of the GPS timestamp, RTK coordinate information, angular velocity and acceleration in three-axis directions, course angle and the like, an embedded computing unit adjusts the wire following flight of the unmanned aerial vehicle according to the three-dimensional space position information of the lower tree barrier and a routing inspection wire collected by the three-dimensional laser radar, records the distance and position of the square tree barrier, the wire sag distance, and is provided with an IMU sensor for obtaining the actual accurate distance, and correct unmanned aerial vehicle flight orbit through embedded computational element through IMU sensor data collection, solve present team level unmanned aerial vehicle and patrol and examine that work load is big, inefficiency, the potential safety hazard is many, scientific analysis is few, the precision is low, the management mode is laggard the scheduling problem, realize unmanned aerial vehicle and to the accurate detection of barrier distance, promote efficiency and the defect discovery rate of patrolling and examining to guarantee operation safety, reduce operation intensity, promote transmission line intelligent fortune dimension level.
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FIG. 1 is a schematic view of the structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method and system for detecting a distance between a tree obstacle by using a multi-rotor unmanned aerial vehicle includes an unmanned aerial vehicle, an embedded computing unit, a three-dimensional laser radar module, an IMU, a remote controller, and a pan-tilt camera.
In conclusion, the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle device (M210 RTK V2 version), the multi-rotor unmanned aerial vehicle device adopts a universal flight platform, the multi-rotor unmanned aerial vehicle is internally provided with various sensors such as a GPS, an RTK sensor, a gyroscope, a speedometer, a barometer and a magnetic compass,
the universal flying platform meets the operation requirement of a single person, and the transportability of the whole hardware system is ensured;
the pan-tilt camera (Z-Fusions) comprises an infrared camera module and a visible light camera module, the pan-tilt camera is fixedly carried on the unmanned aerial vehicle platform and is used for realizing automatic line tracing inspection and synchronous acquisition of image data,
the method comprises the steps that fault problems of a lead in an image are detected and identified in real time by using defect model data trained in advance in the flying process of a camera (Z-Fusions) with a built-in holder, thermal imaging rendering output of a line in the image in the flying process is supported by the built-in infrared thermal imaging holder, temperature abnormal points in the line are found out by analyzing thermal imaging, corresponding positions are recorded, and later-stage export is supported;
the three-dimensional laser radar module (Velodyne VLP-16LITE) is fixedly carried on the unmanned aerial vehicle and is used for realizing a three-dimensional modeling function, the three-dimensional modeling function realizes off-line post-resolving processing by carrying out POS data and a three-dimensional point cloud streaming file containing a GPS timestamp, wherein the POS data contains information such as a GPS timestamp, RTK coordinate information, angular velocity and acceleration in three-axis directions, a course angle and the like, the three-dimensional laser radar module is used for collecting three-dimensional space position information of a lower tree barrier and a routing inspection lead in the flight process of the unmanned aerial vehicle,
the three-dimensional laser radar module is used for realizing real-time detection of the tree space distance based on the laser guide line;
the unmanned aerial vehicle, the three-dimensional laser radar module, the IMU, the pan-tilt camera and the remote controller are respectively and electrically connected with an embedded computing unit, the embedded computing unit ((NVIDIA Jetson AGX Xavier)) is fixedly carried on the unmanned aerial vehicle set, the embedded computing unit is used for realizing flight control of the unmanned aerial vehicle, the embedded computing unit is used for adjusting three-dimensional space position information of a lower tree barrier and an inspection lead acquired by a three-dimensional laser radar sensor, adjusting the unmanned aerial vehicle to carry out lead following flight, recording the distance and the position of the lower tree barrier and the lead sag distance, carrying out response processing in real time and realizing the lead following flight function of the unmanned aerial vehicle,
the method comprises the steps that an embedded computing unit (NVIDIA Jetson AGX Xavier) is used for detecting a tree barrier distance and realizing flight control of the unmanned aerial vehicle;
the remote controller is wirelessly connected with the unmanned aerial vehicle set through a radar, the remote controller is used for displaying PSDK image flow, radar data and defect positions, the IMU is used for measuring linear motion of the unmanned aerial vehicle in each axial direction in the flying process and correcting the unmanned aerial vehicle set through real-time IMU data to obtain actual and accurate tree obstacle distance,
be used for deriving actual accurate tree barrier distance through being equipped with IMU sensor to correct the unmanned aerial vehicle flight trajectory through IMU sensor data acquisition through embedded computational unit.
The working use flow and the installation method of the invention are that the method for detecting the distance of the tree barrier by using the multi-rotor unmanned aerial vehicle comprises the following steps,
the method comprises the following steps: in the flight process of the unmanned aerial vehicle, the three-dimensional laser radar module is used for keeping the unmanned aerial vehicle stably flying above a power line through a radar line-biting flight technology;
the method comprises the following steps: scanning and sampling the front and the lower part of the flying platform through a holder camera and an orthogonally combined three-dimensional laser radar module;
step three: collecting three-dimensional space position information of a lower tree barrier and an inspection lead in the flight process of the unmanned aerial vehicle by using a three-dimensional laser radar module, and monitoring the distance of the lower tree barrier;
step four: utilize IMU to measure the linear motion of each axle direction in the unmanned aerial vehicle flight process, embedded computational element corrects unmanned aerial vehicle flight orbit through real-time IMU data, reachs actual accurate tree barrier distance simultaneously.
The utility model relates to a method and a system for detecting the distance of a tree barrier by using a multi-rotor unmanned aerial vehicle, which realizes wire following flight, three-dimensional modeling and real-time detection of the distance of the tree barrier by adopting three-dimensional laser radar, inertial navigation IMU, a double-light (visible light and infrared light) pan-tilt camera and multi-sensor data of RTK, and realizes the off-line later-stage resolving processing of POS data and a three-dimensional point cloud streaming file containing a GPS timestamp, wherein the POS data contains the information of the GPS timestamp, RTK coordinate information, angular velocity and acceleration in three-axis directions, course angle and the like, an embedded computing unit adjusts the wire following flight of the unmanned aerial vehicle according to the three-dimensional space position information of the lower tree barrier and a routing inspection wire collected by the three-dimensional laser radar, records the distance and position of the square tree barrier, the wire sag distance, and is provided with an IMU sensor for obtaining the actual accurate distance, and correct unmanned aerial vehicle flight orbit through embedded computational element through IMU sensor data collection, solve present team level unmanned aerial vehicle and patrol and examine that work load is big, inefficiency, the potential safety hazard is many, scientific analysis is few, the precision is low, the management mode is laggard the scheduling problem, realize unmanned aerial vehicle and to the accurate detection of barrier distance, promote efficiency and the defect discovery rate of patrolling and examining to guarantee operation safety, reduce operation intensity, promote transmission line intelligent fortune dimension level.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A method and a system for detecting the distance of a tree barrier by using a multi-rotor unmanned aerial vehicle are characterized in that: the system comprises an unmanned aerial vehicle, an embedded computing unit, a three-dimensional laser radar module, an IMU, a remote controller and a holder camera.
2. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein: unmanned aerial vehicle is many rotor unmanned aerial vehicle equipment, many rotor unmanned aerial vehicle equipment adopts general flight platform, many rotor unmanned aerial vehicle have built-in multiple sensors such as GPS, RTK sensor, gyroscope, speedometer, barometer, magnetic compass.
3. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein: the cloud platform camera includes infrared and visible light camera module, the cloud platform camera is fixed to be carried on the unmanned aerial vehicle platform, the cloud platform camera is used for realizing that the imitative line is automatic to be patrolled and examined and the synchronous acquisition of image data.
4. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein: the three-dimensional laser radar module is fixedly carried on the unmanned aerial vehicle, the three-dimensional laser radar module is used for achieving a three-dimensional modeling function, the three-dimensional modeling function achieves off-line later-stage resolving processing through POS data and a three-dimensional point cloud streaming file containing a GPS timestamp, wherein the POS data contains information such as the GPS timestamp, RTK coordinate information, angular velocity and acceleration in the three-axis direction and course angle, and the three-dimensional laser radar module is used for collecting a tree barrier below the unmanned aerial vehicle in the flying process and three-dimensional space position information of a routing inspection wire.
5. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein: unmanned aerial vehicle, three-dimensional laser radar module, IMU, cloud platform camera, remote controller respectively with embedded computational element electric connection, embedded computational element is fixed to be carried on at unmanned aerial vehicle group, embedded computational element is used for realizing the flight control to unmanned aerial vehicle, embedded computational element is used for the below tree barrier that three-dimensional laser radar sensor gathered and the three-dimensional spatial position information of patrolling and examining the wire, adjusts unmanned aerial vehicle and carries out the wire and follow the flight, notes below tree barrier distance and position, wire sag distance, carries out the response in real time and handles, realizes that the unmanned aerial vehicle wire follows the flight function.
6. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein: the remote controller is in wireless connection with the unmanned aerial vehicle set through a radar and is used for displaying PSDK image streams, radar data and defect positions.
7. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein: the IMU is used for measuring linear motion of each axis direction in the flight process of the unmanned aerial vehicle, and is used for correcting the unmanned aerial vehicle set through real-time IMU data to obtain actual and accurate tree barrier distance.
8. The method and system for tree barrier distance detection using a multi-rotor drone of claim 1, wherein:
the method for detecting the distance between the tree barriers by using the multi-rotor unmanned aerial vehicle comprises the following steps,
the method comprises the following steps: in the flight process of the unmanned aerial vehicle, the three-dimensional laser radar module is used for keeping the unmanned aerial vehicle stably flying above a power line through a radar line-biting flight technology;
the method comprises the following steps: scanning and sampling the front and the lower part of the flying platform through a holder camera and an orthogonally combined three-dimensional laser radar module;
step three: collecting three-dimensional space position information of a lower tree barrier and an inspection lead in the flight process of the unmanned aerial vehicle by using a three-dimensional laser radar module, and monitoring the distance of the lower tree barrier;
step four: utilize IMU to measure the linear motion of each axle direction in the unmanned aerial vehicle flight process, embedded computational element corrects unmanned aerial vehicle flight orbit through real-time IMU data, reachs actual accurate tree barrier distance simultaneously.
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