CN113281785A - Power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar - Google Patents
Power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar Download PDFInfo
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- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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Abstract
The invention relates to a power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar, which comprises the steps of establishing a catenary curve model for a cable, enabling a line patrol unmanned aerial vehicle to fly along a flight line, detecting the height of a cable in front of the lower part, conducting tree obstacle early warning and fly around when the height is greatly different from a calculation result, simultaneously transmitting a radar signal to a tree obstacle by using the laser radar when flying around, and when the echo measurement height is consistent with the curve model, proving that the cable can be reached through a gap, and at the moment, obtaining an optical image by using an optical lens to finish line patrol at the tree obstacle; the invention can enable the line patrol unmanned aerial vehicle to effectively avoid the tree barrier of the overhead cable and simultaneously complete line patrol of the cable in the tree barrier as far as possible.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle line patrol, in particular to a power transmission channel tree obstacle early warning method based on an unmanned aerial vehicle laser radar.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, posture, even shape and other parameters, can be obtained, so that the target is applied to line patrol operation to detect and identify obstacles.
Current unmanned aerial vehicle patrols the line in-process, often can receive the interference of trees and clumps, not only can cause danger to patrolling line unmanned aerial vehicle, still can disturb the image shooting of cable.
Disclosure of Invention
In view of the above, the invention aims to provide a power transmission channel tree obstacle early warning method based on an unmanned aerial vehicle laser radar, which can early warn the tree obstacle in an unmanned aerial vehicle route in the line patrol process and can help the line patrol unmanned aerial vehicle to shoot part of cables shielded by the tree obstacle.
The invention discloses a power transmission channel tree obstacle early warning method based on an unmanned aerial vehicle laser radar, which comprises the following steps of:
acquiring cable parameters by using a line patrol unmanned aerial vehicle, establishing a curve model of a cable according to the cable parameters and a catenary equation, and manufacturing a route according to the curve model, wherein the route is positioned right above the curve model and is parallel to the curve model;
the method comprises the following steps that a line patrol unmanned aerial vehicle is used for patrolling a line along a cable, a camera at the bottom of the line patrol unmanned aerial vehicle shoots an optical image, a laser radar at the bottom of the line patrol unmanned aerial vehicle sends a laser signal to the front lower part, and the height of the cable at the front lower part of the line patrol unmanned aerial vehicle is judged according to an echo signal;
establishing a model of the cable height in front of and below the line patrol unmanned aerial vehicle, comparing the model with a curve model, and judging whether tree obstacles exist around the cable according to a comparison result;
if the tree barrier exists, adjusting the route when the line patrol unmanned aerial vehicle flies to the point to cross the tree barrier part, meanwhile, enabling the line patrol unmanned aerial vehicle to surround the tree barrier part, turning a laser radar, sending a laser signal to the tree barrier, and turning a camera to shoot an optical image if a cable with the same position as the curve model is detected through an echo;
and the line patrol unmanned aerial vehicle crossing the tree obstacle part returns to the air route, and the line patrol is continued until the air route is finished.
Further, the required parameter of curve model is the height of sag and cable both ends suspension point, and cable suspension point height directly records through patrolling line unmanned aerial vehicle, and the computational formula of sag is:
wherein l is a span, f is a sag, h is a height difference between two electric poles, theta is an observation angle, a is a vertical distance from a suspension point to a laser radar, and alpha is a height difference angle;
the above formula yields the maximum sag f1 and the minimum sag f2, which are introduced into the catenary equation:
a' is a constant.
Further, the bottom of patrolling line unmanned aerial vehicle is equipped with the distance sensor of forward below, distance sensor with patrolling line unmanned aerial vehicle's flight control system connects, patrolling line unmanned aerial vehicle is on voyage or is crossing the barrier navigation, and distance sensor is used for making to patrol line unmanned aerial vehicle and cable or barrier surface and keep specific distance.
Further, when the height difference between the cable height measured by the laser radar and the height of the corresponding point in the curve model is not more than +/-3%, the cable section is regarded as an obstacle-free object, when the line patrol unmanned aerial vehicle jumps over the part, the line patrol unmanned aerial vehicle navigates according to a preset route, and otherwise, the line patrol unmanned aerial vehicle crosses the section according to the measured height and the flying height of a specific height.
Further, laser radar installs the place ahead of patrolling line unmanned aerial vehicle's bottom to set up towards 45 under.
The invention has the beneficial effects that: according to the power transmission channel tree obstacle early warning method based on the unmanned aerial vehicle laser radar, a catenary curve model is built for a cable, so that a line patrol unmanned aerial vehicle flies along a flight line, the height of a cable in the lower front is detected, when the height is greatly different from a calculation result, early warning and fly around the line patrol are carried out, meanwhile, the laser radar is used for transmitting radar signals to the tree obstacle during fly around, when the measured height of an echo is consistent with the curve model, it is proved that the cable can be reached through a gap, at the moment, an optical image is obtained through an optical lens, and line patrol at the tree obstacle is completed; the invention can enable the line patrol unmanned aerial vehicle to effectively avoid the tree barrier of the overhead cable and simultaneously complete line patrol of the cable in the tree barrier as far as possible.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that for a person skilled in the art, other relevant drawings can be obtained from the drawings without inventive effort:
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1: the power transmission channel tree obstacle early warning method based on the unmanned aerial vehicle laser radar comprises the following steps:
acquiring cable parameters by using a line patrol unmanned aerial vehicle, establishing a curve model of a cable according to a plurality of cable parameters and a catenary equation, wherein the parameters to be acquired by the line patrol unmanned aerial vehicle comprise height difference h and span L (namely horizontal distance between suspension points) of suspension points at two ends of the cable, and can be measured by using measuring instruments such as a laser radar, an altitude sensor and the like on the line patrol unmanned aerial vehicle;
the method comprises the following steps that a line patrol unmanned aerial vehicle is used for patrolling a line along a cable, a camera at the bottom of the line patrol unmanned aerial vehicle shoots an optical image, a laser radar at the bottom of the line patrol unmanned aerial vehicle sends a laser signal to the front lower part, the height of the cable at the front lower part of the line patrol unmanned aerial vehicle is judged according to an echo signal, the height of the unmanned aerial vehicle is measured through an altitude sensor and is known, the distance between the unmanned aerial vehicle and a corresponding point of the cable is measured through the echo, the angles of the laser signal are consistent, so that the height difference and the horizontal distance between the unmanned aerial vehicle and the measuring point can be calculated through a trigonometric function, the height difference and the horizontal distance correspond to a curve model, and can be compared with model data;
establishing a model of the cable height in front of and below the line patrol unmanned aerial vehicle, comparing the model with a curve model, and judging whether tree obstacles exist around the cable according to a comparison result;
if the tree barrier exists, adjusting the route when the line patrol unmanned aerial vehicle flies to the point to cross the tree barrier part, meanwhile, enabling the line patrol unmanned aerial vehicle to surround the tree barrier part, turning a laser radar, sending a laser signal to the tree barrier, and turning a camera to shoot an optical image if a cable with the same position as the curve model is detected through an echo;
and the line patrol unmanned aerial vehicle crossing the tree obstacle part returns to the air route, and the line patrol is continued until the air route is finished.
In this embodiment, the required parameter of curve model is the height of sag and cable both ends suspension point, and cable suspension point height directly records through patrolling line unmanned aerial vehicle, and the computational formula of sag is:
wherein l is a span, f is a sag, h is a height difference between two electric poles, theta is an observation angle, a is a vertical distance from a suspension point to a laser radar, and alpha is a height difference angle; the sag formula is prior art, and is not described any further;
the above formula yields the maximum sag f1 and the minimum sag f2, which are introduced into the catenary equation:
a 'is a constant, and the constant a' is horizontal tension/linear density, and can be obtained by looking up data during cable laying.
In this embodiment, the bottom of patrolling line unmanned aerial vehicle is equipped with the distance sensor of forward below, distance sensor with patrolling line unmanned aerial vehicle's flight control system connects, patrolling line unmanned aerial vehicle is on voyage or is crossing the barrier navigation, and distance sensor is used for making to patrol line unmanned aerial vehicle and cable or barrier surface and keep specific distance.
In this embodiment, when the difference between the height of the cable measured by the laser radar and the height of the corresponding point in the curve model is not more than ± 3%, the cable section is regarded as an obstacle-free object, and when the patrol unmanned aerial vehicle jumps over the part, the patrol unmanned aerial vehicle navigates according to a predetermined route, otherwise, the patrol unmanned aerial vehicle crosses the section according to the measured height plus the flying height of a specific height.
In this embodiment, laser radar installs the place ahead of patrolling line unmanned aerial vehicle's bottom to towards 45 settings under, the distance between laser radar and the cable is 1/2 of detection distance promptly.
According to the power transmission channel tree obstacle early warning method based on the unmanned aerial vehicle laser radar, a catenary curve model is built for a cable, so that a line patrol unmanned aerial vehicle flies along a flight line, the height of a cable in the lower front is detected, when the height is greatly different from a calculation result, early warning and fly around the line patrol are carried out, meanwhile, the laser radar is used for transmitting radar signals to the tree obstacle during fly around, when the measured height of an echo is consistent with the curve model, it is proved that the cable can be reached through a gap, at the moment, an optical image is obtained through an optical lens, and line patrol at the tree obstacle is completed; the invention can enable the line patrol unmanned aerial vehicle to effectively avoid the tree barrier of the overhead cable and simultaneously complete line patrol of the cable in the tree barrier as far as possible.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (5)
1. A power transmission channel tree obstacle early warning method based on unmanned aerial vehicle laser radar is characterized by comprising the following steps: the method comprises the following steps:
acquiring cable parameters by using a line patrol unmanned aerial vehicle, establishing a curve model of a cable according to the cable parameters and a catenary equation, and manufacturing a route according to the curve model, wherein the route is positioned right above the curve model and is parallel to the curve model;
the method comprises the following steps that a line patrol unmanned aerial vehicle is used for patrolling a line along a cable, a camera at the bottom of the line patrol unmanned aerial vehicle shoots an optical image, a laser radar at the bottom of the line patrol unmanned aerial vehicle sends a laser signal to the front lower part, and the height of the cable at the front lower part of the line patrol unmanned aerial vehicle is judged according to an echo signal;
establishing a model of the cable height in front of and below the line patrol unmanned aerial vehicle, comparing the model with a curve model, and judging whether tree obstacles exist around the cable according to a comparison result;
if the tree barrier exists, adjusting the route when the line patrol unmanned aerial vehicle flies to the point to cross the tree barrier part, meanwhile, enabling the line patrol unmanned aerial vehicle to surround the tree barrier part, turning a laser radar, sending a laser signal to the tree barrier, and turning a camera to shoot an optical image if a cable with the same position as the curve model is detected through an echo;
and the line patrol unmanned aerial vehicle crossing the tree obstacle part returns to the air route, and the line patrol is continued until the air route is finished.
2. The unmanned aerial vehicle laser radar-based transmission channel tree obstacle early warning method according to claim 1, characterized in that: the required parameters of the curve model are the heights of sag and suspension points at two ends of the cable, the height of the suspension point of the cable is directly measured by the line patrol unmanned aerial vehicle, and the calculation formula of the sag is as follows:
wherein l is a span, f is a sag, h is a height difference between two electric poles, theta is an observation angle, a is a vertical distance from a suspension point to a laser radar, and alpha is a height difference angle;
the above formula yields the maximum sag f1 and the minimum sag f2, which are introduced into the catenary equation:
a' is a constant.
3. The unmanned aerial vehicle laser radar-based transmission channel tree obstacle early warning method according to claim 1, characterized in that: the bottom of patrolling line unmanned aerial vehicle is equipped with the distance sensor of forward below, distance sensor with patrolling line unmanned aerial vehicle's flight control system connects, patrolling line unmanned aerial vehicle is on voyage or is crossed the tree obstacle navigation time, and distance sensor is used for making to patrol line unmanned aerial vehicle and cable or tree obstacle face and keep specific distance.
4. The unmanned aerial vehicle laser radar-based transmission channel tree obstacle early warning method according to claim 1, characterized in that: when the difference between the height of the cable measured by the laser radar and the height of the corresponding point in the curve model is not more than +/-3%, the cable section is regarded as a barrier-free object, when the line patrol unmanned aerial vehicle jumps over the part, the line patrol unmanned aerial vehicle navigates according to a preset route, and otherwise, the line patrol unmanned aerial vehicle crosses the section according to the measured height and the flying height of a specific height.
5. The unmanned aerial vehicle laser radar-based transmission channel tree obstacle early warning method according to claim 1, characterized in that: laser radar installs the place ahead of patrolling line unmanned aerial vehicle's bottom to set up towards 45 under.
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