CN114964158A - Distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning - Google Patents
Distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning Download PDFInfo
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- CN114964158A CN114964158A CN202210534089.4A CN202210534089A CN114964158A CN 114964158 A CN114964158 A CN 114964158A CN 202210534089 A CN202210534089 A CN 202210534089A CN 114964158 A CN114964158 A CN 114964158A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012544 monitoring process Methods 0.000 title claims abstract description 16
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000000691 measurement method Methods 0.000 claims description 2
- 238000012806 monitoring device Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning, which comprises the following steps: a sphere is arranged 1-2 decimeters above the highest point in the vertical direction of a distribution network tower, the position of the sphere center is set as a tower identification point, and a tower number is marked on the sphere for identification by an unmanned aerial vehicle; carrying out infrared ranging on the unmanned aerial vehicle based on Beidou high-precision positioning, wherein if ranging values are equal, the minimum value and the radius of a sphere are the distance from the unmanned aerial vehicle to the center of the sphere, and if the ranging values are unequal, the tower inclines or collapses; adjusting the position of the unmanned aerial vehicle, measuring the minimum value of the three groups of distance measurement, solving the center position of a sphere by utilizing the three-sphere intersection principle, and comparing the center position of the sphere with a corresponding standard position to judge the size of deformation; the method solves the technical problems that the cost of installing the deformation monitoring device on the distribution network tower pole by pole is high, line point cloud data are obtained by scanning of laser radar point clouds and are compared with a model for identification, the processing speed is low, the identification rate is low and the like in the prior art.
Description
Technical Field
The invention belongs to a distribution network tower deformation monitoring technology, and particularly relates to a distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning.
Background
The distribution network is directly oriented to a terminal user, is an important public infrastructure for guaranteeing production and life, needs higher reliability, is extremely numerous in distribution network line towers, and the distribution network is influenced by frequent deformation such as inclination, collapse and sinking of the distribution network towers to operate reliably and efficiently, and the capability and level of preventing geological disasters of the distribution network can be improved by carrying out deformation monitoring on the distribution network towers. Because the high accuracy deformation monitoring devices of traditional installation formula is higher in price, only use in the major network shaft tower at present basically, and join in marriage net shaft tower quantity more, can't extensively install deformation monitoring devices. At present, the deformation monitoring of the distribution network tower mainly adopts laser radar point cloud scanning to obtain line point cloud data, and the line point cloud data is compared with a model for identification. This all restricts the business development of distribution network tower deformation monitoring.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a distribution network shaft tower deformation monitoring method based on big dipper high accuracy unmanned aerial vehicle location to it is higher to solve distribution network shaft tower pole-by-pole installation deformation monitoring devices cost among the prior art, adopts laser radar point cloud scanning to obtain line point cloud data, discerns with the model contrast, and this kind of method processing speed is slower, and technical problem such as rate of recognition is not high.
The technical scheme of the invention is as follows:
a distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning comprises the following steps:
step 1, installing a sphere 1-2 decimeters above the highest point in the vertical direction of a distribution network tower, setting the position of a sphere center as a tower identification point, and marking a tower number on the sphere for identification by an unmanned aerial vehicle;
step 2, carrying out infrared distance measurement on the unmanned aerial vehicle based on Beidou high-precision positioning, wherein if the distance measurement values are equal, the minimum value plus the radius of a sphere is the distance from the unmanned aerial vehicle to the center of the sphere, and if the distance measurement values are unequal, the tower tilts or collapses;
and 3, adjusting the position of the unmanned aerial vehicle, measuring the minimum value of the three groups of distance measurement, solving the center position of the sphere by utilizing the three-sphere intersection principle, and comparing the center position of the sphere with the corresponding standard position to judge the size of the deformation.
The unmanned aerial vehicle identifies the pole tower number by adopting an image identification method, wherein the image identification method is an OpenCV method.
The infrared distance measurement method comprises the following steps: the unmanned aerial vehicle flies obliquely above the top end of the tower, and the number of the tower is identified by an image identification method; the infrared laser range finder who carries scans the range finding and takes notes measured data to pole tower top region to calculate the point that the range finding minimum corresponds, outwards increase one degree with infrared laser range finder's measurement angle at this point department, and rotate a week along unmanned aerial vehicle to the line segment between range finding minimum two points, judge whether this a week's range finding value equals, if the range finding value equals then this minimum adds the radius of ball and be the distance that unmanned aerial vehicle arrived the centre of sphere promptly.
The method for determining the coordinate position of the sphere center comprises the following steps: adjusting the position of the unmanned aerial vehicle, measuring the minimum value of the three groups of distance measurement, and if the position of the unmanned aerial vehicle is known, calculating the sphere center position of the sphere by using the three-sphere intersection principle; three groups of coordinates under the three-dimensional coordinate system of the unmanned aerial vehicle are respectively (x) 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 ) And (x) 3 ,y 3 ,z 3 ) The coordinates of the sphere center to be obtained are (x, y, z), and the radius of the three groups of distance measurement are r 1 、r 2 And r 3 Then the following equation sets:
solving the formula (1) to obtain the coordinate position of the sphere center.
The invention has the beneficial effects that:
the identification sphere marked with the pole tower number is installed above the distribution network pole tower based on the Beidou high-precision positioning technology, the image identification technology and the infrared laser ranging technology, the position of the sphere center is used as a pole tower identification point, the unmanned aerial vehicle identifies the pole tower number through the image identification technology, and the distance from the unmanned aerial vehicle to the identification sphere is measured through infrared laser ranging, so that the position of the identification sphere is calculated, whether the distribution network pole tower deforms or not is judged, high-precision deformation monitoring of the distribution network pole tower is facilitated, high-efficiency and reliable operation of a distribution network is guaranteed, and the distribution network pole tower identification sphere has high practical value and practical significance.
The method solves the technical problems that the cost of installing the deformation monitoring device on the distribution network tower pole by pole is high, line point cloud data are obtained by scanning of laser radar point clouds and are compared with a model for identification, the processing speed is low, the identification rate is low and the like in the prior art.
Drawings
FIG. 1 is a schematic view of an installation identification sphere;
FIG. 2 is a schematic diagram of unmanned aerial vehicle infrared ranging based on Beidou high-precision positioning;
fig. 3 is a schematic diagram of three-ball positioning of the unmanned aerial vehicle.
Detailed Description
The invention is further illustrated by the following examples:
a distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning comprises the following steps:
step 1, installing an identification sphere: a round ball is arranged above a distribution network tower, the diameter of the round ball is more than 1 decimeter for easy identification, the round ball is kept at a position 1-2 decimeters above the highest point in the vertical direction of the distribution network tower so as to be convenient for identification, and the minimum measurement value is obtained by subtracting the radius of the round ball from the distance from the unmanned aerial vehicle to the center of the ball; and setting the position of the sphere center as a tower identification point to judge whether the tower deforms or not. Marking a tower number on the round ball, and identifying the tower number by the unmanned aerial vehicle by adopting an image identification method; the image identification method is an OpenCV method.
The installation manner of the identification sphere is shown in fig. 1. The identification ball is the blue ball in figure 1.
Step 2, carrying out infrared ranging on the unmanned aerial vehicle based on Beidou high-precision positioning: the unmanned aerial vehicle flies obliquely above the top end of the tower, an included angle between a connecting line of the unmanned aerial vehicle and the top end of the tower and the vertical direction of the tower is limited according to the actual tower condition, the distance between the unmanned aerial vehicle and the top end of the tower is controlled within 3 meters, and the number of the tower is identified by the unmanned aerial vehicle through an image identification function; and the carried infrared laser range finder scans and measures the distance of the top area of the pole tower, records the measured data and calculates the point corresponding to the minimum distance measurement value. FIG. 2 is unmanned aerial vehicle infrared ranging sketch map based on big dipper high accuracy location, and its mid point O is discernment ball centre of sphere, and A is the point that the range finding minimum corresponds, and D is unmanned aerial vehicle phase center, represents unmanned aerial vehicle's accurate position. And (3) outwards increasing the measurement angle of the infrared laser range finder by one degree at the point A measured by the infrared laser range finder, rotating the infrared laser range finder for a circle along the line segment AD, and judging whether the range value of the circle is equal or not. In fig. 2, BD and CD are any two distance measurement values of one rotation, if BD and CD are equal, OD is the distance from the identification sphere center to the drone, and if BD and CD are not equal, the tower may be greatly inclined or collapsed.
Step 3, calculating the deformation size of the distribution network tower: and adjusting the position of the unmanned aerial vehicle, and measuring three groups of ranging minimum values. If the position of the unmanned aerial vehicle is known, the sphere center position of the sphere can be obtained by utilizing the three-sphere intersection principle, as shown in fig. 3. If three groups of coordinates under the three-dimensional coordinate system of the unmanned aerial vehicle are respectively (x) 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 ) And (x) 3 ,y 3 ,z 3 ) The coordinates of the sphere center to be obtained are (x, y, z), and the radius of the three groups of distance measurement are r 1 、r 2 And r 3 Then the following equation sets:
solving the formula (1) can obtain the coordinate position of the sphere center, and comparing the coordinate position with the corresponding standard position in the database to judge the deformation size. Because unmanned aerial vehicle high accuracy positioning accuracy can reach the millimeter level, infrared laser rangefinder's precision also can reach the millimeter level, then positioning accuracy can reach the millimeter level.
Claims (4)
1. A distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning is characterized by comprising the following steps: it includes:
step 1, installing a sphere 1-2 decimeters above the highest point in the vertical direction of a distribution network tower, setting the position of a sphere center as a tower identification point, and marking a tower number on the sphere for identification by an unmanned aerial vehicle;
step 2, carrying out infrared distance measurement on the unmanned aerial vehicle based on Beidou high-precision positioning, wherein if the distance measurement values are equal, the minimum value plus the radius of a sphere is the distance from the unmanned aerial vehicle to the center of the sphere, and if the distance measurement values are unequal, the tower tilts or collapses;
and 3, adjusting the position of the unmanned aerial vehicle, measuring the minimum value of the three groups of distance measurement, solving the center position of the sphere by utilizing the three-sphere intersection principle, and comparing the center position of the sphere with the corresponding standard position to judge the size of the deformation.
2. The distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning as set forth in claim 1, characterized in that: the unmanned aerial vehicle identifies the pole tower number by adopting an image identification method, wherein the image identification method is an OpenCV method.
3. The distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning as set forth in claim 1, characterized in that: the infrared distance measurement method comprises the following steps: the unmanned aerial vehicle flies obliquely above the top end of the tower, and the number of the tower is identified by an image identification method; the infrared laser range finder who carries scans the range finding and takes notes measured data to pole tower top region to calculate the point that the range finding minimum corresponds, outwards increase one degree with infrared laser range finder's measurement angle at this point department, and rotate a week along unmanned aerial vehicle to the line segment between range finding minimum two points, judge whether this a week's range finding value equals, if the range finding value equals then this minimum adds the radius of ball and be the distance that unmanned aerial vehicle arrived the centre of sphere promptly.
4. The distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning as set forth in claim 1, characterized in that: the method for determining the coordinate position of the sphere center comprises the following steps: adjusting the position of the unmanned aerial vehicle, measuring the minimum value of the three groups of distance measurement, and if the position of the unmanned aerial vehicle is known, calculating the sphere center position of the sphere by using the three-sphere intersection principle; three groups of coordinates under the three-dimensional coordinate system of the unmanned aerial vehicle are respectively (x) 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 ) And (x) 3 ,y 3 ,z 3 ) The coordinates of the sphere center to be obtained are (x, y, z), and the radius of the three groups of distance measurement are r 1 、r 2 And r 3 Then the following system of equations:
solving the formula (1) to obtain the coordinate position of the sphere center.
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