CN114964158B - Distribution network pole tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning - Google Patents
Distribution network pole tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning Download PDFInfo
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- CN114964158B CN114964158B CN202210534089.4A CN202210534089A CN114964158B CN 114964158 B CN114964158 B CN 114964158B CN 202210534089 A CN202210534089 A CN 202210534089A CN 114964158 B CN114964158 B CN 114964158B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 title claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 9
- 238000000691 measurement method Methods 0.000 claims description 2
- 238000012806 monitoring device Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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Classifications
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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
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 ball is arranged at a position 1-2 decimeters above the highest point in the vertical direction of the distribution network tower, the position of the ball center is set as a tower identification point, and a tower number is marked on the ball for the unmanned aerial vehicle to identify; performing infrared ranging on the unmanned aerial vehicle based on Beidou high-precision positioning, wherein if the ranging values are equal, the minimum value plus the radius of the ball is the distance from the unmanned aerial vehicle to the center of the ball, and if the ranging values are not equal, the tower is inclined or collapsed; adjusting the position of the unmanned aerial vehicle, measuring three groups of ranging minimum values, solving the spherical center position of the sphere by utilizing a three-sphere intersection principle, and comparing the spherical center position with the corresponding standard position to judge the deformation size; the method solves the technical problems that in the prior art, the cost of installing the deformation monitoring device pole by pole of the distribution network pole is high, the laser radar point cloud scanning is adopted to acquire line point cloud data, and the line point cloud data is compared with a model to identify, so that the processing speed is low, the identification rate is low, and the like.
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 end users, is an important public infrastructure for guaranteeing production and life, needs high reliability, is quite multiple in distribution network line towers, frequently deforms such as inclination, collapse and sinking of the distribution network towers to influence efficient and reliable operation of the distribution network, and can improve the capacity and level of the distribution network for preventing geological disasters by monitoring the deformation of the distribution network towers. Because the traditional installed high-precision deformation monitoring device is high in price, the traditional installed high-precision deformation monitoring device is basically only used in a main net tower, and the number of the net towers is large, so that the deformation monitoring device cannot be widely installed. At present, the deformation monitoring of the distribution network tower mainly adopts laser radar point cloud scanning to acquire line point cloud data, and the line point cloud data is compared with a model to identify. This limits the business development of the deformation monitoring of the distribution network towers.
Disclosure of Invention
The invention aims to solve the technical problems that: the utility model provides a join in marriage net shaft tower deformation monitoring method based on big dipper high accuracy unmanned aerial vehicle location to join in marriage net shaft tower and install deformation monitoring device by pole in solving prior art and have higher cost, adopt laser radar point cloud scanning to acquire line point cloud data, discern with the model contrast, this kind of method processing speed is slower, and recognition rate technical problem such as not high.
The technical scheme of the invention is as follows:
a network distribution pole and tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning comprises the following steps:
step 1, installing a sphere at a position 1-2 decimeters above the highest point in the vertical direction of a distribution network tower, setting the position of the sphere center as a tower identification point, and marking a tower number on the sphere for unmanned aerial vehicle identification;
step 2, carrying out infrared ranging on the unmanned aerial vehicle based on Beidou high-precision positioning, wherein if the ranging values are equal, the minimum value plus the radius of the ball is the distance from the unmanned aerial vehicle to the center of the ball, and if the ranging values are unequal, the towers are inclined or collapsed;
and 3, adjusting the position of the unmanned aerial vehicle, measuring three groups of minimum ranging values, solving the spherical center position of the sphere by utilizing a three-sphere intersection principle, and comparing the spherical center position with the corresponding standard position to judge the deformation.
The unmanned aerial vehicle adopts an image recognition method to recognize the tower number, and the image recognition 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 pole, and the pole number is identified by an image identification method; and carrying out scanning ranging on the top area of the tower by using the carried infrared laser range finder, recording measurement data, calculating a point corresponding to the minimum value of the ranging, adding one degree of the measurement angle of the infrared laser range finder outwards at the point, rotating for one circle along a line segment between the unmanned aerial vehicle and the two points of the minimum value of the ranging, judging whether the ranging values of the circle are equal, and if the ranging values are equal, adding the radius of the minimum value and the radius of the ball to obtain the distance from the unmanned aerial vehicle to the center of the sphere.
The method for determining the spherical center coordinate position comprises the following steps: adjusting the position of the unmanned aerial vehicle, measuring three groups of ranging minimum values, and calculating the spherical center position of the sphere by utilizing a three-sphere intersection principle if the position of the unmanned aerial vehicle is known; let three sets of coordinates in the three-dimensional coordinate system of the unmanned aerial vehicle be (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 solved are (x, y, z), and the three groups of distance measurement radiuses are r respectively 1 、r 2 And r 3 Then the following set of equations:
solving the equation (1) to obtain the coordinate position of the sphere center.
The invention has the beneficial effects that:
according to the invention, based on a Beidou high-precision positioning technology, an image recognition technology and an infrared laser ranging technology, the recognition sphere marked with the tower number is arranged above the distribution network tower, the position of the sphere center is used as a tower recognition point, the unmanned aerial vehicle recognizes the tower number through the image recognition technology, and the distance from the unmanned aerial vehicle to the recognition sphere is measured through infrared laser ranging, so that the position of the recognition sphere is calculated, whether the distribution network tower deforms or not is judged, high-precision deformation monitoring of the distribution network tower is facilitated, high-efficiency and reliable operation of the distribution network is ensured, and the method has high practical value and practical significance.
The method solves the technical problems that in the prior art, the cost of installing the deformation monitoring device pole by pole of the distribution network pole is high, the laser radar point cloud scanning is adopted to acquire line point cloud data, and the line point cloud data is compared with a model to identify, so that the processing speed is low, the identification rate is low, and the like.
Drawings
FIG. 1 is a schematic view of an installation identification sphere;
fig. 2 is a schematic diagram of infrared ranging of an unmanned aerial vehicle based on Beidou high-precision positioning;
fig. 3 is a schematic view of three-ball positioning of an unmanned aerial vehicle.
Detailed Description
The invention is further illustrated by the following examples:
a network distribution pole and tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning comprises the following steps:
step 1, installing and identifying a ball: a sphere is arranged above the distribution network tower, the diameter of the sphere is more than 1 decimeter, and the sphere is kept at a position 1-2 decimeters above the highest point of the distribution network tower in the vertical direction, so that the sphere is conveniently identified, and the minimum measured value is obtained by subtracting the radius of the sphere from the distance from the unmanned plane to the sphere center; the position of the sphere center is set as a tower identification point so as to judge whether the tower deforms. Marking a tower number on the ball, and identifying the tower number by the unmanned aerial vehicle by adopting an image identification method; the image recognition method is an OpenCV method.
The manner of identifying the ball installation is shown in fig. 1. The identification sphere is the blue sphere in fig. 1.
Step 2, carrying out infrared ranging on the unmanned aerial vehicle based on Beidou high-precision positioning: the unmanned aerial vehicle flies to face the oblique upper side of the tower top end, the connecting line of the unmanned aerial vehicle and the tower top end and the vertical direction included angle of the tower are limited according to the actual tower condition, the examples of the unmanned aerial vehicle and the tower top end are controlled within 3 meters, and the unmanned aerial vehicle identifies the tower number through an image identification function; and carrying out scanning ranging on the top area of the tower by using the carried infrared laser range finder, recording measured data, and calculating a point corresponding to the minimum value of the ranging. Fig. 2 is an infrared ranging schematic diagram of an unmanned aerial vehicle based on Beidou high-precision positioning, wherein a point O is a sphere center of an identification sphere, A is a point corresponding to a ranging minimum value, D is an unmanned aerial vehicle phase center, and represents a precise position of the unmanned aerial vehicle. And (3) increasing the measurement angle of the infrared laser range finder by one degree at the measurement point A of the infrared laser range finder, rotating the infrared laser range finder along the line segment AD for one circle, and judging whether the range finding values of the circle are equal. In fig. 2, BD and CD are any two ranging values for one rotation, if BD and CD are equal, OD is the distance from the center of sphere to the unmanned aerial vehicle, and if BD and CD are not equal, the tower may be greatly tilted or collapsed.
Step 3, calculating the deformation of the distribution network tower: and adjusting the position of the unmanned aerial vehicle, and measuring three sets of ranging minimum values. The position of the unmanned plane is known, and the spherical center position of the sphere can be obtained by utilizing the three-sphere intersection principle, as shown in fig. 3. If three sets of coordinates in the three-dimensional coordinate system of the unmanned aerial vehicle are (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 solved are (x, y, z), and the three groups of distance measurement radiuses are r respectively 1 、r 2 And r 3 Then the following set of equations:
solving the coordinate position of the sphere center by solving the formula (1), and comparing the coordinate position with the corresponding standard position in the database to judge the deformation size. As the high-precision positioning precision of the unmanned aerial vehicle can reach the millimeter level, the precision of infrared laser ranging can also reach the millimeter level, and the positioning precision can reach the millimeter level.
Claims (2)
1. A network distribution pole tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning is characterized by comprising the following steps of: it comprises the following steps:
step 1, installing a sphere at a position 1-2 decimeters above the highest point in the vertical direction of a distribution network tower, setting the position of the sphere center as a tower identification point, and marking a tower number on the sphere for unmanned aerial vehicle identification;
step 2, carrying out infrared ranging on the unmanned aerial vehicle based on Beidou high-precision positioning, wherein if the ranging values are equal, the minimum value of the unmanned aerial vehicle to the spherical balls and the radius of the spherical balls are the distance from the unmanned aerial vehicle to the spherical center, and if the ranging values are unequal, the tower is inclined or collapsed; the infrared distance measurement method comprises the following steps: the unmanned aerial vehicle flies obliquely above the top end of the pole, and the pole number is identified by an image identification method; the carried infrared laser range finders scan the top area of the tower, record measurement data, calculate the point corresponding to the minimum value of the range of the unmanned aerial vehicle to the sphere, increase the measurement angle of the infrared laser range finders one degree outwards at the point, and rotate one circle along the line segment between the two points of the unmanned aerial vehicle to the minimum value of the range finders, judge whether the range values of the circle are equal, if the range values are equal, the radius of the minimum value plus the sphere is the distance from the unmanned aerial vehicle to the sphere center;
step 3, adjusting the position of the unmanned aerial vehicle, measuring three groups of minimum ranging values, solving the spherical center position of the sphere by utilizing a three-sphere intersection principle, and comparing the spherical center position with the corresponding standard position to judge the deformation size; the method for determining the spherical center coordinate position comprises the following steps: adjusting the position of the unmanned aerial vehicle, measuring three groups of ranging minimum values, and calculating the spherical center position of the sphere by utilizing a three-sphere intersection principle if the position of the unmanned aerial vehicle is known; let three sets of coordinates in the three-dimensional coordinate system of the unmanned aerial vehicle be (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 solved are (x, y, z), and the three groups of distance measurement radiuses are r respectively 1 、r 2 And r 3 Then the following set of equations:
solving the equation (1) to obtain the coordinate position of the sphere center.
2. The distribution network tower deformation monitoring method based on Beidou high-precision unmanned aerial vehicle positioning, which is disclosed in claim 1, is characterized by comprising the following steps: the unmanned aerial vehicle adopts an image recognition method to recognize the tower number, and the image recognition method is an OpenCV method.
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