CN115268499A - Unmanned aerial vehicle overhead transmission line inspection method and system - Google Patents
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Abstract
The invention provides an unmanned aerial vehicle overhead transmission line inspection method and system, belonging to the technical field of unmanned aerial vehicle path planning, wherein the method comprises the following steps: step 1, reading equipment parameters required in a database; step 2, establishing a geodetic coordinate system and a tower coordinate system, and establishing a mapping relation between the geodetic coordinate system and the tower coordinate system; step 3, acquiring inspection detection points according to inspection requirements; step 4, converting the coordinates of the inspection point positions into a geodetic coordinate system based on the mapping relation; step 5, acquiring a course angle of the unmanned aerial vehicle according to the inspection detection point location; step 6, presetting a routing inspection starting point, and connecting routing inspection paths in series based on the course angle of the unmanned aerial vehicle; and 7, finishing the inspection process according to the inspection path. According to the method, the shooting point required to be hovered for fine inspection of the unmanned aerial vehicle on the tower is automatically calculated based on the tower and the key parameters of the equipment on the tower, so that the capital and labor input cost is effectively reduced, the data volume and the calculated amount are greatly reduced, and the inspection efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle path planning, and particularly relates to an unmanned aerial vehicle overhead transmission line inspection method and system.
Background
Along with the development of computer technology, redundant manual work mode is replaced gradually to intelligent equipment, compares in traditional artifical electric power and patrols and examines, and the input cost that the manual work was patrolled and examined has been reduced to the very big degree in appearance of unmanned aerial vehicle equipment, reduces the accident rate of manual work in-process.
In the prior art, in the process of routing inspection of the overhead transmission line by adopting the unmanned aerial vehicle, three-dimensional point cloud modeling is mainly carried out by depending on a laser radar, the setting of routing inspection point positions needs to be clicked and set on three-dimensional point cloud processing software manually, and then all the point positions are connected in series manually or by software to form a fine routing inspection track of the unmanned aerial vehicle. The cost consumed by scanning the power transmission line tower pole by the laser radar is 1500-2500 yuan/km, and the three-dimensional point cloud data needs to be processed by a computer with a GPU, so that the hardware investment cost is high. Meanwhile, due to the performance of the existing airborne laser point cloud equipment of the unmanned aerial vehicle, scanned three-dimensional point cloud data are sparse, when the point location setting is patrolled and examined manually, a position point to be patrolled and examined is easily located on a foreground point or a background point, a track error is caused, and meanwhile, the time for generating the track is greatly prolonged.
Disclosure of Invention
The purpose of the invention is as follows: an unmanned aerial vehicle overhead transmission line inspection method and system are provided to solve the problems in the prior art. Based on key parameters of the tower and the equipment on the tower, the shooting point position where the unmanned aerial vehicle needs to hover for fine inspection on the tower is automatically calculated, investment cost of capital and manpower is effectively reduced, data volume and calculation amount are greatly reduced, and inspection efficiency is improved.
The technical scheme is as follows: in a first aspect, an unmanned aerial vehicle overhead transmission line inspection method is provided, and the method specifically comprises the following steps:
step 1, reading required equipment parameters in a database;
step 2, establishing a coordinate system and a mapping relation between the coordinate systems according to the object-oriented categories; the coordinate system includes: geodetic coordinate systems and tower coordinate systems.
Wherein the geodetic coordinate system comprises: geodetic longitude, geodetic latitude, and geodetic height; the geodetic longitude is a dihedral angle formed by the geodetic origin meridian plane and the meridian plane where the target point is located, calculated from the origin meridian plane, eastern is positive, called east meridian, westward is negative, called west meridian, both of which have floating values ranging from 0 to 180. The geodetic latitude is an included angle between a normal line passing through a target point and an equatorial plane, and from the equatorial plane, the north direction is positive and called north latitude, the south direction is negative and called south latitude, and the numerical value floating ranges of the north latitude and the south latitude are 0-90. The geodetic height is the distance from the ground point to the ellipsoid along the normal to the ellipsoid.
The tower coordinate system comprises: and the x axis and the y axis use the GPS coordinates of the pole tower and the sea level height 0 as original points, the direction perpendicular to the cross arm is the x axis, the direction horizontal to the cross arm is the y axis, the positive direction of the x axis is the direction of the pole tower facing to the next base pole tower in the line, and the positive direction of the y axis is the direction facing to the north.
Step 3, acquiring inspection detection points according to inspection requirements;
step 4, converting the tower coordinates of the inspection detection point positions into a geodetic coordinate system based on the mapping relation;
based on the mapping relation between the geodetic coordinate system and the tower coordinate system, the unmanned aerial vehicle inspection coordinate conversion process is realized, and the method specifically comprises the following steps:
step 4.1, calculating offset according to the original point position between the coordinate systems;
origin of the geodetic coordinate system is (L) 0 ,B 0 0), the origin coordinate of the tower coordinate system is (0,0,0) in the original coordinate system, and is (L, B, 0) after being converted into the geodetic coordinate system, therefore, the obtained coordinate offset is (L 0 -L,B 0 -B,0)＝[-L,-B,0]；
4.2, calculating a coordinate system deflection angle according to the position information of front and rear towers;
extracting GPS coordinates of a former base tower and a latter base tower of the current tower, and calculating a coordinate system deflection angle of the current tower; let A be a former base tower, B be a latter base tower, C be the current tower, and A, B, C all perform over-translation with the offset of C, when the x-axis and the y-axis are the earth coordinate system, and the y' axis is the tower coordinate system where C is located, converting each inspection detection point position in the tower coordinate system point by point to obtain the coordinate value in the earth coordinate system;
4.3, converting the unmanned aerial vehicle inspection detection point position in the tower coordinate system to a geodetic coordinate system according to the offset and the coordinate system deflection angle, wherein the specific conversion expression is as follows:
(l,b,h)＝(-L*cos(θ)+(-B)*sin(θ),-B*cos(θ)-(-L)*sin(θ),h)
in the formula, (x, y, h) represents the abscissa, the ordinate and the height of each routing inspection point in a tower coordinate system; (l, b, h) longitude, latitude and altitude of each patrol detection point in the geodetic coordinate system; (L, B) representing longitude and latitude after the tower is converted into a geodetic coordinate system; theta represents an included angle between the y axis of the geodetic coordinate system and the y' axis of the tower coordinate system of the tower C, and is also a course deflection angle which needs to be adjusted by the unmanned aerial vehicle at the moment.
Step 5, acquiring a course angle of the unmanned aerial vehicle according to the inspection detection point location;
and in the routing inspection process, the course angle of the unmanned aerial vehicle is obtained according to geodetic coordinates and front and rear position information of all routing inspection detection points.
Step 6, presetting a routing inspection starting point, and connecting routing inspection paths in series based on the course angle of the unmanned aerial vehicle;
and 7, finishing the inspection process according to the inspection path.
In some implementation manners of the first aspect, when an wind speed factor of the force is not resisted, a flight path is set to be opposite to a wind direction and a wind speed, and a process of acquiring a heading angle of the unmanned aerial vehicle when the unmanned aerial vehicle has wind is as follows:
wherein δ represents the unmanned aerial vehicle heading angle at which the wind is;
representing a heading angle in the absence of wind; σ represents a wind direction angle.
The process of acquiring the flight speed comprises the following steps:
in the formula, the flight of unmanned aerial vehicle in windy time is shownSpeed;
representing the flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is windless; δ × f represents the wind resistance speed of the unmanned aerial vehicle in the current flight direction; f represents the current wind speed.
In some implementation manners of the first aspect, when an obstacle occurs in the inspection process and obstructs the inspection task, whether the obstacle occurs is judged by comparing the real-time obstacle avoidance sensor information of the unmanned aerial vehicle with a preset safety distance;
when the judgment result shows that the obstacle appears, controlling the unmanned aerial vehicle to fly for a certain distance in the direction opposite to the direction in which the distance reported by the obstacle avoidance sensor is shortened, translating the unmanned aerial vehicle to the left side or the right side in the horizontal direction, and simultaneously acquiring the obstacle avoidance distance reported by the sensor in real time until the detection result shows that the obstacle is bypassed;
recording the current hovering position of the unmanned aerial vehicle, calculating the position difference between the unmanned aerial vehicle and the inspection shooting point location which is automatically calculated in advance at the moment, recalculating the temporary heading angle, adjusting the heading angle of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly to the shooting point location, monitoring obstacle avoidance information in real time, and shooting the image of the current inspection point location when the actual distance is equal to the safe shooting distance.
In a second aspect, an unmanned aerial vehicle overhead transmission line inspection system is provided for realizing an inspection method of a transmission line, and the system specifically comprises the following modules:
the database is used for storing relevant equipment parameters of the overhead transmission line;
the data reading module is used for reading the equipment parameters in the database;
the coordinate system building module is used for building a corresponding coordinate system according to different object-oriented objects;
the coordinate value conversion module is used for completing the conversion of coefficient values of different coordinates according to the mapping relation between coordinate systems;
the detection point location acquisition module is used for determining the positions of the detection points according to the routing inspection requirement;
the course angle obtaining module is used for determining the position of the detection point according to the detection point position obtaining module and calculating to obtain the course angle of the unmanned aerial vehicle;
and the path planning module is used for serially connecting the inspection path at a preset inspection starting point according to the course angle of the unmanned aerial vehicle and the position of the detection point.
And the execution module is used for executing the inspection task according to the inspection path generated by the path planning module.
The third aspect provides an unmanned aerial vehicle overhead transmission line equipment of patrolling and examining, and this equipment includes: a processor and a memory storing computer program instructions.
The processor reads and executes computer program instructions to realize the power transmission line inspection method.
In a fourth aspect, a computer-readable storage medium having computer program instructions stored thereon is presented. The computer program instructions are executed by the processor to implement the power transmission line inspection method.
Has the advantages that: the invention provides an unmanned aerial vehicle overhead transmission line inspection method and system, which are used for automatically calculating the hovering shooting point position of an unmanned aerial vehicle on a tower for fine inspection based on the tower and the key parameters of equipment on the tower, thereby effectively reducing the capital and labor input cost, greatly reducing the data volume and the calculation volume and improving the inspection efficiency. Meanwhile, the method further provides a countermeasure against wind speed influence of force which is not resistant in the practical application process and the situation of barrier blocking, and effectively improves the inspection efficiency.
Drawings
FIG. 1 is a flow chart of data processing according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a shooting spot according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of auxiliary point locations according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of point coordinates according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a positional relationship between different towers according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a routing inspection path according to an embodiment of the present invention.
FIG. 7 is a graph illustrating the calculation of the heading angle of the UAV according to an embodiment of the present invention.
FIG. 8 is a flow chart illustrating a wind-resistant track correction process according to an embodiment of the present invention.
Fig. 9 is a flowchart of performing obstacle avoidance measures according to the embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
Example one
In one embodiment, aiming at the problems that in the prior art, the three-dimensional point cloud modeling and track planning for the fine routing inspection of the power transmission overhead line based on the laser radar have the characteristics of high cost, high error probability and long time and influence the overall routing inspection efficiency, the method for routing inspection of the unmanned aerial vehicle overhead power transmission line is provided, and as shown in fig. 1, the method specifically comprises the following steps:
step 1, reading equipment parameters required in a database;
step 2, establishing a geodetic coordinate system and a tower coordinate system, and establishing a mapping relation between the geodetic coordinate system and the tower coordinate system;
step 3, acquiring patrol detection points according to patrol requirements;
step 4, converting the coordinates of the inspection point positions into a geodetic coordinate system based on the mapping relation;
step 5, acquiring a course angle of the unmanned aerial vehicle according to the inspection detection point location;
step 6, presetting a routing inspection starting point, and connecting routing inspection paths in series based on the course angle of the unmanned aerial vehicle;
and 7, finishing the inspection process according to the inspection path.
According to the embodiment, based on the tower and key parameters of equipment on the tower, the shooting positions of the unmanned aerial vehicle, which need to be hovered, for fine inspection on the tower are automatically calculated, the investment cost of capital and manpower is effectively reduced, the data volume and the calculated amount are greatly reduced, and the inspection efficiency is improved.
In a further embodiment, the device parameters read from the database are shown in table 1 below, and correspond to tower ledger information and system device technical parameters of a national grid production management system of a national grid company.
TABLE 1
In a further embodiment, in the process of establishing the geodetic coordinate system (L, B, H), firstly, the geodetic longitude L of a point on the ground is taken as a dihedral angle formed by the geodetic start meridian plane and the meridian plane where the point is located, and the meridian plane is positive towards the east, called east (0-180) and negative towards the west, called west (0-180) from the start meridian plane; the geodetic latitude B is an included angle between the normal of the ellipsoid passing through the point and the equatorial plane, and is counted from the equatorial plane, the north direction is positive and is called north latitude (0-90), and the south direction is negative and is called south latitude (0-90); the geodetic height H is the distance from the ground point to the ellipsoid along the normal to the ellipsoid.
In the process of establishing a tower coordinate system, taking a GPS coordinate (lng, lat) and sea level height 0 of a tower as origin points, taking a direction perpendicular to a cross arm as an x axis, and taking a direction horizontal to the cross arm as a y axis; wherein the positive direction of the x axis is the direction of the tower facing the next base tower in the line, and the positive direction of the y axis is the direction facing the north.
The method for realizing the unmanned aerial vehicle inspection coordinate conversion process based on the mapping relation between the geodetic coordinate system and the tower coordinate system specifically comprises the following steps of: firstly, calculating the offset of a coordinate system; secondly, calculating a coordinate system deflection angle according to the position information of front and rear towers, so as to obtain a course deflection angle which needs to be adjusted by the unmanned aerial vehicle at the moment; thirdly, setting a starting point of the routing inspection path, and connecting routing inspection detection points in series to obtain the routing inspection path; secondly, acquiring a course angle of the unmanned aerial vehicle in the inspection process between two adjacent points according to the two adjacent points in the inspection path; and finally, completing the inspection of the overhead transmission line according to the inspection track, the course deflection angle and the course angle.
In a preferred embodiment, the inspection site is used to capture image data corresponding to the location for subsequent analysis, so as to determine the inspection result, and as shown in fig. 2, the tower equipment that the inspection site needs to capture includes: the ground wire cross arm hanging point, the insulator cross arm side hanging point, the insulator string and the insulator wire side hanging point. Common shaft tower has four layers of cross arms, one deck ground wire cross arm promptly, the ordinary cross arm of three-layer, and the shaft tower is two return circuits, and the tower is symmetrical structure promptly, and common shaft tower insulator is straight line single cluster moreover, and a string insulator is hung on the vertical direction to ordinary cross arm promptly, therefore the shooting point position expression of this embodiment shaft tower is:
[G w +(I w +I strand +I wireway )*3]*2
in the formula, G w Representing a ground wire cross arm hanging point; i is w Representing a lateral hanging point of the insulator cross arm; i is strand Represents an insulator string; i is wireway Showing the insulator wire hang point. As shown in fig. 2, 20 inspection detection points are selected.
In a further embodiment, because the shooting point of the unmanned aerial vehicle needs to keep a safe distance from the target device, in order to facilitate routing inspection of the flight path, as shown in fig. 3, auxiliary points of the unmanned aerial vehicle are further added.
In the preferred embodiment, in the process of carrying out unmanned aerial vehicle overhead transmission line inspection by using the key parameters, if a base tower is a typical tower and has 4 layers of cross arms, the total data volume is as follows:
64+32+32+…+32+32+32+(32+32+32+32+32)*4+32＝992bit
the data volume of the three-dimensional point cloud of a base tower is Gb level, about 10 minutes is needed for processing the point cloud data of the base tower on a typical configuration computer for processing the three-dimensional point cloud, the fine routing inspection point location of the unmanned aerial vehicle overhead transmission line is automatically and rapidly modeled by using key parameters, and only 0.2 second is needed on the computer with the same configuration. The unmanned aerial vehicle overhead transmission line refined routing inspection point location automatic rapid modeling and the flight path planning are carried out on the three-dimensional point cloud model, about 30 minutes is needed for one base tower, the key parameters are utilized to carry out the unmanned aerial vehicle overhead transmission line refined routing inspection point location automatic rapid modeling and the flight path planning, manpower is not needed, and only 2 seconds are needed by utilizing a CPU on a computer.
Therefore, the inspection method provided by the embodiment greatly reduces the data storage capacity, the data processing time, the manual processing time, the hardware cost and the labor cost.
Example two
In a further embodiment based on the first embodiment, in the tower coordinate system, as shown in fig. 4, the process of obtaining the coordinates of each inspection detection point by using the key device parameter calculation is as follows: firstly, an auxiliary point 1 is set as a starting point of a flight path, and corresponding coordinates are (0, H) m +H f + S), coordinates of auxiliary point 2 (0,L) l1 +S，H m +H f + S), auxiliary point 3 (0, -L) r1 -S，H m +H f + S), then set the left and right ground wire hanging points as the cross arm layer 1, i.e. H 1 ＝H m +H f And further obtain the coordinates of the hanging point of the left ground wire as (0,L) l1 +S，H 1 ) The right ground wire hanging point coordinate is (0, -L) r1 -S，H 1 )。
If the line voltage class corresponds to the length J of the insulator, when the tower type is a tangent tower, the equipment coordinate values of different layers are sequentially obtained in a circulating mode, namely the height of the layer n is H n ＝H n-1 -D n-1 The coordinate of the cross arm side hanging point on the left side of the layer n is (0,L) ln +S，H n ) The point coordinate of the insulator string on the left side of the layer n is (0,L) ln +S，H n -J/2), left transverse wire hanging point coordinate of layer n is (0,L) ln +S，H n -J) and the right side cross arm side hanging point coordinate of the layer n is (0, -L) rn -S，H n ) The point position coordinates of the insulator string on the right side of the layer n are (0, -L) rn -S，H n -J/2), the coordinates of the right side transverse wire hanging point of the layer n are (0, -L) rn -S，H n -J)。
When the tower is a tension tower, equipment coordinate values of different layers are sequentially obtained in a circulating mode, namely the height of the layer n is H n ＝H n-1 -D n-1 The left hanging point coordinate of the left cross arm side of the layer n is (W) ln /2，L ln +S，H n ) Left insulator chain point on the left side of layer nThe bit coordinate is (W) ln /2+J/2，L ln +S，H n ) The left hanging point coordinate of the horizontal lead on the left side of the layer n is (W) ln /2+J，L ln +S，H n ) And the left and right hanging point coordinates of the cross arm side at the left side of the layer n are (-W) ln /2，L ln +S，H n ) The point position coordinate of the right insulator string on the left side of the layer n is (-W) ln /2-J/2，L ln +S，H n ) And the coordinate of the right hanging point of the left transverse wire of the layer n is (-W) ln /2-J，L ln +S，H n ) The left hanging point coordinate of the right cross arm side of the layer n is (-W) ln /2，-L rn -S，H n ) The point position coordinate of the left insulator string on the right side of the layer n is (-W) ln /2-J/2，-L rn -S，H n ) The coordinate of the left hanging point of the transverse wire on the right side of the layer n is (-W) ln /2-J，-L rn -S，H n ) The right hanging point on the right cross arm side of the layer n has the coordinate of (W) ln /2，-L rn -S，H n ) The point position coordinate of the right insulator string on the right side of the layer n is (W) ln /2+J/2，-L rn -S，H n ) The coordinate of the right hanging point of the transverse wire on the right side of the layer n is (W) ln /2+J，-L rn -S，H n )。
In the preferred embodiment, when the left and right ground wire hanging points are the cross arm layer 1, the pseudo codes of different types of tower coordinates are as follows: if type = = straight tower:
for n from 2 to N：
height H of layer n n ＝H n-1 -D n-1
Layer n left cross arm side hanging point coordinate = (0,L) ln +S，H n )
String point coordinates of insulator string on the left side of layer n = (0,L) ln +S，H n -J/2)
Layer n left cross wire hanging point coordinate = (0,L) ln +S，H n -J)
Layer n right side cross arm side hanging point coordinates = (0, -L) rn -S，H n )
Point position coordinates of insulator string on right side of layer n = (0, -L) rn -S，H n -J/2)
Layer n right side transverse wire hanging point coordinate = (0, -L) rn -S，H n -J)
elseif type = = strain tower:
for i from 2 to N：
height H of layer n n ＝H n-1 -D n-1
Layer n left side cross arm side left hanging point coordinate = (W) ln /2，L ln +S，H n )
Point position coordinates of left insulator string on left side of layer n = (W) ln /2+J/2，L ln +S，H n )
Layer n left side horizontal wire left hanging point coordinate = (W) ln /2+J，L in +S，H n )
Left and right hanging point coordinates of cross arm side on left side of layer n = (-W) ln /2，L ln +S，H n )
Point position coordinates (= -W) of right insulator string on left side of layer n ln /2-J/2，L ln +S，H n )
Layer n left side transverse wire right hanging point coordinate = (-W) ln /2-J，L ln +S，H n )
Layer n right side cross arm side left hanging point coordinate = (-W) ln /2，-L rn -S，H n )
Point position coordinates (= -W) of left insulator string on right side of layer n ln /2-J/2，-L rn -S，H n )
Layer n right side horizontal wire left hanging point coordinate = (-W) ln /2-J，-L rn -S，H n )
Layer n right cross arm side right hanging point coordinate = (W) ln /2，-L rn -S，H n )
Point position coordinates of right insulator string on right side of layer n = (W) ln /2+J/2，-L rn -S，H n )
Layer n right side transverse wire right hanging point coordinate = (W) ln /2+J，-L rn -S，H n )
EXAMPLE III
In a further embodiment based on the first embodiment, in the process of converting the unmanned aerial vehicle patrol coordinate system based on the mapping relation between the geodetic coordinate system and the tower coordinate system: origin of the geodetic coordinate system is (L) 0 ，B 0 0) and the coordinate of the origin of the tower coordinate system is (0,0,0) in the original coordinate system and is (L, B, 0) after being converted into the geodetic coordinate system, so that the obtained coordinate offset is (L, B, 0) 0 -L，B 0 -B，0)＝[-L，-B，0]。
In the process of calculating the deflection angle, because the GPS coordinates of all towers in the line are known, the GPS coordinates of the former base and the latter base of the current tower are extracted, and therefore the deflection angle of the coordinate system of the current tower is calculated. Let A be the former base tower, B be the latter base tower, C be the current tower, and A, B, C all make an over-translation with the offset of C, then the positional relationship is as shown in FIG. 5, where the x-axis y-axis is the geodetic coordinate system, and the y' axis is the tower coordinate system where C is located.
Converting each hovering point position in the pole tower coordinate system point by point to obtain coordinate values in the earth coordinate system, wherein a specific conversion expression is as follows:
(l，b，h)＝(-L*cos(θ)+(-B)*sin(θ)，-B*cos(θ)-(-L)*sin(θ)，h)
in the formula, (x, y, h) represents the horizontal and vertical coordinates and the height of each inspection detection point in a tower coordinate system; (l, b, h) the longitude, latitude and height of each patrol detection point in a geodetic coordinate system; (L, B) representing longitude and latitude after the tower is converted into a geodetic coordinate system; theta represents an included angle between the y axis of the geodetic coordinate system and the y' axis of the tower coordinate system of the tower C, and is also a course deflection angle which needs to be adjusted by the unmanned aerial vehicle at the moment.
Wherein, the calculation expression for obtaining the deflection angle θ is as follows:
in the formula, V represents an included angle between a connecting line of a GPS coordinate of a pole tower B and a GPS coordinate of a pole tower C and an x axis of a geodetic coordinate system; and U represents an included angle between a connecting line of the GPS coordinates of the tower B and the GPS coordinates of the tower C and a y' axis of a tower coordinate system of the tower C.
When the horizontal and vertical coordinates of the tower B in the geodetic coordinate system are (x) B ，y B ) And the horizontal and vertical coordinates of the tower A in the geodetic coordinate systemIs (x) A ，y A ) When the temperature of the water is higher than the set temperature,
and substituting the calculated data into a deflection angle operation expression to obtain the course deflection angle required to be adjusted by the unmanned aerial vehicle at the moment.
Example four
In a further embodiment based on the first embodiment, as shown in fig. 6, the S point is simultaneously used as a starting point, a relay point and an end point. Starting from the S point, the unmanned aerial vehicle flies to each hovering point from the high to the low in sequence and shoots at the refined inspection equipment point. After one side finishes shooting of the lowest point location, the unmanned aerial vehicle climbs and returns to the relay point S, flies to the other side and finishes the same action. After the point locations on the two sides are shot, the unmanned aerial vehicle climbs upwards to return to the terminal S, and goes to the S point location corresponding to the next base pole tower in the line to continue to refine the routing inspection task.
After the geodetic coordinates (L, B and H) of all hovering point positions of the tower are obtained, the geodetic coordinates of all the point positions are added into a queue according to a set routing inspection path, and the course angle of the unmanned aerial vehicle is calculated according to the current position of the unmanned aerial vehicle and the geodetic coordinates of a target point position, namely, the unmanned aerial vehicle flies towards the next hovering point position in what direction, and the hovering point position faces towards the target equipment in what direction, so that a camera can shoot conveniently.
As shown in FIG. 7, for any two points A (x, y), B (x ', y') in the same coordinate system whose spatial coordinates are known, the heading angle can be calculated
In the formula (I), the compound is shown in the specification,
representing a forward heading angle;
indicating the current heading angle.
EXAMPLE five
In a further embodiment based on the first embodiment, in the process of identifying the target for each waypoint in the routing inspection process, a deep learning target detection technology is adopted, so that it is confirmed that the unmanned aerial vehicle can shoot the target part to be shot at the moment. And meanwhile, fine adjustment of the navigation attitude of the unmanned aerial vehicle is carried out by comparing the central coordinates of the detection frame with the central coordinates of the picture.
EXAMPLE six
In a further embodiment on the basis of the embodiment, in the process of planning the routing inspection path, due to wind factors in environment factors, deviation of the flight path of the unmanned aerial vehicle is often caused, so that accurate point location flight and stable hovering for fine routing inspection shooting cannot be performed through the pre-automatically calculated flight path, and further the subsequent data analysis effect is influenced. Therefore, this embodiment is patrolling and examining the in-process of route in the planning, and real time monitoring unmanned aerial vehicle self GPS when navigating the point suspension, the deviation of record unmanned aerial vehicle self position of hovering to this calculates wind direction and wind speed, through simulating unmanned aerial vehicle flight path in real time, adjusts unmanned aerial vehicle flight speed and track, corrects in order to realize anti-wind track.
Specifically, as shown in fig. 8, in the current working environment, a wind direction angle σ and a wind speed f in the geodetic coordinate system are calculated from a difference between two point positions of the unmanned aerial vehicle. In the process that the unmanned aerial vehicle flies to the next waypoint, the flight path is set inversely to the wind direction and the wind speed, namely the course angle of the unmanned aerial vehicle when wind exists:
the flying speed is as follows:
wherein δ represents the unmanned aerial vehicle heading angle at which the wind is;
representing a heading angle in the absence of wind; sigma represents a wind direction angle; f represents the flying speed of the unmanned aerial vehicle in the presence of wind;
representing the flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is windless; δ × f represents the wind resistance speed of the unmanned aerial vehicle in the current flight direction; f represents the current wind speed.
EXAMPLE seven
In a further embodiment on the basis of the first embodiment, during the flight of the unmanned aerial vehicle, the situation of encountering an obstacle is easy to occur. The default handling way of most unmanned planes after encountering an obstacle is to hover immediately and wait for manual instruction. Because the parameterized and automatically calculated point positions of the unmanned aerial vehicle only use data, and sensor data such as visible light video stream and the like are not used, the automatically calculated point positions and flight paths cannot predict the appearance of obstacles.
Therefore, in actual flight, as shown in fig. 9, the current distance T between the unmanned aerial vehicle and the physical target can be acquired through the obstacle avoidance sensor carried by the unmanned aerial vehicle. Because the safe shooting distance S is added in advance during the point position design and the air route calculation, the unmanned aerial vehicle is prevented from being broken down by high voltage, and whether the obstacle appears can be judged by comparing the real-time obstacle avoidance information of the unmanned aerial vehicle with the preset safe distanceAn obstruction; if unmanned aerial vehicle 'S real-time distance value T who keeps away barrier information display is less than predetermined safe distance S, then show that the barrier has appeared on this route, at this moment, control unmanned aerial vehicle towards with keep away the barrier apart from the opposite direction flight certain distance T that shortens, in order to guarantee unmanned aerial vehicle safety, and to horizontal direction' S left side or right side translation, real-time detection keeps away barrier distance T simultaneously, when keeping away barrier distance T = T + S, show that the barrier has been crossed this moment. Recording the hovering position (L, B, H) of the unmanned aerial vehicle at the moment, and calculating the unmanned aerial vehicle at the moment and the patrol shooting point position (L) automatically calculated in advance t ，B t ，H t ) The position difference of (2), recalculating the temporary heading angle theta t And adjusting the course angle of the unmanned aerial vehicle to enable the unmanned aerial vehicle to shoot a point position (L) t ，B t ，H t ) And flying, monitoring obstacle avoidance information T in real time, and shooting a diagram of the inspection point by the unmanned aerial vehicle when T = S.
Example eight
In one embodiment, an unmanned aerial vehicle overhead transmission line inspection system is provided for implementing an overhead transmission line inspection method, and specifically includes the following modules:
the database is used for storing relevant equipment parameters of the overhead transmission line;
the data reading module is used for reading the equipment parameters in the database;
the coordinate system building module is used for building a corresponding coordinate system according to different object-oriented objects;
the coordinate value conversion module is used for completing the conversion of coefficient values of different coordinates according to the mapping relation between coordinate systems;
the detection point location acquisition module is used for determining the positions of the detection points according to the routing inspection requirement;
the course angle obtaining module is used for determining the position of the detection point according to the detection point position obtaining module and calculating to obtain the course angle of the unmanned aerial vehicle;
and the path planning module is used for serially connecting the inspection path at a preset inspection starting point according to the course angle of the unmanned aerial vehicle and the position of the detection point.
And the execution module is used for executing the inspection task according to the inspection path generated by the path planning module.
Example nine
In one embodiment, an unmanned aerial vehicle overhead transmission line inspection equipment is proposed, and the equipment includes: a processor and a memory storing computer program instructions.
The processor reads and executes computer program instructions to realize the power transmission line inspection method.
Example ten
In one embodiment, a computer-readable storage medium having computer program instructions stored thereon is presented.
Wherein the computer program instructions, when executed by the processor, implement a power transmission line inspection method.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The unmanned aerial vehicle overhead transmission line inspection method is characterized by specifically comprising the following steps of:
step 1, reading equipment parameters required in a database;
step 2, establishing a coordinate system and a mapping relation between the coordinate systems according to the object-oriented categories; the coordinate system includes: a geodetic coordinate system and a tower coordinate system;
step 3, acquiring inspection detection points according to inspection requirements;
step 4, converting the tower coordinates of the inspection detection point positions into a geodetic coordinate system based on the mapping relation;
step 5, acquiring a course angle of the unmanned aerial vehicle according to the inspection detection point location;
step 6, presetting a routing inspection starting point, and connecting routing inspection paths in series based on the course angle of the unmanned aerial vehicle;
and 7, finishing the inspection process according to the inspection path.
2. The unmanned aerial vehicle overhead transmission line inspection method according to claim 1, wherein the geodetic coordinate system comprises: geodetic longitude, geodetic latitude, and geodetic height;
the geodetic longitude is a dihedral angle formed by a geodetic initial meridian plane and a meridian plane where a target point is located, and the floating numerical value ranges from 0 to 180, wherein the dihedral angle is positive towards the east and is called east longitude, and the west meridian angle is negative towards the west and is called west meridian from the initial meridian plane;
the geodetic latitude is an included angle between a normal line passing through a target point and an equatorial plane, and the geodetic latitude is calculated from the equatorial plane, is positive in the north direction and is called north latitude, is negative in the south direction and is called south latitude, and the numerical floating ranges of the north latitude and the south latitude are 0-90;
the geodetic height is the distance from a ground point to an ellipsoid along the normal of the ellipsoid;
the tower coordinate system comprises: and the x axis and the y axis use the GPS coordinates of the pole tower and the sea level height 0 as original points, the direction perpendicular to the cross arm is the x axis, the direction horizontal to the cross arm is the y axis, the positive direction of the x axis is the direction of the pole tower facing to the next base pole tower in the line, and the positive direction of the y axis is the direction facing to the north.
3. The unmanned aerial vehicle overhead transmission line inspection method according to claim 1, wherein a coordinate conversion process of the unmanned aerial vehicle inspection is realized based on a mapping relation between a geodetic coordinate system and a tower coordinate system, and the method specifically comprises the following steps:
step 4.1, calculating offset according to the original point position between the coordinate systems;
origin of the geodetic coordinate system is (L) 0 ，B 0 0), the origin coordinate of the tower coordinate system is (0,0,0) in the original coordinate system, and is (L, B, 0) after being converted into the geodetic coordinate system, therefore, the obtained coordinate offset is (L 0 -L，B 0 -B，0)＝[-L，-B，0]；
4.2, calculating a coordinate system deflection angle according to the position information of front and rear towers;
extracting GPS coordinates of a former base tower and a latter base tower of the current tower, and calculating a coordinate system deflection angle of the current tower; let A be a former base tower, B be a latter base tower, C be the current tower, and A, B, C all perform over-translation with the offset of C, when the x-axis and the y-axis are the earth coordinate system, and the y' axis is the tower coordinate system where C is located, converting each inspection detection point position in the tower coordinate system point by point to obtain the coordinate value in the earth coordinate system;
4.3, converting the unmanned aerial vehicle inspection detection point position in the tower coordinate system to a geodetic coordinate system according to the offset and the coordinate system deflection angle, wherein the specific conversion expression is as follows:
(l，b，h)＝(-L*cos(θ)+(-B)*sin(θ)，-B*cos(θ)-(-L)*sin(θ)，h)
in the formula, (x, y, h) represents the abscissa, the ordinate and the height of each inspection detection point in a tower coordinate system; (l, b, h) the longitude, latitude and height of each patrol detection point in a geodetic coordinate system; (L, B) representing longitude and latitude after the tower is converted into a geodetic coordinate system; theta represents an included angle between the y axis of the geodetic coordinate system and the y' axis of the tower coordinate system of the tower C, and is also a course deflection angle which needs to be adjusted by the unmanned aerial vehicle at the moment.
4. The unmanned aerial vehicle overhead transmission line inspection method according to claim 3, wherein the expression of the course deflection angle θ is as follows:
in the formula (I), the compound is shown in the specification,
the included angle between the connecting line of the GPS coordinates of the tower B and the GPS coordinates of the tower C and the x axis of the geodetic coordinate system is represented;
representing the line connecting the GPS coordinates of tower B and tower C and the tower coordinate system of tower CThe included angle of the y' axis; (x) A ，y A ) The horizontal and vertical coordinates of the tower A in a geodetic coordinate system are represented; (x) B ，y B ) And the horizontal and vertical coordinates of the tower B in the geodetic coordinate system are shown.
5. The unmanned aerial vehicle overhead transmission line inspection method according to claim 1, characterized in that in the process of routing inspection path planning, a point is preset as a starting point, and an inspection path of the unmanned aerial vehicle is described in a mode of connecting adjacent inspection detection points in series;
and in the routing inspection process, the course angle of the unmanned aerial vehicle is obtained according to geodetic coordinates and front and rear position information of all routing inspection detection points.
6. The unmanned aerial vehicle overhead transmission line inspection method according to claim 1, wherein in the inspection process, when an irresistible wind speed factor occurs, the flying track is set inversely to the wind direction and the wind speed, and the process of acquiring the heading angle of the unmanned aerial vehicle when wind exists is as follows:
δ＝θ-σ
wherein δ represents the unmanned aerial vehicle heading angle at which the wind is; θ represents the heading angle in the absence of wind; sigma represents a wind direction angle;
the process of acquiring the flight speed comprises the following steps:
in the formula, the flying speed of the unmanned aerial vehicle in wind is represented;
representing the flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is windless; δ × f represents the wind resistance speed of the unmanned aerial vehicle in the current flight direction; f represents the current wind speed.
7. The unmanned aerial vehicle overhead transmission line inspection method according to claim 1, wherein when an obstacle occurs in the inspection process and obstructs the inspection task, the real-time obstacle avoidance sensor information of the unmanned aerial vehicle is compared with a preset safety distance to judge whether the obstacle occurs;
when the judgment result shows that the obstacle appears, controlling the unmanned aerial vehicle to fly for a certain distance towards the direction opposite to the direction of shortening the distance reported by the obstacle avoidance sensor, translating towards the left side or the right side in the horizontal direction, and simultaneously acquiring the obstacle avoidance distance reported by the sensor in real time until the detection result shows that the obstacle is bypassed;
recording the current hovering position of the unmanned aerial vehicle, calculating the position difference between the unmanned aerial vehicle and the inspection shooting point location which is automatically calculated in advance at the moment, recalculating the temporary heading angle, adjusting the heading angle of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly to the shooting point location, monitoring obstacle avoidance information in real time, and shooting the image of the current inspection point location when the actual distance is equal to the safe shooting distance.
8. An unmanned aerial vehicle overhead transmission line inspection system is used for realizing the transmission line inspection method according to any one of claims 1 to 7, and is characterized by specifically comprising the following modules:
the database is used for storing relevant equipment parameters of the overhead transmission line;
the data reading module is used for reading the equipment parameters in the database;
the coordinate system building module is used for building a corresponding coordinate system according to different object-oriented objects;
the coordinate value conversion module is used for completing the conversion of coefficient values of different coordinates according to the mapping relation between coordinate systems;
the detection point position acquisition module is used for determining the position of a detection point according to the routing inspection requirement;
the course angle obtaining module is used for determining the position of the detection point according to the detection point position obtaining module and calculating to obtain the course angle of the unmanned aerial vehicle;
and the path planning module is used for serially connecting the inspection path at a preset inspection starting point according to the unmanned aerial vehicle course angle and the detection point position.
And the execution module is used for executing the inspection task according to the inspection path generated by the path planning module.
9. The utility model provides an unmanned aerial vehicle overhead transmission line equipment of patrolling and examining, its characterized in that, equipment includes:
a processor and a memory storing computer program instructions;
the processor reads and executes the computer program instructions to implement the power transmission line inspection method according to any one of claims 1 to 7.
10. A computer-readable storage medium having computer program instructions stored thereon which, when executed by a processor, implement a power transmission line inspection method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117148871A (en) * | 2023-11-01 | 2023-12-01 | 中国民航管理干部学院 | Multi-unmanned aerial vehicle collaborative power inspection method and system |
| CN117629079A (en) * | 2024-01-26 | 2024-03-01 | 智洋创新科技股份有限公司 | Power transmission wire windage yaw monitoring method and device based on data analysis and calibration object |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117148871A (en) * | 2023-11-01 | 2023-12-01 | 中国民航管理干部学院 | Multi-unmanned aerial vehicle collaborative power inspection method and system |
| CN117148871B (en) * | 2023-11-01 | 2024-02-27 | 中国民航管理干部学院 | Multi-unmanned aerial vehicle collaborative power inspection method and system |
| CN117629079A (en) * | 2024-01-26 | 2024-03-01 | 智洋创新科技股份有限公司 | Power transmission wire windage yaw monitoring method and device based on data analysis and calibration object |
| CN117629079B (en) * | 2024-01-26 | 2024-05-10 | 智洋创新科技股份有限公司 | Power transmission wire windage yaw monitoring method and device based on data analysis and calibration object |
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