CN116185054A - Unmanned aerial vehicle transmission line inspection method and system based on miniature laser radar - Google Patents
Unmanned aerial vehicle transmission line inspection method and system based on miniature laser radar Download PDFInfo
- Publication number
- CN116185054A CN116185054A CN202211497321.8A CN202211497321A CN116185054A CN 116185054 A CN116185054 A CN 116185054A CN 202211497321 A CN202211497321 A CN 202211497321A CN 116185054 A CN116185054 A CN 116185054A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- transmission line
- laser radar
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000007689 inspection Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 16
- 230000006870 function Effects 0.000 claims description 45
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 39
- 230000008859 change Effects 0.000 claims description 11
- 230000007547 defect Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 13
- 230000004888 barrier function Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000012544 monitoring process Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 230000006798 recombination Effects 0.000 description 2
- 238000005215 recombination Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000003642 hunger Nutrition 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000037351 starvation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mathematical Analysis (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Physics (AREA)
- Mathematical Optimization (AREA)
- Algebra (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optical Communication System (AREA)
Abstract
The invention discloses an unmanned aerial vehicle transmission line inspection method and system based on a miniature laser radar, comprising the following steps: receiving detection data acquired by a laser radar and real-time sensing data acquired by a visible light sensor through a standard interface with an unmanned aerial vehicle, wherein the laser radar and the visible light sensor are loaded on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle; according to the detection data, determining the distance from the unmanned aerial vehicle to the lower power transmission line and/or the distance from the unmanned aerial vehicle to the obstacle; and/or determining whether the power transmission line fails according to the real-time sensing data. The invention can improve the automation and intelligence level of the unmanned aerial vehicle inspection, and practically ensure that the unmanned aerial vehicle transmission line inspection meets the service and safety requirements.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an unmanned aerial vehicle transmission line inspection method and system based on a miniature laser radar.
Background
With rapid development of aviation industry and scientific technology, unmanned aerial vehicles are adopted for power transmission line inspection, and the unmanned aerial vehicles become a hot spot problem in research in recent years. By adopting the unmanned aerial vehicle inspection mode, the running condition of the line can be accurately and comprehensively inspected, the inspection efficiency and quality of the transmission line are greatly improved, the workload of operation and maintenance personnel is reduced, the inspection running cost is reduced, and new challenges are brought to a new working mode. Unmanned aerial vehicle inspection requires long-time flight control operation on the unmanned aerial vehicle, and requires higher unmanned aerial vehicle related skills of staff, wherein the skill level of the unmanned aerial vehicle has direct influence on inspection quality and safety of electric power facilities; on the premise of safe flight, the same line can generate different inspection results after a high hand and a new hand fly. In the present stage, the deficiency of professional unmanned aerial vehicle inspection personnel and the deficiency of the intelligent level of inspection work are main constraint factors of unmanned aerial vehicle inspection popularization and application. Industry is urgent to need more intelligent, safer and more controllable inspection operation modes.
How to improve the automation and the intellectualization level of unmanned aerial vehicle inspection becomes a problem to be solved.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle transmission line inspection method and system based on a miniature laser radar, so as to overcome the defects of the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an unmanned aerial vehicle transmission line inspection method based on a miniature laser radar is applied to flight control equipment and comprises the following steps:
receiving detection data acquired by a laser radar and real-time sensing data acquired by a visible light sensor through a standard interface with an unmanned aerial vehicle; the laser radar and the visible light sensor are arranged on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle;
according to the detection data, determining the distance between the unmanned aerial vehicle and the power transmission line and/or the distance between the unmanned aerial vehicle and the obstacle; and/or the number of the groups of groups,
and determining whether the power transmission line fails according to the real-time sensing data.
Further, the method further comprises the following steps:
importing position information of a tower where the power transmission line is located into the unmanned aerial vehicle;
setting a flight track of the unmanned aerial vehicle according to the position information of the tower so as to lock a power transmission line;
receiving the detection data returned by the unmanned aerial vehicle when the unmanned aerial vehicle flies in the power transmission line simulation;
and correcting the flight track of the unmanned aerial vehicle according to the detection data, and sending an instruction for updating the flight track to the unmanned aerial vehicle.
Further, the method further comprises the following steps:
the method comprises the steps of sending flight parameter configuration information to the unmanned aerial vehicle, wherein the flight parameter configuration information specifically comprises at least one of the following steps: course selection information, horizontal speed information, vertical speed information, offline distance information, voltage level information, flight trajectory and transmission line simulated flight indication information;
the simulated transmission line flight indication information is used for indicating the unmanned aerial vehicle to automatically fly along with the position information of the imported tower or a preset flight track.
Further, the flight control apparatus includes: a device layer, a transport layer, a base support layer, and an application layer, wherein,
the equipment layer is used for carrying out objectification marking on different equipment and controlling the different equipment, wherein the equipment comprises a laser radar, an unmanned aerial vehicle and a visible light sensor;
the transmission layer is used for controlling the transmission of different data and specifically comprises at least one of the following components: image transmission, flight state data transmission, laser measurement data transmission and flight control instruction transmission;
the basic supporting layer is used for realizing auxiliary supporting functions and specifically comprises at least one of the following components: user management, authority management, log management and security management;
and the application layer is used for providing basic functions and business functions.
Further, the method further comprises the following steps:
the laser radar performs angle two-dimensional scanning on the environment in front of the unmanned aerial vehicle according to the scanning sequence of the laser radar to obtain radar data;
clustering each frame of radar data returned by the laser radar by adopting a nearest neighbor clustering method, specifically, taking a first laser reflection point as an initial point of a first target edge, taking the first laser reflection point as a first class, sequentially comparing each data point with a previous point from a second laser reflection point, and if the distance between the two points is smaller than a threshold value, considering that the point and the previous point belong to the same class, and adding the point into the current class; if the distance between the two points is not smaller than the threshold value, the points are considered not to belong to the current class, a new class is created, the points are used as starting points of the new class, and the data points are judged in sequence according to the method.
Further, the method further comprises the following steps:
the laser radar calculates the distance of the line tree by measuring the distance and angle from the unmanned aerial vehicle to the top end of the tree and the distance and angle from the unmanned aerial vehicle to the power transmission line and utilizes the trigonometric function relation, and automatically compares the distance with the safety distance standard of different level voltages, and performs tree obstacle danger early warning on the area with the distance smaller than the safety distance.
Further, the method further comprises the following steps:
and detecting whether the transmission line has broken strands or foreign matter adhering defects by analyzing the width change of the transmission line and/or the gray level image change of the surface of the transmission line after segmenting the parallel transmission line.
An unmanned aerial vehicle passageway intelligence inspection system, includes: unmanned aerial vehicle, flight control equipment, lidar and visible light sensor, wherein,
and the flight control equipment executes the unmanned aerial vehicle transmission line inspection method based on the miniature laser radar.
A flight control apparatus comprising:
the transceiver is used for receiving detection data acquired by the laser radar and real-time sensing data acquired by the visible light sensor through a standard interface of the unmanned aerial vehicle; the laser radar and the visible light sensor are arranged on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle;
the processor is used for determining the distance between the unmanned aerial vehicle and the power transmission line and/or the distance between the unmanned aerial vehicle and the obstacle according to the detection data; and/or the number of the groups of groups,
and determining whether the power transmission line fails according to the real-time sensing data.
A flight control apparatus comprising: the unmanned aerial vehicle transmission line inspection method based on the miniature laser radar comprises a processor and a memory storing a computer program, wherein the computer program is executed by the processor.
Compared with the prior art, the invention has the following beneficial technical effects:
in the transmission line inspection method based on the miniature laser radar unmanned aerial vehicle, the flight control equipment receives detection data acquired by the laser radar and real-time sensing data acquired by the visible light sensor through a standard interface of the unmanned aerial vehicle, wherein the laser radar and the visible light sensor are loaded on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle; according to the detection data, determining the distance from the unmanned aerial vehicle to the lower power transmission line and/or the distance from the unmanned aerial vehicle to the obstacle; and/or, according to the real-time sensing data, determining whether the power transmission line fails or not through loading the laser radar on the unmanned aerial vehicle and carrying out communication connection with the unmanned aerial vehicle, so that a handshake communication mechanism between the flight control equipment and the laser radar is established, the flight control equipment acquires detection data of the laser radar through a standard interface of the unmanned aerial vehicle, the integration with a standardized interface of the unmanned aerial vehicle can be realized, and the real-time return of the data of the laser radar sensor to the ground is ensured.
In addition, through providing a novel framework of flight control equipment, the layering management of equipment end, control end, data end, application end is realized to realize automatic flight inspection, satisfy the data acquisition and the inspection demand of various application scenes of transmission line inspection. Furthermore, the aim of automatically planning the inspection path of the unmanned aerial vehicle is fulfilled by the provided simple and feasible obstacle avoidance algorithm, and the automatic inspection capability is further improved. By providing the defect detection method for the power transmission line, the defects of broken strands and attached foreign matters on the power transmission line can be effectively detected under a complex background.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic flow chart of a transmission line inspection method based on a micro laser radar unmanned aerial vehicle at a flight control device side according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a topology diagram of an intelligent unmanned aerial vehicle inspection control system according to an embodiment of the present invention;
FIG. 3 is a block diagram of the software architecture of a flight control device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a novel architecture of a flight control device according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a clustering method for each frame of data returned by the laser radar by adopting a nearest neighbor clustering method according to the embodiment of the invention;
FIG. 6 is a schematic representation of the trigonometric function of the present invention for calculating the distance of a line tree.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a transmission line inspection method based on a micro laser radar unmanned aerial vehicle is applied to flight control equipment, and the method comprises the following steps:
step 11, receiving detection data acquired by a laser radar and real-time sensing data acquired by a visible light sensor through a standard interface of the unmanned aerial vehicle, wherein the laser radar and the visible light sensor are loaded on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle;
step 12, determining the distance between the unmanned aerial vehicle and the power transmission line and/or the distance between the unmanned aerial vehicle and the obstacle according to the detection data; and/or the number of the groups of groups,
and determining whether the power transmission line fails according to the real-time sensing data.
In this embodiment, the lidar has a transmitting module, a receiving module, a scanning module, and a control module. The emission module is used for emitting light beams; the receiving module is used for receiving the reflected light beam and transmitting the signal to the controller for data processing; the scanning module is used for changing the space projection direction of the laser beam and consists of a motor, a phased array and the like; the control module is responsible for completing the control of the laser transmitting module, the receiving module and the scanning module, the processing of laser radar data and the data transmission of an external system. In order to ensure the collimation of the laser, the intelligent inspection miniature laser radar for the transmission line channel of the unmanned aerial vehicle adopts a semiconductor laser as a laser source, so that the effects of good laser beam stability, small divergence angle, small volume power consumption and simple adjustment are achieved.
The range finding range of the range finding module is decided by the lens visual angle of the laser radar, in order to meet the range finding range, the lens has enough focal length, the visual angle and the focal length of the laser lens are mutually restricted, when the miniature laser radar is required to be intelligently patrolled and examined according to the transmission line channel of the unmanned aerial vehicle, the miniature laser radar is closely spaced from the transmission line and the tower in the process of tracking the transmission line and detecting real-time obstacles, and in order to ensure the intelligent patrolling and examining safety requirement of the transmission line of the unmanned aerial vehicle, the laser lens with 360-degree visual angle is selected. In addition, the laser radar ranging can adopt a pulse method or a phase method.
In this embodiment, the lidar and the visible light sensor are onboard the drone and are communicatively coupled to the drone. Further, a transfer ring or Payload SDK (namely PSDK) is used for mounting the laser radar on the unmanned aerial vehicle, a handshake communication mechanism between the flight control equipment and the laser radar is established, standardized interface inheritance with the unmanned aerial vehicle is realized, and real-time return of data of a laser radar sensor to the ground is ensured.
As shown in fig. 2, an embodiment of the present invention further provides an intelligent inspection control system for an unmanned aerial vehicle, which at least includes: unmanned plane; the laser radar is used for environment sensing, ranging and obstacle avoidance; the visible light sensor is used for analyzing transmission line defects according to visible light data; and flight control equipment (i.e. a ground operation module) for monitoring and controlling the flight process, flight trajectory, payload, communication link, etc. of the unmanned aerial vehicle through a wireless channel. Further, the flight control device may include a remote control and an intelligent mobile terminal equipped with a drone control APP. The unmanned aerial vehicle flies to patrol the process and receive satellite positioning signal, unmanned aerial vehicle passes image data, unmanned aerial vehicle flight status parameter etc. to the remote controller through wireless mode simultaneously, and the remote controller passes through the USB interface and transmits data transmission to the intelligent mobile terminal who is equipped with unmanned aerial vehicle control APP, and the terminal judges the data information that passes through to send out control command and carry out unmanned aerial vehicle gesture adjustment and relevant control, with this realization patrol the task. In addition, the APP accesses third party services such as Gordon/Gordon G map service, color cloud weather service and Xinjiang Mobile SDK through the Internet, so that applications such as map caching, weather forecast, equipment activation and the like are realized.
Further, the unmanned aerial vehicle system comprises a data link onboard part, a take-off/landing onboard part, a flight control system, a navigation system, a propulsion system, flight control equipment and the like. The data link airborne part sends the state and other information of the unmanned aerial vehicle to the ground; the airborne part of the take-off/landing system realizes the emission and recovery of the unmanned aerial vehicle; the propulsion system provides flying power for the unmanned aerial vehicle; the navigation system provides navigation and target system guarantee for the unmanned aerial vehicle to complete tactical tasks through satellite navigation or ground guidance and target discovery and tracking capability of the unmanned aerial vehicle. The flight control equipment monitors, controls and directs other airborne subsystems, receives commands sent by the ground, and controls the unmanned aerial vehicle to complete preset tasks under the coordination of the monitoring and the command of each airborne subsystem station.
The ground system includes ground auxiliary equipment, ground monitoring subsystems, take-off and landing system ground parts, data link ground parts, and the like. The airborne part of the take-off and landing system realizes important guarantee on the emission and recovery of the unmanned aerial vehicle, the ground data link part cooperates with the airborne link part to realize the communication between the ground station and the unmanned aerial vehicle, and the monitoring command of the unmanned aerial vehicle is completed. Ground monitoring provides ground operators with information states of the unmanned aerial vehicle and environment information acquired by the unmanned aerial vehicle. Therefore, a reference basis is provided for the task scheduled to be completed for each subsystem of the unmanned aerial vehicle for an operator.
Further, the aircraft control system is a core system for the unmanned aerial vehicle to complete the whole flight process of taking off, flying in the air, executing tasks, returning to the ground, recovering and the like, and full-right control and management are realized for the unmanned aerial vehicle, so that the flight control subsystem is equivalent to that of a driver in the unmanned aerial vehicle and is a key for the unmanned aerial vehicle to execute the tasks.
Mainly comprises the following steps:
(1) The unmanned aerial vehicle is stable and controlled in posture;
(2) The navigation subsystem is coordinated to complete track control;
(3) Unmanned aerial vehicle take-off (launch) and landing (recovery) control;
(4) Unmanned aerial vehicle flight management;
(5) Unmanned aerial vehicle task equipment management and control;
(6) Emergency control;
(7) And (5) information collection and transmission.
The embodiment of the invention also provides flight control software for the flight control equipment, provides a data interaction interface for a user, and realizes the linkage of the unmanned aerial vehicle system aerial terminal and the ground terminal by receiving a control command through the unmanned aerial vehicle data transmission system. The software structure of the flight control device is shown in fig. 3, and comprises an external interrupt module, a main function, a system serial port interrupt and a GPS serial port interrupt.
In this embodiment, the software system of the flight control device specifically functions as follows:
1) Flight parameter flexible configuration function
Parameters such as flight height limit, exposure quantity, exposure compensation, camera mode and the like can be set.
2) Flexible setting function of route parameters
Different data acquisition modes are provided with different parameter setting interfaces, and a user can flexibly configure route parameters according to actual needs;
3) Breakpoint continuous flight function
For tasks that are forced to be suspended for reasons of battery starvation or other unexpected reasons to return to the voyage, a breakpoint fly operation may be utilized to perform tasks that are forced to be suspended for unexpected reasons.
4) Has one-key return function
The original return voyage can be selected, and the return voyage is performed according to a preset height. In this embodiment, the novel architecture of the flight control device is shown in fig. 4, and includes a device layer, a transport layer, a base support layer, and a functional application layer.
(1) Device layer
The equipment layer mainly describes hardware equipment contained in the system, including a miniature laser radar, an unmanned aerial vehicle and a visible light sensor, and can be understood as a front-end flight platform and load equipment carried by the front-end flight platform. The system utilizes the laser radar to detect the tree obstacle distance and the distance between the unmanned aerial vehicle and the power transmission line, and the visible light camera is mainly used for shooting pictures during inspection.
(2) Transport layer
The transmission layer mainly describes which aspect data transmission is carried out between each device and the ground control system when the system is used for inspection, and comprises image transmission, unmanned plane flight state data transmission, laser measurement data transmission and flight control instruction transmission. The ground unmanned aerial vehicle control system receives data transmitted back by front-end operation and sends a control instruction to the unmanned aerial vehicle according to data information, so that flight adjustment and control are completed.
(3) Base support layer
The basic supporting layer mainly comprises general auxiliary supporting functions of the system, such as user management, authority management, log management, security management and the like, which belong to the most basic functions of the system and provide access, record, security and other management for the user to normally use the system.
(4) Application layer
The application layer mainly describes the main functions of the system, and is divided into basic functions and business functions. The specific functions are described as follows:
1) Basic function
The conditions of weather, temperature, wind speed and the like of the flight area are displayed in real time, and the conditions of weather, temperature and the like of 2 hours in the future and 5 days in the future can be predicted;
Support the importing of file data of the common format, such as KML, xls, etc.;
Checking connection condition of unmanned aerial vehicle, battery power, GPS positioning condition, camera state, whether to approach to a zone, gear setting of remote controller and the like
Support google, high-german map, can be automatically updated through the network, and has the automatic caching function of offline map
When the battery is in a low electric quantity and the navigation is performed, after the battery is replaced, the task is continuously executed from the position of the last navigation point
Estimating the flight time according to the planned route and the flight parameters
In the flight process, the unmanned aerial vehicle intelligent inspection system calculates the return electric quantity according to the distance between the unmanned aerial vehicle and the return point, and when the electric quantity required to return is reached, the unmanned aerial vehicle intelligent inspection system immediately and automatically returns;
Can provide an interactive environment with the unmanned plane system, and a beginner can complete the simulated flight tasks of various data acquisition modes on a mobile phone
The unmanned aerial vehicle image previewing device has the function of previewing images shot by the unmanned aerial vehicle, and can quickly look up collected photos or videos
Electric quantity is lower than 30%, and automatic alarm function
The automatic recording of the patrol task is provided, the recorded patrol flight task can be arbitrarily extracted, and the repeated flight is completed
Checking information such as date, longitude, latitude, mileage, duration, maximum height and the like of each flight; selectable flight recording review flight trajectory
The flight records can be deleted and uploaded to a server
Providing an interactive environment with the unmanned plane system, and enabling a beginner to complete simulated flight tasks of various data acquisition modes on a mobile phone
Navigation function providing high-speed map and hundred-degree map, and capable of assisting team personnel to quickly locate patrol places based on imported kml path/tower coordinates and accurately reach through navigation
Displaying the range of the forbidden zone nearest to the flight mission
2) Service function
The distance from the unmanned aerial vehicle to the lower transmission line can be scanned in real time by utilizing the laser ranging radar, the tree obstacle distance is calculated and displayed in real time, and a tree obstacle hidden danger report is rapidly sent out.
1) KML files or Excel files of the tower can be directly imported;
2) Operations such as adding, deleting and exporting can be performed on the stored multiple towers;
3) Flight parameter setting: the method comprises the steps of supporting a course selection function, and supporting the setting of flight parameters such as horizontal speed, vertical speed, offline distance, voltage level, tree barrier distance and the like; after the power transmission line is locked, flight parameters are set, and the unmanned aerial vehicle can be intelligently controlled to open tree barrier patrol
The method can lock the transmission line, has no manual intervention, automatically completes the automatic inspection in the transmission line file, acquires the visible light data of the transmission line which is fully covered by the transmission line, and generates a transmission line defect analysis report.
1) KML files or Excel files of the tower can be directly imported;
2) Can perform operations such as adding, deleting, exporting and the like on a plurality of stored towers
3) Flight parameter simple setting function: the method comprises the functions of supporting course selection, and supporting simple flight parameter setting functions such as horizontal speed, offline distance, voltage level and the like;
4) Flight parameter advanced setting function: the course selection function is supported, and the advanced flight parameter setting functions such as horizontal speed, front-back speed, vertical speed, offline distance, voltage level and the like are supported. After the transmission line is locked, flight parameters are set, so that the unmanned aerial vehicle can be intelligently controlled to carry out patrol in the transmission line, and the transmission line is simulated to fly.
5) After the flight is finished, the collected transmission line data can be checked.
In this embodiment, the flight control device performs a clustering method on each frame of data returned by the laser radar by using a nearest neighbor clustering method, as shown in fig. 5: a first point is used as an initial point of a first target edge, as a first class, each data point is compared with the previous point from a second point in sequence, if the distance between the two points is smaller than a threshold value, the point and the previous point are considered to belong to the same class, and the point is added into the current class; if the distance between the two points is not smaller than the threshold value, the points are considered not to belong to the current class, a new class is created, the points are used as starting points of the new class, and the data points are judged in sequence according to the method. The nearest neighbor clustering method is high in processing speed, and the characteristic of sequential scanning of the single-line laser radar is fully utilized.
In the embodiment, a tree obstacle detection method based on a laser radar is also provided, the distance and angle between the unmanned aerial vehicle and the top end of the tree are measured based on laser radar scanning ranging, the distance and angle between the unmanned aerial vehicle and a power transmission line are measured, the distance between the line tree is calculated by utilizing a trigonometric function relationship, the distance is compared with safety distance standards of different levels of voltage, and tree obstacle danger early warning is carried out on an area with the distance smaller than the safety distance. The method specifically comprises the following steps:
1) Laser scanning to obtain data and denoising
And acquiring surrounding environment information by adopting an unmanned aerial vehicle-mounted laser radar. Considering that lidar often contains some noise in the result during use, the noise can interfere to some extent with the processing of radar data. Therefore, before processing and analyzing the data, the validity of the data is judged, and the original data is filtered. Since a single line laser radar is an equiangular planar scan, it should ideally be continuous, with a great correlation between adjacent radar points in the same frame of data. According to the data characteristics, the random noise in the radar data is eliminated by adopting median filtering. The basic principle of median filtering is to replace the value of a point in a sequence with the median of the values of points in a neighborhood of the point, thereby eliminating isolated noise points.
2) Tree obstacle distance real-time monitoring based on laser scanning range radar
The unmanned aerial vehicle with the RTK module is used for carrying the 360-degree rotary laser ranging radar to scan the vertical two-dimensional section line tree, distance and angle information between the laser radar and the tree top and distance and angle information between the laser radar and the power transmission line are obtained through a laser ranging principle, and the distance of the line tree is calculated in real time through a trigonometric function relation. The unmanned aerial vehicle carries a laser radar and is close to a power transmission line, the unmanned aerial vehicle flies along the power transmission line, data of a plurality of continuous two-dimensional sections are measured, the space line tree distance of a three-dimensional area of a target can be measured, the minimum line tree distance is automatically obtained, the minimum line tree distance is compared with the safety distance of a corresponding voltage level, and tree obstacle danger early warning is carried out on an area with the distance smaller than the safety distance.
In practical application, the steps of the unmanned aerial vehicle carrying the laser radar to detect the tree obstacle are designed as follows:
a. the machine head of the unmanned aerial vehicle is kept perpendicular to the overhead high-voltage line, and the two-dimensional laser radar is vertically arranged on the unmanned aerial vehicle;
b. the laser radar performs space ranging scanning at a fixed rotating speed and a fixed scanning frequency;
c. the laser radar takes the aircraft nose direction of the unmanned aerial vehicle as the initial zero-degree direction, acquires overhead high-voltage line and vegetation point cloud data in a certain angle area, and obtains the angle and distance information of the effective high-voltage line and vegetation taking the unmanned aerial vehicle as the origin of coordinates in a polar coordinate system through data filtering.
d. And c, obtaining the distance between the high-voltage line and the tree by the angle and distance information extracted in the step through a calculation formula of a trigonometric function. The concrete can be abstracted into the following model: the positions of the unmanned aerial vehicle, the power transmission line and the tree top are regarded as three vertexes of a triangle, which are A, B, C respectively. The distance from the unmanned aerial vehicle to the power transmission line and the distance from the unmanned aerial vehicle to the tree top are b and c respectively through the laser ranging principle, the laser light speed is continuously scanned at an angle of 0-360 degrees, and the included angle between the AC and the AB can be obtained.
In connection with fig. 6, according to the trigonometric function formula:
a 2 ＝ 2 +2-2bccosA
the tree distance a can be obtained.
e. The laser radar scans a two-dimensional region of the power transmission line and vegetation, and all power transmission line points in the region are used as a point set J of harness points on a two-dimensional plane coordinate system with the unmanned plane as a coordinate origin. The vegetation scanning data points are used as a set K of vegetation points on a two-dimensional plane coordinate system taking the unmanned aerial vehicle as a coordinate origin. Calculating the point set J and the point set K, and calculating the shortest distance L of the two point sets, namely the distance of the line tree in the two-dimensional plane;
f. the unmanned aerial vehicle carries a laser radar, and the distance of the spatial line tree of the three-dimensional area of the target can be measured by flying along the power transmission line and measuring data of a plurality of continuous two-dimensional sections.
g. Setting a threshold value of a tree barrier distance before the cruising starts, and if the distance between the power transmission line and the tree is detected to be lower than the set threshold value in the cruising process of the unmanned aerial vehicle, automatically recording relevant information of the tree barrier point by the unmanned aerial vehicle, and storing key data for generating a tree barrier report.
In this embodiment, a line-like flight method based on a lidar is proposed. Specifically, through laser radar ranging principle, can measure unmanned aerial vehicle and transmission line's relative distance in real time, unmanned aerial vehicle's system gives ground end control system with unmanned aerial vehicle and transmission line's distance information and cloud platform corner information real time transmission, when unmanned aerial vehicle and transmission line's distance skew preset threshold value, ground end control system will send the instruction to unmanned aerial vehicle's system, unmanned aerial vehicle's system carries out automatic control to unmanned aerial vehicle gesture, cloud platform angle according to the instruction, flight orbit obtains correcting, makes unmanned aerial vehicle and transmission line's distance resume to the default to the realization is to transmission line's intelligent tracking.
In this embodiment, a laser radar-based obstacle avoidance method is proposed. The unmanned aerial vehicle flies according to the flight path planned in advance, and utilizes laser radar real-time detection unmanned aerial vehicle current flight position and unmanned aerial vehicle environmental information, if detect the barrier, can confirm the relative distance of barrier and unmanned aerial vehicle, angular position etc. relation in real time based on the radar ranging principle, and send positional relation to ground end control system, ground end control system judges through the safe distance, sends corresponding control command and barrier position information to unmanned aerial vehicle's system, unmanned aerial vehicle's system keeps away the barrier according to this obstacle avoidance command, sends the command and carries out state adjustment for the motor, thereby realize unmanned aerial vehicle's automation and keep away the barrier.
Specifically, the obstacle avoidance mechanism adopted is as follows: the unmanned aerial vehicle measures the right front long-distance obstacle information according to the laser radar, divides each area into a plurality of areas according to the measured distance, and executes corresponding actions in each area. The unmanned aerial vehicle is not limited at the moment, and can fly freely when the distance measured by the laser sensor is more than 10 meters; when the distance measured by the laser sensor is in the range of 10 meters and 4 meters, the speed reduction area of the unmanned aerial vehicle is adopted, and the unmanned aerial vehicle limits the maximum flying speed in the area according to the distance to the obstacle; when the distance measured by the laser sensor is 2-4 meters, the laser sensor is a hovering area of the unmanned aerial vehicle, the unmanned aerial vehicle waits for an instruction at the moment, and hovering action is executed when no action instruction exists in any other direction; when the distance measured by the laser sensor is 0-2 meters, the unmanned aerial vehicle executes the action of flying upwards on the basis of hovering, continuously detects the shortest obstacle distance of the front area, and when the detected distance is smaller than the specified safety distance, the unmanned aerial vehicle continuously climbs upwards until the detected distance is larger than the safety distance, and the unmanned aerial vehicle continuously flies forwards.
In this embodiment, a method for detecting defects of a power transmission line is provided, where whether a power transmission line has broken strands or foreign matter attached is detected by segmenting a parallel power transmission line and analyzing a width change of the power transmission line and/or a gray scale image change of a surface of the power transmission line.
Dividing the identified power transmission line group into small line segments with fixed length, and dividing the line segments along the horizontal direction when the direction angle of the parallel power transmission line is between-60 and 60 degrees; when the direction angle of the parallel transmission line is smaller than-60 degrees or larger than 60 degrees, the line segments are divided along the vertical direction.
2) Analyzing the width change of the line segments in each segment, calculating the width change between sampling points by adopting a sampling method, and further calculating the length of the width change, wherein the abrupt change of the width of the power transmission line indicates that the broken strand or the attached foreign matter defect possibly exists.
3) Calculating the gray average value of line segments in each segment, for example, dividing the parallel transmission line group into N segments, and representing the gray average value of pixels in the segment as Y 1 ,Y 2 ,…,Y N Respectively calculating absolute gray difference distances D 1 And adjacent segment gray level difference distance D 2 Wherein Y is A Is the gray level average value of pixels in the parallel groups of the power transmission lines. Wherein the abs function is an absolute value function.
D 1 (Y i ，Y A )＝abs(Y i -Y A )
D 2 (Y i ，Y i-1 )＝abs(Y i -Y i-1 )
4) Calculating the absolute gray scale difference distance proportion R of each segment in each parallel transmission line by using the following function 1 And the adjacent subsection gray level difference distance ratio R 2 ：
(R 1 ＝D 1i /Y A )＞Lim
(R 2 ＝D 2i /Y A )＞Lim
If a segmented R 1 A higher value indicates that the gray value in the segment is changed more than the average gray value of the transmission line, and R 2 A higher value indicates a larger change between the gray value in the segment and the gray value in the adjacent segment, R 1 And R is 2 A smaller value indicates that the segment gray value has smaller variation from other segment gray values; the threshold Lim is set for describing the segmentation of the on-line gray value mutation, and the value range is 0-1. If R of segment 1 And R is 2 If the value is larger than the threshold Lim, the gray value mutation exists in the segment, and further, the situation that broken strands or foreign object attachment defects possibly exist on the transmission line is judged.
The embodiment of the invention also provides a flight control device, comprising:
the transceiver is used for receiving detection data acquired by the laser radar and real-time sensing data acquired by the visible light sensor through a standard interface of the unmanned aerial vehicle, wherein the laser radar and the visible light sensor are loaded on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle;
the processor is used for determining the distance from the unmanned aerial vehicle to the lower power transmission line and/or the distance from the unmanned aerial vehicle to the obstacle according to the detection data; and/or determining whether the power transmission line fails according to the real-time sensing data.
It should be noted that, the device corresponds to the method on the flight control device side shown in fig. 1, and all implementation manners in the method embodiment are applicable to the embodiment of the device, so that the same technical effects can be achieved.
The embodiment of the invention also provides a flight control device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above. All the implementation manners in the method embodiment are applicable to the embodiment, and the same technical effect can be achieved.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
Furthermore, it should be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. Also, the steps of performing the series of processes described above may naturally be performed in chronological order in the order of description, but are not necessarily performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be appreciated by those of ordinary skill in the art that all or any of the steps or components of the methods and apparatus of the present invention may be implemented in hardware, firmware, software, or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art after reading this description of the invention.
The object of the invention can thus also be achieved by running a program or a set of programs on any computing device. The computing device may be a well-known general purpose device. The object of the invention can thus also be achieved by merely providing a program product containing program code for implementing said method or apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. The steps of executing the series of processes may naturally be executed in chronological order in the order described, but are not necessarily executed in chronological order. Some steps may be performed in parallel or independently of each other.
Finally, it should be noted that: the foregoing embodiments are merely for illustrating the technical aspects of the present invention and not for limiting the scope thereof, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes, modifications or equivalents may be made to the specific embodiments of the present invention after reading the present invention, and these changes, modifications or equivalents are within the scope of the invention as defined in the appended claims.
Claims (10)
1. An unmanned aerial vehicle transmission line inspection method based on a miniature laser radar is applied to flight control equipment and is characterized by comprising the following steps:
receiving detection data acquired by a laser radar and real-time sensing data acquired by a visible light sensor through a standard interface with an unmanned aerial vehicle; the laser radar and the visible light sensor are arranged on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle;
according to the detection data, determining the distance between the unmanned aerial vehicle and the power transmission line and/or the distance between the unmanned aerial vehicle and the obstacle; and/or the number of the groups of groups,
and determining whether the power transmission line fails according to the real-time sensing data.
2. The unmanned aerial vehicle transmission line inspection method based on the miniature laser radar according to claim 1, further comprising:
importing position information of a tower where the power transmission line is located into the unmanned aerial vehicle;
setting a flight track of the unmanned aerial vehicle according to the position information of the tower so as to lock a power transmission line;
receiving the detection data returned by the unmanned aerial vehicle when the unmanned aerial vehicle flies in the power transmission line simulation;
and correcting the flight track of the unmanned aerial vehicle according to the detection data, and sending an instruction for updating the flight track to the unmanned aerial vehicle.
3. The unmanned aerial vehicle transmission line inspection method based on the miniature laser radar according to claim 2, further comprising:
the method comprises the steps of sending flight parameter configuration information to the unmanned aerial vehicle, wherein the flight parameter configuration information specifically comprises at least one of the following steps: course selection information, horizontal speed information, vertical speed information, offline distance information, voltage level information, flight trajectory and transmission line simulated flight indication information;
the simulated transmission line flight indication information is used for indicating the unmanned aerial vehicle to automatically fly along with the position information of the imported tower or a preset flight track.
4. The unmanned aerial vehicle transmission line inspection method based on the miniature laser radar according to claim 1, wherein the flight control device comprises: a device layer, a transport layer, a base support layer, and an application layer, wherein,
the equipment layer is used for carrying out objectification marking on different equipment and controlling the different equipment, wherein the equipment comprises a laser radar, an unmanned aerial vehicle and a visible light sensor;
the transmission layer is used for controlling the transmission of different data and specifically comprises at least one of the following components: image transmission, flight state data transmission, laser measurement data transmission and flight control instruction transmission;
the basic supporting layer is used for realizing auxiliary supporting functions and specifically comprises at least one of the following components: user management, authority management, log management and security management;
and the application layer is used for providing basic functions and business functions.
5. The unmanned aerial vehicle transmission line inspection method based on the miniature laser radar according to claim 1, further comprising:
the laser radar performs angle two-dimensional scanning on the environment in front of the unmanned aerial vehicle according to the scanning sequence of the laser radar to obtain radar data;
clustering each frame of radar data returned by the laser radar by adopting a nearest neighbor clustering method, specifically, taking a first laser reflection point as an initial point of a first target edge, taking the first laser reflection point as a first class, sequentially comparing each data point with a previous point from a second laser reflection point, and if the distance between the two points is smaller than a threshold value, considering that the point and the previous point belong to the same class, and adding the point into the current class; if the distance between the two points is not smaller than the threshold value, the points are considered not to belong to the current class, a new class is created, the points are used as starting points of the new class, and the data points are judged in sequence according to the method.
6. The unmanned aerial vehicle transmission line inspection method based on the miniature laser radar according to claim 1, further comprising:
the laser radar calculates the distance of the line tree by measuring the distance and angle from the unmanned aerial vehicle to the top end of the tree and the distance and angle from the unmanned aerial vehicle to the power transmission line and utilizes the trigonometric function relation, and automatically compares the distance with the safety distance standard of different level voltages, and performs tree obstacle danger early warning on the area with the distance smaller than the safety distance.
7. The unmanned aerial vehicle transmission line inspection method based on the miniature laser radar according to claim 1, further comprising:
and detecting whether the transmission line has broken strands or foreign matter adhering defects by analyzing the width change of the transmission line and/or the gray level image change of the surface of the transmission line after segmenting the parallel transmission line.
8. Unmanned aerial vehicle passageway intelligence system of patrolling and examining, its characterized in that includes: unmanned aerial vehicle, flight control equipment, lidar and visible light sensor, wherein,
a flight control device performs a miniature lidar-based unmanned aerial vehicle transmission line inspection method as claimed in claims 1-7.
9. A flight control apparatus, comprising:
the transceiver is used for receiving detection data acquired by the laser radar and real-time sensing data acquired by the visible light sensor through a standard interface of the unmanned aerial vehicle; the laser radar and the visible light sensor are arranged on the unmanned aerial vehicle and are in communication connection with the unmanned aerial vehicle;
the processor is used for determining the distance between the unmanned aerial vehicle and the power transmission line and/or the distance between the unmanned aerial vehicle and the obstacle according to the detection data; and/or the number of the groups of groups,
and determining whether the power transmission line fails according to the real-time sensing data.
10. A flight control apparatus, comprising: a processor, a memory storing a computer program which, when run by the processor, performs a miniature lidar-based unmanned aerial vehicle transmission line inspection method as claimed in any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211497321.8A CN116185054A (en) | 2022-11-25 | 2022-11-25 | Unmanned aerial vehicle transmission line inspection method and system based on miniature laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211497321.8A CN116185054A (en) | 2022-11-25 | 2022-11-25 | Unmanned aerial vehicle transmission line inspection method and system based on miniature laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116185054A true CN116185054A (en) | 2023-05-30 |
Family
ID=86437158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211497321.8A Pending CN116185054A (en) | 2022-11-25 | 2022-11-25 | Unmanned aerial vehicle transmission line inspection method and system based on miniature laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116185054A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929308A (en) * | 2023-09-18 | 2023-10-24 | 众芯汉创(江苏)科技有限公司 | Unmanned aerial vehicle around-flight photographing method and system based on arbitrary point position information of tower |
-
2022
- 2022-11-25 CN CN202211497321.8A patent/CN116185054A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929308A (en) * | 2023-09-18 | 2023-10-24 | 众芯汉创(江苏)科技有限公司 | Unmanned aerial vehicle around-flight photographing method and system based on arbitrary point position information of tower |
| CN116929308B (en) * | 2023-09-18 | 2023-11-28 | 众芯汉创(江苏)科技有限公司 | Unmanned aerial vehicle around-flight photographing method and system based on arbitrary point position information of tower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110308457B (en) | Unmanned aerial vehicle-based power transmission line inspection system | |
| US20240201240A1 (en) | Unmanned Aerial Vehicle Electromagnetic Avoidance And Utilization System | |
| US11017228B2 (en) | Method and arrangement for condition monitoring of an installation with operating means | |
| Khan et al. | UAV-based traffic analysis: A universal guiding framework based on literature survey | |
| CN108109437B (en) | Unmanned aerial vehicle autonomous route extraction and generation method based on map features | |
| CN109002055B (en) | High-precision automatic inspection method and system based on unmanned aerial vehicle | |
| US20200026720A1 (en) | Construction and update of elevation maps | |
| US20200004272A1 (en) | System and method for intelligent aerial inspection | |
| CN114373138A (en) | Full-automatic unmanned aerial vehicle inspection method and system for high-speed railway | |
| CN109270522A (en) | System and method for detecting barrier in system in the sky | |
| CN112326686B (en) | Unmanned aerial vehicle intelligent cruising pavement disease detection method, unmanned aerial vehicle and detection system | |
| CN109376587A (en) | Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things | |
| CN106772340A (en) | For the screen of trees measuring system and method for overhead transmission line | |
| CN112162565B (en) | Uninterrupted self-main-pole tower inspection method based on multi-machine collaborative operation | |
| CN112327906A (en) | Intelligent automatic inspection system based on unmanned aerial vehicle | |
| CN111812268A (en) | Monitoring method, control device, unmanned aerial vehicle and unmanned aerial vehicle system | |
| CN109557880A (en) | A kind of ecological cruising inspection system based on unmanned plane | |
| CN113077561A (en) | Intelligent inspection system for unmanned aerial vehicle | |
| CN115917280A (en) | Method and aircraft for monitoring the operating conditions of a current-carrying line system and for determining the probability of a fault | |
| US11587449B2 (en) | Systems and methods for guiding a vertical takeoff and landing vehicle to an emergency landing zone | |
| CN114898234A (en) | Unmanned aerial vehicle power grid inspection three-dimensional imaging method carrying laser radar thermal imaging technology | |
| CN107390699A (en) | The route planning system and its route planning method of a kind of sugarcane planting machine | |
| CN116185054A (en) | Unmanned aerial vehicle transmission line inspection method and system based on miniature laser radar | |
| CN117406789A (en) | Automatic planning method for multi-unmanned aerial vehicle bridge support inspection route based on image analysis | |
| CN204297108U (en) | Helicopter obstacle avoidance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |