CN116974298A - Single-line laser radar-based transmission line simulated flight method and system - Google Patents
Single-line laser radar-based transmission line simulated flight method and system Download PDFInfo
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Abstract
The invention provides a transmission line simulated line flight method and system based on a single-line laser radar, and belongs to the technical field of transmission line simulated line flight. In the process of conducting wire inspection flight, the registration of point cloud data is improved through the fusion of the point cloud data and pose data, the extraction requirement of conducting wires in practical application is met, meanwhile, an imitation flight path which is more fit with the practical requirement is generated through the real-time tracking of the conducting wires and the analysis of obstacles, and data basis is provided for conducting wire inspection, spacer inspection, tree line contradiction, sag measurement and phase line distance measurement.
Description
Technical Field
The invention relates to the technical field of transmission line simulated line flight, in particular to a transmission line simulated line flight method and system based on a single-line laser radar.
Background
The distribution points of the high-voltage transmission line are wide in multiple surfaces, the distribution points are complex in terrain and bad in natural environment, the power line is exposed in the field for a long time, and the power line is damaged by continuous mechanical tension, lightning strike, material aging, artificial influence, strand breakage, abrasion, corrosion, stress and the like, and must be repaired or replaced in time. The spacing rod is used for fixing the spacing of each split conductor so as to prevent the conductors from whipping each other and inhibit breeze vibration and secondary span vibration, and has important significance for the safe and stable inspection of the power transmission line. The traditional transmission line inspection and spacer inspection mainly adopt manual inspection, instrument detection and sensor detection modes, and have the problems of long inspection period, low efficiency and the like.
Currently, unmanned aerial vehicles are applied to the inspection of transmission lines in a large number, and along with the development of autonomous flight technologies of unmanned aerial vehicles, the intelligent level of the unmanned aerial vehicles on the transmission lines is higher and higher. However, at present, the inspection scene of the unmanned aerial vehicle on the power transmission line is too simple, the main inspection object is a power transmission line tower, the inspection of a power transmission wire and a spacer is not mature, and the inspection method specifically comprises the following defects:
the sag change of the transmission wire, which is caused by the influence of temperature, is large, so that the unmanned aerial vehicle is difficult to fly independently based on the route;
secondly, the transmission wire is difficult to stably detect based on a visual algorithm, and depth information of the wire cannot be obtained based on vision;
the defects III and binocular viewing angles are too small, the measurement range is small, and the illuminated image is larger;
the multi-line laser radar has high requirements on airborne calculation, high power consumption and difficulty in meeting the requirements on real-time point cloud calculation, so that the multi-line laser radar is mainly used in the mapping field on the unmanned aerial vehicle, and is mainly used for point cloud scanning and offline processing;
defect five, multi-line laser radar is with high costs, about L1 7W in Xinjiang, about 20W on average in other manufacturers, and the fixed line flight requirement that is difficult to satisfy of angle, and weight is big, influences unmanned aerial vehicle duration.
Disclosure of Invention
The invention aims to: a transmission line simulated flight method and system based on a single-line laser radar are provided, so as to solve the problems existing in the prior art.
The technical scheme is as follows: according to the first aspect, a transmission line simulated flight method based on a single-line laser radar is provided, an inspection unmanned aerial vehicle executes transmission line simulated flight by adopting airborne equipment fused with the single-line laser radar and an IMU sensor, and the method correspondingly comprises the following steps:
step 1, the single-line laser radar forms an orthogonal laser radar through orthogonal combination, point cloud data are obtained through scanning of the orthogonal laser radar, and IMU pose data are obtained through the IMU sensor;
step 2, performing fusion registration operation on the point cloud data and the IMU pose data to obtain registered point cloud data, and performing cluster analysis on the registered point cloud data to obtain perception target data;
step 2.1, fusing point cloud data obtained by scanning of the orthogonal laser radar;
2.2, converting the fused point cloud data coordinates by taking a three-dimensional coordinate system in which the inspection unmanned aerial vehicle is positioned as a reference;
step 2.3, performing reverse correction on the converted point cloud data according to two data change fingers of pitch angle and roll angle of IMU pose data, so that the corrected point cloud data is always opposite to a horizontal coordinate system of the inspection unmanned aerial vehicle;
step 3, the flight control center of the unmanned aerial vehicle generates an obstacle avoidance strategy based on the perception target data;
step 4, performing obstacle avoidance flight based on an obstacle avoidance strategy, and triggering a wire inspection task based on perception information;
step 5, performing a wire inspection task, accumulating point cloud data, performing downsampling storage on the point cloud data within a preset time period, extracting wire data based on the point cloud data, fitting the wire trend by adopting a least square method, and outputting a wire azimuth in real time;
step 6, the flight control center of the unmanned aerial vehicle selects the extracted wire to obtain the wire to be tracked;
step 7, conducting wire tracking, performing optimal position matching calculation on the clustering result of the single-frame point cloud data based on the position information of the extracted conducting wire, and outputting a tracking result in a preset time period;
step 8, the flight control center controls the distance between the unmanned aerial vehicle and the lead in real time according to the tracking result, and controls the cradle head to focus and zoom to take a picture according to the distance information of the target point;
and 9, if the current wire tracking flight is completed, switching the tracking target into another wire, and jumping to the step 7 until all wires are tracked.
In some implementations of the first aspect, the wire routing task is performed by the extracted wire, and the process of extracting the wire includes the steps of:
step 5.1, starting a wire inspection task, capturing point cloud data according to a time interval of 1 second in the process of executing flight inspection, and executing accumulation on the point cloud data;
step 5.2, performing downsampling operation on the accumulated point cloud data, and storing the obtained downsampled data;
step 5.3, obtaining a clustering result of the single-field data by using a perception module of the inspection unmanned aerial vehicle; the single-field data represents single-field data of point cloud data obtained according to the frequency of the single-line laser radar after posture correction;
step 5.4, conducting wire extraction is carried out in the accumulated point cloud data by taking the small target as an index; the small target is set based on the wire characteristics.
In some implementations of the first aspect, the process of performing wire tracking includes the steps of:
step 7.1, reading point cloud data of a target wire and fitting the wire trend;
step 7.2, calculating the north angle of the target wire based on the fitting wire;
step 7.3, converting the north-offset angle to a flight coordinate system of the inspection unmanned aerial vehicle;
step 7.4, generating a flight control instruction of the parallel target wire by the inspection unmanned aerial vehicle based on the converted north-offset angle;
and 7.5, executing a flight task by the inspection unmanned aerial vehicle according to the flight control instruction.
In some implementations of the first aspect, performing an optimal location matching calculation procedure on the clustering result of the single frame point cloud data based on the extracted location information of the wire includes the steps of:
the position information in the current wire data is extracted,
matching the point clouds accumulated in the history based on the position information of the wires, and extracting all the point cloud data on one wire;
calculating the azimuth angle of the wire based on the extracted wire point cloud information;
acquiring an optimal position for matching calculation based on a point on the guide line and the azimuth angle;
calculating the distance from the inspection unmanned aerial vehicle to the lead based on the optimal position; wherein patrol unmanned aerial vehicle to the distance of wire includes: horizontal distance, vertical distance, lead target point distance.
In some realizable forms of the first aspect, in a process of performing wire point cloud data acquisition, when an abnormal situation occurs in the wire point cloud data, detecting and identifying a spacer and a wire foreign body in a flight process by using fusion point cloud data and an image identification algorithm; the abnormal situation includes: the amount of wire point cloud data is increased and the volume of the point cloud is increased.
When the abnormal information corresponds to the occurrence of the spacer, the flight control center starts a spacer inspection strategy; when the abnormal information corresponds to the foreign matter, the flight control center starts a foreign matter inspection strategy and records the foreign matter information; the foreign matter includes: kite, film.
In some implementations of the first aspect, when performing the tree contradiction analysis in the process of performing the line-imitating flight, performing a KNN nearest neighbor algorithm on the non-wire point cloud data based on the wire data, and recording point cloud position information of the current wire, and when the inspection unmanned aerial vehicle is performing the lowest line-imitating flight, performing a photographing record on a position of the tree close to the wire.
In a second aspect, a transmission line-imitating flying system is provided, which is used for implementing a transmission line-imitating flying method, and the system comprises the following modules: the system comprises a data acquisition module, a data registration module, a strategy generation module, a task trigger module, a task execution module, a wire confirmation module, a wire tracking module and a target shooting module.
The data acquisition module is used for acquiring point cloud data and IMU pose data by utilizing a single-line laser radar and an IMU sensor; the data registration module is used for executing data registration processing on the data acquired by the data acquisition module to acquire perception target data; the strategy generation module is used for generating an obstacle avoidance strategy according to the perception target data; the task triggering module is used for triggering a wire inspection task according to the obstacle avoidance strategy; the task execution module is used for executing a wire inspection task; the wire confirming module is used for selecting the extracted wires and confirming the wires to be tracked; the wire tracking module is used for executing a wire tracking task; the target shooting module is used for controlling the distance between the unmanned aerial vehicle and the lead in real time according to the tracking result, and controlling the cradle head to focus and zoom to shoot according to the distance information of the target point.
In a third aspect, a line-imitating flying device for a power transmission line is provided, the device comprising: a processor and a memory storing computer program instructions.
The processor reads and executes the computer program instructions to realize the transmission line simulated flight method.
In a fourth aspect, a computer readable storage medium having computer program instructions stored thereon, which when executed by a processor, implement a transmission line simulated flight method is provided.
The beneficial effects are that: compared with the prior art, the transmission line simulated line flight method and system based on the single-line laser radar have the following outstanding beneficial effects:
1. the single laser radar is adopted, so that the input cost is lower;
2. the point cloud output of 0.1s and the point cloud calculation of about 3ms lead the invention to have higher processing efficiency;
3. the unmanned aerial vehicle takes off by one key, perceives obstacle avoidance, stably flies along with the lead, automatically zooms and shoots the lead through position information, discovers that the spacer automatically shoots at multiple angles, and effectively improves the inspection efficiency;
4. the unmanned aerial vehicle can complete all tasks of wire inspection, spacer inspection, tree line contradiction, foreign matter detection and distance measurement in one flight, so that inspection efficiency is improved;
5. orthogonal laser radar combination is adopted, so that orthogonal 360-degree sensing obstacle avoidance is realized, and flight safety of the unmanned aerial vehicle is effectively ensured.
Drawings
FIG. 1 is a flow chart of data processing according to the present invention.
Fig. 2 is a schematic diagram of an orthogonal lidar according to the present invention.
FIG. 3 is a schematic diagram of the distance calculation according to the present invention.
FIG. 4 is a schematic illustration of a simulated line flight of the present invention.
Fig. 5 is a schematic view of a patrol unmanned aerial vehicle structure according to the 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 invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
In one embodiment, aiming at the problems existing in the unmanned aerial vehicle inspection process, the method for simulating line flight based on the single-line laser radar transmission line is provided, and through radar scanning and accumulated analysis of point cloud data, after point cloud registration is realized by fusing IMU pose sensing data, the requirement of wire extraction is met, and a foundation is provided for subsequent inspection requirements.
Specifically, as shown in fig. 1, in the course of the unmanned aerial vehicle executing the course flight task, the line-imitating flight method using the transmission line based on the single-line laser radar comprises the following steps:
step 1, acquiring point cloud data through radar scanning;
optionally, the M300 aircraft in Xinjiang is adopted to carry an onboard device integrating the single-line laser radar and the IMU module, the point cloud data is scanned and output through the laser radar with the high frequency of 10Hz, and the IMU data is output through the IMU module with the frequency of 50 Hz.
In the process of acquiring the point cloud data, two single-line laser radars are utilized to form an orthogonal laser radar through orthogonal combination, and a real object prototype diagram in practical application is shown in fig. 2. I.e. two single-line lidars are combined in a cross, and the two radars of the orthogonal radars are respectively named as A radars and B radars, as shown in figure 3. In fig. 3, AB two points are the detection points of two radars on the wire. The a radar is a left-right scan, and the B radar is a front-back scan. When unmanned aerial vehicle just flies to the wire side, B radar can detect the wire, and when unmanned aerial vehicle aircraft nose and wire have certain direction, say 45 degrees angle flights, AB radar can all detect the wire, if angle continue to change, B radar can not detect the wire, and A radar can detect the wire this moment. The scanning plane of the laser point cloud of the inspection unmanned aerial vehicle is shown in fig. 4, and the single-line laser radar is that a transmitter scans according to the plane 360 degrees, and similarly to the rotation of a needle on a clock dial, the single-line laser radar can return 360 measurement data when the needle rotates for 0.1s every circle.
Therefore, the angle change of the unmanned aerial vehicle and the wire can be better adapted by adopting the orthogonal radar, and the wire can be ensured to be tracked all the time; meanwhile, the unmanned aerial vehicle level can be met, the front and back obstacle avoidance needs are met, and the safety is higher.
Step 2, fusion operation is carried out on the point cloud data and the IMU data, and clustering analysis is carried out on the fusion result to obtain perception target data;
specifically, the point cloud data is obtained by orthogonal laser radar scanning, so the fusion process includes fusing the scanning data of two single-line laser radars into one body. In order to ensure the stability of the unmanned aerial vehicle body in the flight process, the fusion process further comprises pose conversion based on IMU pose data.
Optionally, the laser radar point cloud raw data is a polar coordinate system, so that the two radar point cloud data are converted into a three-dimensional coordinate system of the unmanned aerial vehicle. Unmanned aerial vehicle can not guarantee the fuselage stability in the flight, often appears the condition of every single move, and laser radar data also can produce the swing by a wide margin along with the fuselage every single move. Therefore, the embodiment fuses the IMU pose sensor data, and carries out reverse correction on the point cloud data according to the two data changes of the Pitch angle and the Roll angle of the IMU, so that the acquired point cloud data is always relative to the horizontal coordinate system of the unmanned aerial vehicle.
Alternatively, a DBScan algorithm is used in the clustering process to perform cluster analysis.
Step 3, the flight control center of the unmanned aerial vehicle generates an obstacle avoidance strategy based on the perception target data;
specifically, based on point cloud data of a horizontal coordinate system of the unmanned aerial vehicle, target clustering is carried out on the point cloud data, and distance and azimuth information of each target from the unmanned aerial vehicle are calculated. And combining the flight direction, calculating the influence of the perception target on the flight safety of the unmanned aerial vehicle in real time, and controlling the unmanned aerial vehicle to fly upwards through a PID control algorithm when an obstacle exists on the flight path of the unmanned aerial vehicle, and then bypassing the obstacle.
Step 4, performing obstacle avoidance flight based on an obstacle avoidance strategy, and triggering a wire inspection task based on perception information;
step 5, conducting wire inspection tasks are executed, point cloud data are accumulated, downsampling storage is executed on the point cloud data within a preset time period, meanwhile, conducting wire data are extracted based on the point cloud data, and conducting wire trend is fitted;
specifically, in order to extract a power transmission wire from single-line laser radar point cloud data, the embodiment adopts cumulative use of point clouds in the flight process. Because the real-time extraction of the wire is the key of the simulated line flight, the output of the position information of the wire is required to be within 0.1s, so that the use requirement can be met. The accumulation of the point cloud brings about the sudden increase of the data volume of the point cloud, the point cloud data in the two laser radars 1s reach 640000 points, and the real-time requirement on all the historical point cloud calculation is not met. Therefore, the scheme takes 1s as an interval, accumulates the point clouds in 1s, and simultaneously performs downsampling processing on the point clouds accumulated in 1s so as to reduce the data volume of the calculated point clouds. In order to further improve the extraction rate of the wires, the scheme performs wire extraction based on the small targets which are perceptively output, and the perception module of the inspection unmanned aerial vehicle outputs a clustering result of single-field data. Because the laser radar is a tangent wire, the clustering result output by the sensing module includes a wire part in a small target object, and the wire part is used as an index, so that the wire can be rapidly extracted from accumulated point cloud data. Verification of the present scheme according to practical application takes less than <1ms for wire extraction. Optionally, the single-field data is calculated according to 10Hz of the laser radar, namely 0.1s of single-field data, target clustering is carried out through 0.1s of data, and conducting wire extraction is carried out in the accumulated point cloud on the basis of the single-field data serving as an index. The 1s downsampling in this embodiment is mainly used for performing sparse processing on the historical data, so as to relieve the memory and the computation pressure. And (3) carrying out downsampling processing on point clouds in the interval every 1s, accumulating the downsampled point clouds on point cloud data in the whole process, and analyzing tree line contradiction, sag calculation and the like after the inspection in the span is finished.
In the process of fitting the trend of the wire, the wire point cloud is extracted according to the accumulation of the point cloud, the trend of the wire is described in a mathematical mode, and then the azimuth angle of the wire is calculated. Optionally, when there are n point cloud data (x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )、……、(x n ,y n ) The closeness of these point cloud data to the fitting wire y=a+bx is:
[y 1 -(a+bx 1 )] 2 +[y 2 -(a+bx 2 )] 2 +…+[y n -(a+bx n )] 2
optionally, in the laser radar data, the target of the wire is very small, and the target of the tree is very large, so in order to improve the calculation efficiency, the wire is found faster, and analysis and calculation are required to be performed on the small target. The definition of the small target is thus based on the wire characteristics, which in the preferred embodiment is set to a wire diameter of less than 0.1m, with different empirical values for different voltage levels.
Step 6, the flight control center of the unmanned aerial vehicle selects the extracted wire to obtain the wire to be tracked;
step 7, conducting wire tracking, performing optimal position matching calculation on the clustering result of the single-frame point cloud data based on the position information of the extracted conducting wire, and outputting a tracking result in a preset time period;
specifically, the wire tracking is used for outputting the position relation between the wire and the inspection unmanned aerial vehicle in real time, and outputting longitude and latitude and altitude information of a wire target point. Firstly, based on the extracted wire point cloud, fitting a straight line, calculating the north-offset angle of the wire, converting the north-offset angle into an unmanned aerial vehicle flight coordinate system, and controlling the unmanned aerial vehicle to fly by parallel wires based on the angle. In a preferred embodiment, as shown in fig. 3, the horizontal distance and the vertical distance between the unmanned aerial vehicle and the wire are calculated, and as shown in the above figure, the point B is a laser radar direct measurement point, the point B is a shooting target in the flight process of the unmanned aerial vehicle, the point C is the closest point of the unmanned aerial vehicle from the wire, and the calculation of the position information of the point C is performed through the position information of the unmanned aerial vehicle and the wire information.
The linear equation of the wire can be obtained by fitting the wire: ax+by+c=0, the horizontal distance calculation does not need to take sag into account when looking down. Knowing the position of the drone (X0, Y0), the distance of the drone from the nearest point C of the wire is d=x0x+y0y+c.
Performing optimal position matching calculation on the clustering result of the single-frame point cloud data based on the position information of the extracted wire, and outputting a tracking result within a preset time period, wherein outputting the tracking result at 0.1s comprises: azimuth angle of the wire, horizontal distance between the inspection unmanned aerial vehicle and the wire, vertical distance, and distance between the wire and the target point. The method specifically comprises the following steps:
step 7.1, extracting the position information in the current wire data,
step 7.2, matching the point clouds accumulated in the history based on the position information of the wires, and extracting all the point cloud data on one wire;
step 7.3, calculating the azimuth angle of the wire based on the extracted wire point cloud information;
step 7.4, based on a point on the guide line and the azimuth angle, acquiring an optimal position for matching calculation;
and 7.5, calculating the distance from the inspection unmanned aerial vehicle to the lead based on the optimal position.
Wherein, the horizontal distance represents the horizontal distance from the unmanned plane to the nearest point of the wire; the vertical distance represents the nearest vertical distance from the unmanned aerial vehicle to the wire; the lead target point distance represents the lead position detected by the laser radar and is far from the connecting line distance of the unmanned plane, and the calculation expression of the lead target distance is as follows:
optionally, the tracking information of the wire is output at a frequency of 10Hz, the flight control center controls the unmanned aerial vehicle to fly in parallel with the wire according to the reported information, and meanwhile, adjusts the flight height of the unmanned aerial vehicle according to the sag of the wire, controls the unmanned aerial vehicle holder to always aim at a target point of the wire, and completes focusing and zooming photographing according to the distance information of the target point.
The character definitions involved in the wire trace process are shown in table 2 below.
TABLE 2 character paraphrasing
| Start byte | Definition of the definition | Data type | Description of the invention |
| 0 | Wire numbering | Byte | |
| 1 | Yaw angle of wire | Float | |
| 5 | Horizontal distance from wire | Float | +on the left, -on the right |
| 9 | Perpendicular distance from wire | Float | +on top, -on bottom |
| 13 | Longitude of wire detection target | Double | |
| 21 | Latitude at lead detection target | Double | |
| 29 | Altitude of lead detection target | Float | |
| 33 | Wire trace status | Byte | 0: normal, 1: abnormality, 2: ending |
Step 8, the flight control center controls the distance between the unmanned aerial vehicle and the lead in real time according to the tracking result, and controls the cradle head to focus and zoom to take a picture according to the distance information of the target point;
specifically, the tracking information of the wire is output at the frequency of 10Hz, the flight control APP controls the unmanned aerial vehicle to fly in parallel with the wire according to the reported information, meanwhile, the flight height of the unmanned aerial vehicle is adjusted according to the sag of the wire, the unmanned aerial vehicle holder is controlled to always aim at the target point of the wire, and focusing and zooming photographing are completed according to the distance information of the target point.
And 9, if the current wire tracking flight is completed, switching the tracking target into another wire, and jumping to the step 7 until all wires are tracked.
In the preferred embodiment, the single-line laser radar is widely used in the field of robots, and can realize 360-degree scanning of a plane and measurement of sampling frequency with radius larger than 30m and 32K and 0.12-degree angular resolution in the process of realizing transmission conductor line-imitating flight based on the single-line laser radar. The relationship between the detection target size and the unmanned aerial vehicle flight distance is shown in table 1 below.
TABLE 1 relationship of flight distance to target size
Alternatively, when the output frequency of the laser radar is 10Hz, two fields of point cloud data are output in 200ms, and the two fields of data are fused and used, so that the target size smaller than that in the table can be detected.
In a further embodiment, when abnormal conditions such as sudden increase of the data volume of the point cloud of the lead wire, sudden increase of the volume of the point cloud and the like occur in the process of executing the simulated line flight of the unmanned aerial vehicle, reporting current position information to a flight control center in real time; and then, after the flight control center receives the abnormal data, fusing a vision algorithm to execute abnormal judgment. Optionally, when the abnormal information corresponds to the occurrence of the spacer, the flight control center starts a spacer inspection strategy; when the abnormal information corresponds to the foreign matter, the flight control center starts a foreign matter inspection strategy.
Specifically, in the process of line-imitating flight, inspection of the spacer is required to be completed, and the spacer is used for fixing the spacing of split conductors. The foreign matters on the conducting wires refer to that floaters such as kites, films and the like are hung on the conducting wires. The embodiment integrates laser radar data and an image recognition algorithm to finish detection of foreign matters on the spacing bars and the wires in the flying process. And judging abnormal changes of the point cloud of the wire by characteristic changes of the point cloud of the single-wire laser radar on the wire.
Because the thickness of the transmission wire is uniform, the number of wire point clouds in single-field laser radar data and the volume change are uniform. When point cloud mutation and volume mutation occur, the situation that the conducting wire is abnormal is indicated, a spacing rod or a conducting wire foreign matter exists, then abnormal information is reported when a wire tracking message is reported, after the flight control software receives the abnormal reporting information, abnormal points are identified through a visual algorithm, whether the spacing rod is the conducting wire foreign matter or not is identified, and if the spacing rod is the conducting wire foreign matter, inspection is conducted according to a spacing rod inspection rule; if the foreign matter is the foreign matter, the foreign matter recording is performed.
In a further embodiment, the tree-line contradiction means that the distance between a wire and a tree and a building is too short, the embodiment realizes real-time tracking of the wire in the line-imitating flying process, completes extraction and positioning of the wire, accumulates point clouds in the line-imitating process, and achieves the same effect as multi-line laser radar scanning point clouds, so that the embodiment searches for the nearest point in the accumulated point clouds based on the wire point clouds, obtains the distance between the wire and the building through visual photographing and retaining, effectively improves the processing efficiency of tree-line contradiction analysis in the flying process, and completes result output when falling to the ground. In the preferred embodiment, in the process of executing the line-imitating flight of the unmanned aerial vehicle, the KNN nearest neighbor algorithm is executed on the non-wire point cloud data based on the wire data, the position information is recorded, and when the unmanned aerial vehicle is in the lowest line-imitating flight, the photographing record is executed on the nearest point.
In a further embodiment, during the execution of the simulated line flight, the lowest point of the wires is recorded in real time, and the sag of the wires is output after the end of the flight of one wire, and at the same time, the phase line distance of the wires is output after the end of the flight mission.
In a further embodiment, two single-line laser radars are adopted for orthogonal fusion, and the two radar scanning surfaces are vertical to the horizontal plane, so that the unmanned aerial vehicle can fly in a line-like manner from the side surface and the right above the lead. And the IMU attitude sensor data and the unmanned aerial vehicle RTK positioning data are fused, so that the problem of alignment of point cloud data caused by shaking in the flight process of the unmanned aerial vehicle is solved. The onboard computing unit capable of mounting the unmanned aerial vehicle is developed based on the domestic chip RK3588, has the computing power of 6Tops, and effectively meets the real-time computing requirements of point cloud and image algorithms.
Because the single-line laser radar is planar scanning, the single-line laser radar data is directly used, and the position relation between the unmanned aerial vehicle and the wire cannot be calculated, the embodiment accumulates the point clouds, and extracts the wire from the accumulated point clouds. The unmanned aerial vehicle is always in a shaking state in the air flight process, so that the point cloud registration difficulty is high, the point cloud registration can be realized by fusing IMU pose sensor data, the extraction of the wires is met, the position information of the wires and the unmanned aerial vehicle is output in real time, and a technical basis is provided for the unmanned aerial vehicle to fly along with the wires, and the wires are subjected to inspection, spacer inspection, tree line contradiction, sag measurement and phase line distance measurement.
In the preferred embodiment, the proposed single-line laser radar transmission line simulated flight method can be used for inspecting the transmission line in the process of executing simulated flight to identify defects such as strand breakage, strand feeding, damage, wire corrosion and the like; the inspection device can be used for inspecting the spacer and identifying the defects of breakage, disconnection, skew and the like of the spacer; the method can be used for analyzing the contradiction of tree lines and judging whether the distances between trees, buildings and wires are too close; the device can be used for detecting foreign matters of wires and identifying floaters such as kites, reflective films, dust screens and the like; can be used to measure the distance between the target detectors and identify the degree of sag of the wire and the distance between the phase lines.
Compared with the prior art, the implementation adopts the single-line laser radar to acquire data, the input cost is lower, and meanwhile, the orthogonal laser radar combination is adopted, so that the obstacle avoidance of orthogonal 360-degree perception is realized, and the flight safety is effectively ensured. In addition, the 0.1s point cloud output and the about 3ms point cloud calculation enable the method provided by the embodiment to have higher processing efficiency, and solve all problems of one-time flight, wire inspection, spacer inspection, tree line contradiction, foreign matter detection and distance measurement, so that inspection efficiency is improved. In addition, unmanned aerial vehicle one key takes off, and the perception keeps away the barrier, follows the wire and carries out flight task, can shoot the wire through the automatic zoom of positional information, discovers that the conductor spacer is automatic multi-angle and shoots.
In one embodiment, a transmission line simulated flight system is provided, which is used for realizing a transmission line simulated flight method, and the system comprises the following modules: the system comprises a data acquisition module, a data registration module, a strategy generation module, a task trigger module, a task execution module, a wire confirmation module, a wire tracking module and a target shooting module.
The data acquisition module is used for acquiring point cloud data and IMU pose data by utilizing a single-line laser radar and an IMU sensor; the data registration module is used for executing data registration processing on the data acquired by the data acquisition module to acquire perception target data; the strategy generation module is used for generating an obstacle avoidance strategy according to the perception target data; the task triggering module is used for triggering a wire inspection task according to the obstacle avoidance strategy; the task execution module is used for executing a wire inspection task; the wire confirming module is used for selecting the extracted wires and confirming the wires to be tracked; a wire trace module configured to perform a wire trace task; the target shooting module is set to control the distance between the unmanned aerial vehicle and the lead in real time according to the tracking result, and control the cradle head to focus and zoom to shoot according to the distance information of the target point.
In a further embodiment, the unmanned aerial vehicle hardware structure comprising the system is shown in fig. 5, and comprises an intelligent flight control APP, a cradle head, a computing unit, an IMU and an orthogonal laser radar, wherein the unmanned aerial vehicle adopts airborne equipment fused with the single-line laser radar and the IMU sensor to execute a transmission line simulated flight task.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. 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 transmission line simulated flight method based on the single-line laser radar is characterized in that an inspection unmanned aerial vehicle adopts an onboard device fused with the single-line laser radar and an IMU sensor to execute transmission line simulated flight, and correspondingly comprises the following steps of:
step 1, the single-line laser radar forms an orthogonal laser radar through orthogonal combination, point cloud data are obtained through scanning of the orthogonal laser radar, and IMU pose data are obtained through the IMU sensor;
step 2, performing fusion registration operation on the point cloud data and the IMU pose data to obtain registered point cloud data, and performing cluster analysis on the registered point cloud data to obtain perception target data;
step 3, the flight control center of the unmanned aerial vehicle generates an obstacle avoidance strategy based on the perception target data;
step 4, performing obstacle avoidance flight based on an obstacle avoidance strategy, and triggering a wire inspection task based on perception information;
step 5, performing a wire inspection task, accumulating point cloud data, performing downsampling storage on the point cloud data within a preset time period, extracting wire data based on the point cloud data, fitting the wire trend by adopting a least square method, and outputting a wire azimuth in real time;
step 6, the flight control center of the unmanned aerial vehicle selects the extracted wire to obtain the wire to be tracked;
step 7, conducting wire tracking, performing optimal position matching calculation on the clustering result of the single-frame point cloud data based on the position information of the extracted conducting wire, and outputting a tracking result in a preset time period;
step 8, the flight control center controls the distance between the unmanned aerial vehicle and the lead in real time according to the tracking result, and controls the cradle head to focus and zoom to take a picture according to the distance information of the target point;
and 9, if the current wire tracking flight is completed, switching the tracking target into another wire, and jumping to the step 7 until all wires are tracked.
2. The line-imitating flight method based on the single-line lidar transmission line according to claim 1, wherein the process of obtaining the registered point cloud data by performing fusion registration operation on the point cloud data and the IMU pose data corresponds to the following steps:
step 2.1, fusing point cloud data obtained by scanning of the orthogonal laser radar;
2.2, converting the fused point cloud data coordinates by taking a three-dimensional coordinate system in which the inspection unmanned aerial vehicle is positioned as a reference;
and 2.3, performing reverse correction on the converted point cloud data according to two data change fingers of pitch angle and roll angle of IMU pose data, so that the corrected point cloud data is always opposite to a horizontal coordinate system of the inspection unmanned aerial vehicle.
3. The line-imitating flying method based on the single-line laser radar transmission line according to claim 1, wherein the process of extracting the wire comprises the following steps of:
step 5.1, starting a wire inspection task, capturing point cloud data according to a time interval of 1 second in the process of executing flight inspection, and executing accumulation on the point cloud data;
step 5.2, performing downsampling operation on the accumulated point cloud data, and storing the obtained downsampled data;
step 5.3, obtaining a clustering result of the single-field data by using a perception module of the inspection unmanned aerial vehicle; the single-field data represents single-field data of point cloud data obtained according to the frequency of the single-line laser radar after posture correction;
step 5.4, conducting wire extraction is carried out in the accumulated point cloud data by taking the small target as an index; the small target is set based on the wire characteristics.
4. The method for performing line-imitating flying based on single-line lidar transmission line according to claim 1, wherein the process of performing the wire tracking comprises the steps of:
step 7.1, reading point cloud data of a target wire and fitting the wire trend;
step 7.2, calculating the north angle of the target wire based on the fitting wire;
step 7.3, converting the north-offset angle to a flight coordinate system of the inspection unmanned aerial vehicle;
step 7.4, generating a flight control instruction of the parallel target wire by the inspection unmanned aerial vehicle based on the converted north-offset angle;
and 7.5, executing a flight task by the inspection unmanned aerial vehicle according to the flight control instruction.
5. The line-imitating flight method based on the single-line lidar transmission line according to claim 1, wherein the process of performing optimal position matching calculation on the clustering result of the single-frame point cloud data based on the position information of the extracted wire comprises the steps of:
the position information in the current wire data is extracted,
matching the point clouds accumulated in the history based on the position information of the wires, and extracting all the point cloud data on one wire;
calculating the azimuth angle of the wire based on the extracted wire point cloud information;
acquiring an optimal position for matching calculation based on a point on the guide line and the azimuth angle;
calculating the distance from the inspection unmanned aerial vehicle to the lead based on the optimal position; wherein patrol unmanned aerial vehicle to the distance of wire includes: horizontal distance, vertical distance, lead target point distance.
6. The line-imitating flight method based on the single-line laser radar transmission line according to claim 1, wherein in the process of executing wire point cloud data acquisition, when abnormal conditions occur in the wire point cloud data, the fusion point cloud data and an image recognition algorithm detect and recognize a spacer and a wire foreign matter in the flight process; the abnormal situation includes: the data volume of the point cloud of the wire is increased, and the volume of the point cloud is increased;
when the abnormal information corresponds to the occurrence of the spacer, the flight control center starts a spacer inspection strategy; when the abnormal information corresponds to the foreign matter, the flight control center starts a foreign matter inspection strategy and records the foreign matter information; the foreign matter includes: kite, film.
7. The line simulation flight method based on the single-line laser radar transmission line according to claim 1, wherein when a tree line contradiction analysis is performed in the process of performing line simulation flight, a KNN neighbor algorithm is performed on non-wire point cloud data based on wire data, point cloud position information of a current wire is recorded, and when the inspection unmanned aerial vehicle makes the lowest line simulation flight, photographing recording is performed on a position of a tree close to the wire.
8. A transmission line simulated flight system for implementing a transmission line simulated flight method as claimed in any one of claims 1-7, comprising the following modules:
the data acquisition module is arranged to acquire point cloud data and IMU pose data by utilizing a single-line laser radar and an IMU sensor;
the data registration module is arranged to execute data registration processing on the data acquired by the data acquisition module to acquire perception target data;
the strategy generation module is set to generate an obstacle avoidance strategy according to the perception target data;
the task triggering module is arranged to trigger a wire inspection task according to an obstacle avoidance strategy;
the task execution module is arranged to execute a wire inspection task;
the wire confirming module is used for selecting the extracted wires and confirming the wires to be tracked;
a wire trace module configured to perform a wire trace task;
the target shooting module is set to control the distance between the unmanned aerial vehicle and the lead in real time according to the tracking result, and control the cradle head to focus and zoom to shoot according to the distance information of the target point.
9. A transmission line-imitating flying apparatus, the apparatus comprising:
a processor and a memory storing computer program instructions;
the processor reads and executes the computer program instructions to implement the transmission line simulated flight method according to any one of claims 1-7.
10. A computer readable storage medium, wherein computer program instructions are stored on the computer readable storage medium, and when executed by a processor, the computer program instructions implement the transmission line simulated flight method of any one of claims 1-7.
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| CN117388867A (en) * | 2023-12-11 | 2024-01-12 | 国网辽宁省电力有限公司 | Power transmission line inspection method based on high-precision three-dimensional laser point cloud technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117388867A (en) * | 2023-12-11 | 2024-01-12 | 国网辽宁省电力有限公司 | Power transmission line inspection method based on high-precision three-dimensional laser point cloud technology |
| CN117388867B (en) * | 2023-12-11 | 2024-04-05 | 国网辽宁省电力有限公司 | Power transmission line inspection method based on high-precision three-dimensional laser point cloud technology |
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