CN104597907A - Method for accurately evaluating flight of UAV (unmanned aerial vehicle) inspection system of overhead transmission line - Google Patents
Method for accurately evaluating flight of UAV (unmanned aerial vehicle) inspection system of overhead transmission line Download PDFInfo
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Abstract
本发明提供一种架空输电线路无人机巡检系统飞行准确性评价方法，包括以下步骤：对量测设备进行检校；在无人机机体上布置标识；无人机起飞后，量测设备对无人机机体进行测量；对无人机位置进行实时分析；对无人机巡检系统飞行准确性进行评价。本发明对无人机机体的飞行位置和姿态进行测量，对飞行准确性进行评估，筛选合格的无人机巡检系统，保障线路设备安全。
The invention provides a method for evaluating the flight accuracy of an unmanned aerial vehicle inspection system for overhead power transmission lines, comprising the following steps: checking and calibrating the measuring equipment; arranging signs on the unmanned aerial vehicle body; Measure the body of the UAV; analyze the position of the UAV in real time; evaluate the flight accuracy of the UAV inspection system. The invention measures the flight position and attitude of the drone body, evaluates the flight accuracy, screens qualified drone inspection systems, and ensures the safety of line equipment.
Description
技术领域technical field
本发明涉及一种评价方法，具体涉及一种架空输电线路无人机巡检系统飞行准确性评价方法。The invention relates to an evaluation method, in particular to a flight accuracy evaluation method of an unmanned aerial vehicle inspection system for overhead transmission lines.
背景技术Background technique
在电力系统中，无人机主要用于巡视输电线路设备本体及通道走廊，检测设备和通道缺陷。无人机种类繁多，按机型可分为固定翼无人机、无人直升机，两种机型均在输电线路巡检中有不同方面的应用。其中，固定翼无人机侧重于开展输电线路通道巡检、灾情普查，可快速发现通道内固定或流动作业、山火、违章建筑等外破隐患，在灾害情况下可迅速确定受灾范围，评估受灾情况。无人直升机侧重于开展输电线路单塔或区段巡检、故障巡检，易于发现线路杆塔瓶口以上缺陷。In the power system, drones are mainly used to inspect the transmission line equipment body and channel corridors, and detect equipment and channel defects. There are many types of UAVs, which can be divided into fixed-wing UAVs and unmanned helicopters according to the type. Both types have different applications in transmission line inspections. Among them, fixed-wing UAVs focus on carrying out transmission line channel inspections and disaster surveys. They can quickly discover hidden dangers such as fixed or mobile operations, wildfires, and illegal buildings in the channel. In disaster situations, they can quickly determine the scope of the disaster. Disaster situation. Unmanned helicopters focus on carrying out single-tower or section inspections and fault inspections of transmission lines, and are easy to find defects above the bottleneck of line towers.
目前，输电线路巡检用无人机多为中小型无人机，即空机质量在116千克以下。由于军事、政治等原因，无人机进口技术较少，多为国内生产。国内无人机机体生产厂家主要有三类，一是具备军工背景的研究所，主要制造大中型无人机平台，具备技术研发、检测实验、系统集成和质量管控优势；二是以科研院所为背景的企业，主要制造中小型无人机平台，有科研应用基础，但在生产能力、质量管控、系统集成、检测等方面存在不足；三是从做小型航模发展起来的小型民企，主要制造中小型无人机平台，具有一定成本优势，但在生产研发能力、质量管控、外购设备检测等方面存在不足，且不具备系统集成资质和质量检测手段。At present, most of the UAVs used for transmission line inspection are small and medium-sized UAVs, that is, the weight of the empty aircraft is less than 116 kilograms. Due to military, political and other reasons, UAV import technology is less, mostly domestic production. There are three main types of domestic UAV airframe manufacturers. One is research institutes with military background, which mainly manufacture large and medium-sized UAV platforms, and has the advantages of technology research and development, testing experiments, system integration and quality control; the other is scientific research institutes. Enterprises in the background mainly manufacture small and medium-sized UAV platforms, which have a basis for scientific research and application, but have deficiencies in production capacity, quality control, system integration, testing, etc. The small UAV platform has a certain cost advantage, but there are deficiencies in production research and development capabilities, quality control, and outsourced equipment testing, and it does not have system integration qualifications and quality testing methods.
输电线路巡检需要对特定部件进行数据采集，分辨率要求极高；在实际巡检作业时，先在地面设置航线和任务设备参数，再进行飞行巡检。无人机飞行准确性对巡检结果影响质量较大，飞行准确性主要体现在无人机飞行的水平位置和高度位置。影响无人机飞行准确性的因素主要有飞行控制系统、导航定位模块等。但目前国内无人机市场不成熟，飞行控制系统质量参差不齐，导航定位模块质量较差。国内架空输电线路无人机巡检系统发展还处于起步阶段，暂无行业标准、国家标准，暂无输电线路无人机巡检系统相关试验方法。The transmission line inspection requires data collection of specific components, and the resolution is extremely high; in the actual inspection operation, the route and mission equipment parameters are set on the ground first, and then the flight inspection is carried out. The flight accuracy of UAVs has a great influence on the quality of inspection results, and the flight accuracy is mainly reflected in the horizontal position and height position of UAVs. The factors that affect the flight accuracy of drones mainly include flight control system, navigation and positioning module, etc. However, the current domestic drone market is immature, the quality of flight control systems is uneven, and the quality of navigation and positioning modules is poor. The development of the UAV inspection system for overhead transmission lines in China is still in its infancy, and there are no industry standards, national standards, and no relevant test methods for the UAV inspection system for transmission lines.
发明内容Contents of the invention
为了克服上述现有技术的不足，本发明提供一种架空输电线路无人机巡检系统飞行准确性评价方法，对无人机机体的飞行位置和姿态进行测量，对飞行准确性进行评估，筛选合格的无人机巡检系统，保障线路设备安全。In order to overcome the deficiencies in the prior art above, the present invention provides a method for evaluating the flight accuracy of the UAV inspection system for overhead transmission lines, which measures the flight position and attitude of the UAV body, evaluates the flight accuracy, and screens Qualified UAV inspection system ensures the safety of line equipment.
为了实现上述发明目的，本发明采取如下技术方案：In order to realize the above-mentioned purpose of the invention, the present invention takes the following technical solutions:
本发明提供一种架空输电线路无人机巡检系统飞行准确性评价方法，所述方法包括以下步骤：The invention provides a method for evaluating the flight accuracy of an unmanned aerial vehicle inspection system for overhead transmission lines, the method comprising the following steps:
步骤1：对量测设备进行检校；Step 1: Check and calibrate the measuring equipment;
步骤2：在无人机机体上布置标识；Step 2: Arrange signs on the drone body;
步骤3：无人机起飞后，量测设备对无人机机体进行测量；Step 3: After the UAV takes off, the measuring equipment measures the body of the UAV;
步骤4：对无人机位置进行实时分析；Step 4: Real-time analysis of the position of the drone;
步骤5：对无人机巡检系统飞行准确性进行评价。Step 5: Evaluate the flight accuracy of the UAV inspection system.
所述步骤1中，首先布置三维检校场，使用量测设备对三维检校场进行拍摄，使三维检校场占满整幅影像；然后根据三维检校场的已知位置约束条件，使用直接变换方法解算量测设备的内方位元素，包括量测设备的像主点位置、主距和镜头畸变参数，并确定拍摄中心与像平面的关系；最后根据量测设备的拍摄基线确定量测设备中两台拍摄设备的相对位置。In the step 1, first arrange the three-dimensional calibration field, use the measuring equipment to shoot the three-dimensional calibration field, so that the three-dimensional calibration field occupies the entire image; then use the direct transformation method to solve the problem according to the known position constraints of the three-dimensional calibration field. Calculate the internal orientation elements of the measurement equipment, including the image principal point position, principal distance and lens distortion parameters of the measurement equipment, and determine the relationship between the shooting center and the image plane; The relative position of the camera equipment.
所述步骤2中，标识的形状为黑白相间的圆形，其直径5cm，具有对称性。In the step 2, the shape of the logo is a black and white circle with a diameter of 5 cm and is symmetrical.
所述步骤2中，在无人机机体上选择三个位置布置标识，三个位置的运动方向及位移与机体保持一致，标识的正面朝下，且平整。In the step 2, select three locations on the UAV body to arrange the logo, the movement direction and displacement of the three locations are consistent with the body, and the front of the logo is facing down and flat.
对于不同的无人机，采用以下方式布置标识：For different drones, the signs are arranged in the following ways:
(1)对多旋翼无人机，在机腹下方布置一个标识，在两个机臂上分别布置一个标识或在机体框架对角位置上布置两个标识；(1) For multi-rotor UAVs, arrange one mark under the belly, one mark on the two arms or two marks on the diagonal positions of the body frame;
(2)对无人直升机，在机腹下方布置两个标识，尾端布置一个标识；(2) For unmanned helicopters, two markings are arranged under the belly, and one marking is arranged at the tail end;
(3)对固定翼无人机，在机腹布置一个标识，在两个机翼各布置一个标识。(3) For fixed-wing UAVs, one mark is arranged on the belly, and one mark is arranged on each of the two wings.
所述步骤3包括以下步骤：Described step 3 comprises the following steps:
步骤3-1：选择直线区段作为测量区，给定测试区中两端中点的地理坐标，按两个地理坐标设置无人机飞行航线，满足无人机在航线飞行时，飞行高度在10～20m之间，飞行速度为0～5m/s；Step 3-1: Select a straight line section as the measurement area, given the geographical coordinates of the midpoint of the two ends of the test area, and set the UAV flight route according to the two geographical coordinates, so that when the UAV is flying on the route, the flight altitude is at Between 10-20m, the flight speed is 0-5m/s;
步骤3-2：量测设备中两个拍摄设备的俯仰角向上，水平视角与预设航线成垂直角布置，并根据天气情况设定感光度和光圈；Step 3-2: The pitch angle of the two shooting devices in the measurement device is upward, the horizontal viewing angle is arranged at a vertical angle to the preset route, and the sensitivity and aperture are set according to the weather conditions;
步骤3-3：无人机起飞后，其采取自主飞行模式，并按预设航线飞行；Step 3-3: After the UAV takes off, it adopts the autonomous flight mode and flies according to the preset route;
步骤3-4：启动量测设备，以连拍模式进行拍摄，并将影像传输至后台处理系统。Step 3-4: Start the measurement equipment, take pictures in continuous shooting mode, and transmit the images to the background processing system.
所述步骤4包括以下步骤：Described step 4 comprises the following steps:
步骤4-1：对拍摄的影像进行预处理，提取标识点；Step 4-1: Preprocessing the captured image and extracting the marker points;
步骤4-2：对两台拍摄设备在同一时刻拍摄的影像，进行标识点匹配；Step 4-2: Match the marker points on the images captured by the two shooting devices at the same time;
步骤4-3：采用相对控制的方式，以飞机质心为原点O，以机身方向为X轴，以同一水平面上垂直于机身方向为Y轴，并以垂直于XOY平面的方向为Z轴，建立空间直角坐标系，测定标识点在该空间直角坐标系中的像素坐标；Step 4-3: Use the relative control method, take the center of mass of the aircraft as the origin O, take the direction of the fuselage as the X-axis, take the direction perpendicular to the fuselage on the same horizontal plane as the Y-axis, and take the direction perpendicular to the XOY plane as the Z-axis , establish a space Cartesian coordinate system, and measure the pixel coordinates of the marker point in the space Cartesian coordinate system;
步骤4-4：以像素坐标为测量值，结合布置在无人机上的三个标识相对位置关系，建立共线方程，根据共线方程确定无人机位置；Step 4-4: Take the pixel coordinates as the measurement value, combine the relative positional relationship of the three signs arranged on the drone, establish a collinear equation, and determine the position of the drone according to the collinear equation;
步骤4-5：根据确定的无人机在不同时刻的位置，绘制无人机飞行航迹。Step 4-5: Draw the flight track of the drone according to the determined position of the drone at different times.
所述步骤5中，将无人机飞行航迹与预设航线进行对比分析，分别通过水平准确度评价指标和垂直准确度评价指标对无人机的水平准确度和垂直准确度进行评价。In the step 5, the UAV flight track and the preset route are compared and analyzed, and the horizontal accuracy and vertical accuracy of the UAV are evaluated by the horizontal accuracy evaluation index and the vertical accuracy evaluation index respectively.
所述水平准确度评价指标包括最大水平偏差和平均水平偏差；所述最大水平偏差为无人机飞行航迹上在水平方向上最大的偏差，所述平均水平偏差为无人机在不同时刻位置的水平偏差值的均方根；The horizontal accuracy evaluation index includes a maximum horizontal deviation and an average horizontal deviation; the maximum horizontal deviation is the maximum deviation in the horizontal direction on the flight track of the drone, and the average horizontal deviation is the position of the drone at different times. The root mean square of the horizontal deviation value;
所述垂直准确度评价指标包括最大高度偏差和平均高度偏差；所述最大高度偏差为无人机飞行航迹上在垂直方向上的最大偏差，所述平均高度偏差为无人机在不同时刻位置的高度偏差值的均方根。The vertical accuracy evaluation index includes a maximum height deviation and an average height deviation; the maximum height deviation is the maximum deviation in the vertical direction on the flight track of the drone, and the average height deviation is the position of the drone at different times. The root mean square of the height deviation value.
与现有技术相比，本发明的有益效果在于：Compared with prior art, the beneficial effect of the present invention is:
(1)能在实际飞行情况下实时对无人机的飞行位置进行检测，不干扰无人机的正常飞行。(1) The flight position of the UAV can be detected in real time under actual flight conditions without interfering with the normal flight of the UAV.
(2)能对无人机巡检系统整体的飞行准确性进行综合评价，不是单一模块的控制精度。(2) It can comprehensively evaluate the overall flight accuracy of the UAV inspection system, not the control accuracy of a single module.
(3)能对无人机巡检系统整体的飞行准确性进行定量化评价，为实际巡检作业时无人机与线路设备及周边障碍物的安全距离保证提供技术依据，提高无人机巡检作业安全性。(3) It can quantitatively evaluate the overall flight accuracy of the UAV inspection system, provide a technical basis for ensuring the safe distance between the UAV and the line equipment and surrounding obstacles during the actual inspection operation, and improve the UAV inspection. Check job safety.
附图说明Description of drawings
图1是架空输电线路无人机巡检系统飞行准确性评价方法流程图。Figure 1 is a flowchart of the flight accuracy evaluation method of the UAV inspection system for overhead transmission lines.
具体实施方式Detailed ways
下面结合附图对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1，本发明提供一种架空输电线路无人机巡检系统飞行准确性评价方法，所述方法包括以下步骤：As shown in Figure 1, the present invention provides a method for evaluating the flight accuracy of an overhead transmission line drone inspection system, said method comprising the following steps:
步骤1：对量测设备进行检校；Step 1: Check and calibrate the measuring equipment;
步骤2：在无人机机体上布置标识；Step 2: Arrange signs on the drone body;
步骤3：无人机起飞后，量测设备对无人机机体进行测量；Step 3: After the UAV takes off, the measuring equipment measures the body of the UAV;
步骤4：对无人机位置进行实时分析；Step 4: Real-time analysis of the position of the drone;
步骤5：对无人机巡检系统飞行准确性进行评价。Step 5: Evaluate the flight accuracy of the UAV inspection system.
所述步骤1中，首先布置三维检校场，使用量测设备对三维检校场进行拍摄，使三维检校场占满整幅影像；然后根据三维检校场的已知位置约束条件，使用直接变换方法解算量测设备的内方位元素，包括量测设备的像主点位置、主距和镜头畸变参数，并确定拍摄中心与像平面的关系；最后根据量测设备的拍摄基线确定量测设备中两台拍摄设备的相对位置。In the step 1, first arrange the three-dimensional calibration field, use the measuring equipment to shoot the three-dimensional calibration field, so that the three-dimensional calibration field occupies the entire image; then use the direct transformation method to solve the problem according to the known position constraints of the three-dimensional calibration field. Calculate the internal orientation elements of the measurement equipment, including the image principal point position, principal distance and lens distortion parameters of the measurement equipment, and determine the relationship between the shooting center and the image plane; The relative position of the camera equipment.
标识的形状为黑白相间的圆形，其直径5cm，具有对称性。The shape of the logo is a black and white circle with a diameter of 5 cm and is symmetrical.
在无人机机体上选择三个位置布置标识，三个位置的运动方向及位移与机体保持一致，不单独运动；不应布置在桨叶上。布置标识时需保证标识平整，且标识的正面朝下。机体上的三个标识不在一个平面上，且标识点的跨度尽可能大，还需保证飞行过程标识始终牢固的黏贴在无人机机体上。Choose three positions on the UAV body to arrange the logo. The movement direction and displacement of the three positions are consistent with the body and do not move independently; they should not be placed on the blades. When arranging the logo, it is necessary to ensure that the logo is flat and the front side of the logo is facing down. The three logos on the body are not on the same plane, and the span of the logo points is as large as possible. It is also necessary to ensure that the logo is always firmly attached to the drone body during the flight.
对于不同的无人机，采用以下方式布置标识：For different drones, the signs are arranged in the following ways:
(1)对多旋翼无人机，在机腹下方布置一个标识，在两个机臂上分别布置一个标识或在机体框架对角位置上布置两个标识；(1) For multi-rotor UAVs, arrange one mark under the belly, one mark on the two arms or two marks on the diagonal positions of the body frame;
(2)对无人直升机，在机腹下方布置两个标识，尾端布置一个标识；(2) For unmanned helicopters, two markings are arranged under the belly, and one marking is arranged at the tail end;
(3)对固定翼无人机，在机腹布置一个标识，在两个机翼各布置一个标识。(3) For fixed-wing UAVs, one mark is arranged on the belly, and one mark is arranged on each of the two wings.
所述步骤3包括以下步骤：Described step 3 comprises the following steps:
步骤3-1：选择直线区段作为测量区，给定测试区中两端中点的地理坐标，按两个地理坐标设置无人机飞行航线，满足无人机在航线飞行时，飞行高度在10～20m之间，飞行速度为0～5m/s；Step 3-1: Select a straight line section as the measurement area, given the geographical coordinates of the midpoint of the two ends of the test area, and set the UAV flight route according to the two geographical coordinates, so that when the UAV is flying on the route, the flight altitude is at Between 10-20m, the flight speed is 0-5m/s;
步骤3-2：量测设备中两个拍摄设备的俯仰角向上，水平视角与预设航线成垂直角布置，并根据天气情况设定感光度和光圈；Step 3-2: The pitch angle of the two shooting devices in the measurement device is upward, the horizontal viewing angle is arranged at a vertical angle to the preset route, and the sensitivity and aperture are set according to the weather conditions;
步骤3-3：无人机起飞后，其采取自主飞行模式，并按预设航线飞行；Step 3-3: After the UAV takes off, it adopts the autonomous flight mode and flies according to the preset route;
步骤3-4：启动量测设备，以连拍模式进行拍摄，并将影像传输至后台处理系统。Step 3-4: Start the measurement equipment, take pictures in continuous shooting mode, and transmit the images to the background processing system.
所述步骤4包括以下步骤：Described step 4 comprises the following steps:
步骤4-1：对拍摄的影像进行预处理，提取标识点；Step 4-1: Preprocessing the captured image and extracting the marker points;
步骤4-2：对两台拍摄设备在同一时刻拍摄的影像，进行标识点匹配；Step 4-2: Match the marker points on the images captured by the two shooting devices at the same time;
步骤4-3：采用相对控制的方式，以飞机质心为原点O，以机身方向为X轴，以同一水平面上垂直于机身方向为Y轴，并以垂直于XOY平面的方向为Z轴，建立空间直角坐标系，测定标识点在该空间直角坐标系中的像素坐标；Step 4-3: Use the relative control method, take the center of mass of the aircraft as the origin O, take the direction of the fuselage as the X-axis, take the direction perpendicular to the fuselage on the same horizontal plane as the Y-axis, and take the direction perpendicular to the XOY plane as the Z-axis , establish a space Cartesian coordinate system, and measure the pixel coordinates of the marker point in the space Cartesian coordinate system;
步骤4-4：以像素坐标为测量值，结合布置在无人机上的三个标识相对位置关系，建立共线方程，根据共线方程确定无人机位置；Step 4-4: Take the pixel coordinates as the measurement value, combine the relative positional relationship of the three signs arranged on the drone, establish a collinear equation, and determine the position of the drone according to the collinear equation;
步骤4-5：根据确定的无人机在不同时刻的位置，绘制无人机飞行航迹。Step 4-5: Draw the flight track of the drone according to the determined position of the drone at different times.
所述步骤5中，将无人机飞行航迹与预设航线进行对比分析，分别通过水平准确度评价指标和垂直准确度评价指标对无人机的水平准确度和垂直准确度进行评价。In the step 5, the UAV flight track and the preset route are compared and analyzed, and the horizontal accuracy and vertical accuracy of the UAV are evaluated by the horizontal accuracy evaluation index and the vertical accuracy evaluation index respectively.
所述水平准确度评价指标包括最大水平偏差和平均水平偏差；所述最大水平偏差为无人机飞行航迹上在水平方向上最大的偏差，所述平均水平偏差为无人机在不同时刻位置的水平偏差值的均方根；The horizontal accuracy evaluation index includes a maximum horizontal deviation and an average horizontal deviation; the maximum horizontal deviation is the maximum deviation in the horizontal direction on the flight track of the drone, and the average horizontal deviation is the position of the drone at different times. The root mean square of the horizontal deviation value;
所述垂直准确度评价指标包括最大高度偏差和平均高度偏差；所述最大高度偏差为无人机飞行航迹上在垂直方向上的最大偏差，所述平均高度偏差为无人机在不同时刻位置的高度偏差值的均方根。The vertical accuracy evaluation index includes a maximum height deviation and an average height deviation; the maximum height deviation is the maximum deviation in the vertical direction on the flight track of the drone, and the average height deviation is the position of the drone at different times. The root mean square of the height deviation value.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，所属领域的普通技术人员参照上述实施例依然可以对本发明的具体实施方式进行修改或者等同替换，这些未脱离本发明精神和范围的任何修改或者等同替换，均在申请待批的本发明的权利要求保护范围之内。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Those of ordinary skill in the art can still modify or equivalently replace the specific implementation methods of the present invention with reference to the above embodiments. Any modifications or equivalent replacements departing from the spirit and scope of the present invention are within the protection scope of the claims of the pending application of the present invention.
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