CN108614274B - Cross type crossing line distance measuring method and device based on multi-rotor unmanned aerial vehicle - Google Patents
Cross type crossing line distance measuring method and device based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN108614274B CN108614274B CN201810495452.XA CN201810495452A CN108614274B CN 108614274 B CN108614274 B CN 108614274B CN 201810495452 A CN201810495452 A CN 201810495452A CN 108614274 B CN108614274 B CN 108614274B
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Abstract
The invention discloses a crossed crossing line distance measuring method and device based on a multi-rotor unmanned aerial vehicle. When measuring, many rotor unmanned aerial vehicle follow two crossing lines in proper order and fly with fixed distance, utilize unmanned aerial vehicle space orientation technique and IMU angle detection technique to combine the distance data that two-dimensional laser radar scanned to can acquire detection area space three-dimensional space point cloud data, and then establish overhead transmission line and cross and stride across clearance curve model, cross and stride across clearance's accurate measurement in order to realize overhead transmission line, it is low to solve efficiency and precision that current crossing line patrols and examines the problem that the method exists, environmental suitability is poor and the real-time is poor, the simple operation has, safety, and measurement accuracy is high, efficient advantage.
Description
Technical Field
The invention relates to the technical field of application of power inspection equipment combined with unmanned aerial vehicles, in particular to a method and a device for measuring a crossed crossing line distance based on a multi-rotor unmanned aerial vehicle.
Background
The transmission line is a channel for electric energy transmission and is an essential important component of a power grid. When the crossing span distance of the power transmission line is too small, the wires can interfere with each other and even discharge, and further accidents are caused. Although China has provided series specifications in the field of power transmission line erection, the power transmission line is influenced by factors such as strong wind, ground sag, tree growth, temperature change, wire aging, high temperature and sudden increase of power consumption during crossing, the distance between the upper and lower two high-voltage lines changes, and the risk of serious accidents still exists. Especially, in recent years, with the rapid development of national social economy and rapid promotion of urbanization construction, the more and more ultrahigh-voltage, large-capacity and long-distance power transmission lines are built, the more and more existing power transmission corridor resources become tense, so that the cross spanning phenomena of overhead lines become more and more, and line discharge accidents caused by insufficient cross spanning distance of the power transmission lines frequently occur.
The current situation of cross crossing inspection of the existing power transmission line is as follows: basically, the traditional manual inspection is relied on, and the actual requirements cannot be met due to the limitation of natural conditions. When measuring crossing of a transmission line, technologies such as theodolite and total station are generally adopted. The theodolite is used in combination with a leveling staff (or a staff) when measuring. During measurement, an instrument is erected on a surveying and mapping point near the power line, a ruler is erected in the vertical direction of the measured power line to read the sight distance and the vertical angle, and the height of the intersection of the power line is calculated according to a formula. The total station generally adopts a suspended measurement method for cross-over measurement, including a prism measurement method and a prism-free measurement method. In both methods, an instrument (one point is oriented and one point is checked) is erected on a control and measurement point near an electric power main line, a prism is erected below a cross point of an overhead line, the parallel distance measurement of the prism is firstly carried out on the measurement station, then the suspended crossed electric power line is looked at, the distance from the electric power line to the ground can be obtained, and the clearance distance can be obtained by measuring the distance from each crossed line to the ground.
However, the above-mentioned manner of measuring the cross-type crossing line distance has the problems of low efficiency, low accuracy, high cost, lack of flexibility, etc., and especially cannot be used for measuring operations in some complex terrains due to the limitation of natural conditions, and cannot ensure the safe operation of the transmission line.
Disclosure of Invention
Aiming at the problems of low efficiency and precision, poor environmental adaptability and poor real-time performance of the conventional crossed crossing line inspection device, the invention provides a method and a device for measuring the crossed crossing line distance based on a multi-rotor unmanned aerial vehicle, which can realize the measurement of the crossed crossing line distance with high precision and high efficiency and have the advantages of convenience and safety in operation.
The purpose of the invention is realized by the following technical scheme: a cross-type crossing line distance measuring method based on a multi-rotor unmanned aerial vehicle comprises the following steps: the multi-rotor unmanned aerial vehicle flies at a fixed distance along two crossed crossing lines in sequence, the position information of the relative flying points of the unmanned aerial vehicle is acquired in real time, the position data of the crossed crossing lines and the unmanned aerial vehicle is acquired, the three-dimensional space point cloud data of a detection area space is acquired, an overhead transmission line crossed crossing clearance curve model is established according to the point cloud data, and the distance between the crossed crossing lines is calculated according to the model.
Specifically, the method comprises the following steps:
(1) the multi-rotor unmanned aerial vehicle is controlled to take off from a designated flying starting point and fly to a detection area;
(2) selecting a first cross crossing line, cruising along the line at a fixed distance, acquiring position data of the first cross crossing line relative to the multi-rotor unmanned aerial vehicle through a laser radar, and acquiring position information of the unmanned aerial vehicle relative to a flying point in real time through a positioning module;
(3) after the cruise of the first crossed crossing line in the detection area is finished, the cruise is carried out along the second crossed crossing line at a fixed distance, the position data of the second crossed crossing line relative to the multi-rotor unmanned aerial vehicle is obtained through a laser radar, and meanwhile, the position information of the unmanned aerial vehicle relative to a flying-off point is obtained in real time through a positioning module;
(4) converting the position data and the positioning information obtained in the steps (2) and (3) into point cloud data in a three-dimensional space;
(5) approximating or fitting the space curves of the first cross type crossing line and the second cross type crossing line by the coordinates of a plurality of control points on the power transmission line by using a fitting technology for the point cloud data in the three-dimensional space;
(6) and (5) establishing a model of the overhead transmission line crossing clearance curve according to the space curve in the step (5).
Preferably, the step of flying the multi-rotor drone at a fixed distance along two crossed crossing lines is: set up the safe threshold value of unmanned aerial vehicle and crossing line on ground remote control equipment, the automatic locking of navigation module on the unmanned aerial vehicle crosses the line according to above-mentioned safe threshold value, and the aerial condition of patrolling and examining is looked over in real time to the staff on ground through the camera on the unmanned aerial vehicle. Other manual and emergency operations are facilitated.
Preferably, in the step (4), the position data and the positioning information obtained in the steps (2) and (3) are converted into point cloud data in a three-dimensional space, and the step is:
(4-1) setting in a three-dimensional space, establishing a rectangular coordinate system [ O, e ] by taking the designated flying point of the unmanned aerial vehicle as a reference point O1,e2,e3]I.e., the oxyz space; the xoy plane is used as the ground, the oz direction is perpendicular to the ground upwards, and the position of the unmanned aerial vehicle relative to the reference point O is P (x ', y ', z '); p '(x', y ',0) is the projection of point P (x', y ', z') on the xoy plane; the first cross crossover line and the second cross crossover line are set to be L1, L2, M1(x1,y1,z1)，M2(x2,y2,z2) Indicating the rectangular coordinates [ O, e ] of points on lines L1, L2, respectively1,e2,e3]Rectangular coordinate information of (1); m1PM2A plane y-y' parallel to the plane xoz;
(4-2) at M with P as a reference point1PM2Establishing a polar coordinate system on a plane, and calculating a point M1(x1,y1,z1)、M2(x2,y2,z2) The polar coordinate in the polar coordinate system is denoted as M1(ρ1,θ1)、M2(ρ2,θ2)；
(4-3) in actual measurement, the aircraft respectively runs along lines L1 and L2 cruise, and the distance and angle data collected by the laser radar can be processed to obtain the data M with P as a reference point1PM2Polar coordinate data M of plane establishing polar coordinate system1(ρ1,θ1)、M2(ρ2,θ2) The positioning module obtains the above-mentioned P (x ', y ', z '), thereby obtaining the coordinates in the three-dimensional space by:
xi＝xi'±ρi*cos(θi)；
yi＝yi'；
zi＝zi'±ρi*sin(θi)；
wherein i is 1, 2.
Preferably, in the step (6), a model of the overhead transmission line crossing clearance curve is established, and the steps are as follows:
analytically, the overhead transmission line cross-over clearance is approximately a function of t (═ y'):
f(t)＝at2+bt+c
optimizing a mathematical model of an overhead transmission line crossing clearance curve by using a least square principle:
wherein
The actual clearance distance of the unmanned aerial vehicle L1 and L2 is acquired, and parameters a, b and c of a clearance curve model f (t) can be determined by solving the equation system.
A measuring device for realizing the crossed crossing line distance measuring method comprises a multi-rotor unmanned aerial vehicle, ground end information processing equipment and remote control equipment, wherein a laser radar, a camera and a protective shell are arranged below the multi-rotor unmanned aerial vehicle, a positioning module, a navigation module, a processor and a wireless module are arranged in the protective shell, the laser radar and the camera are respectively connected with the processor, the positioning module and the navigation module are also respectively connected with the processor, and the processor is respectively in data communication with the ground end information processing equipment and the remote control equipment through the wireless module; when measuring, many rotor unmanned aerial vehicle fly with fixed distance along two crossing overlines in proper order. According to the invention, by integrating the laser radar, the camera, the positioning module and the navigation module on the unmanned aerial vehicle, the accurate measurement of the overhead transmission line crossing clearance can be realized by utilizing the space positioning technology and the angle detection technology of the unmanned aerial vehicle.
Preferably, a storage module is further arranged in the protective shell and connected with the processor. The system is used for storing aerial high-voltage conductor space point cloud data.
Preferably, many rotor unmanned aerial vehicle peripheries are installed and are moved the distance detection sensor, and the distance detection sensor links to each other with the treater. The unmanned aerial vehicle inspection device is used for achieving the effect that the unmanned aerial vehicle can effectively avoid the obstacle in the autonomous cruising process, and ensuring the operation safety of the unmanned aerial vehicle inspection.
Preferably, the positioning module comprises an IMU angle sensor. This sensor can fix a position many rotor unmanned aerial vehicle positions, acquires the location data.
Preferably, the laser radar is a pulse laser radar. Thereby effectively resisting the interference of sunlight.
Compared with the prior art, the invention has the following advantages and beneficial effects:
first, high accuracy and high efficiency. The device disclosed by the invention can comprehensively apply an unmanned aerial vehicle space positioning technology and an IMU angle detection technology by adopting the positioning module, the navigation module and the laser radar, so as to realize accurate measurement of the crossing clearance of the overhead transmission line. In the prior art, a large amount of data calculation is needed, and a plurality of very suitable measuring positions are selected for an instrument to obtain accurate measuring parameters, so that the human factors are large and the accuracy is low in the measuring process.
And secondly, natural environmental limitations are broken through. The method can bring special environments which cannot be patrolled in the prior art into an inspection range, such as crossing of a power transmission line and other overhead lines in a river network region, and the crossing points are sometimes in regions which are difficult to select by measurement and control points such as rivers, ponds, lakes and the like, thereby effectively solving the problem that ground detection personnel cannot effectively and accurately measure the wire spacing of the high-voltage power grid.
Thirdly, the real-time performance is strong. In the invention, the collected high-precision space three-dimensional space point set data of the high-voltage power grid are transmitted to the ground-side information processing equipment in real time, so that the modeling analysis of point cloud data can be synchronously realized on the ground-side information processing equipment. In the prior art, after the distance is calculated, the sag variation quantity is estimated by combining operation experience or checking an overhead line sag table, so that whether the distance of the cross spanning object meets the requirement or not is judged, and the real-time monitoring of the cross spanning distance cannot be realized.
Drawings
Fig. 1 is an overall schematic diagram of the system of the present embodiment.
Fig. 2 is a schematic view of the usage flow of the present embodiment.
Fig. 3 is a schematic diagram of calculating coordinates of points in a three-dimensional space from acquired data in the present embodiment.
Fig. 4 is a polar coordinate system diagram with the drone as a reference point in this embodiment.
In the figure: the system comprises 1-a flying spot, 2-ground end information processing equipment, 3-remote control equipment, 4-a multi-rotor unmanned aerial vehicle, 8-a first cross crossing line and 9-a second cross crossing line.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1, the present embodiment provides a cross span line distance measuring device based on multi-rotor unmanned aerial vehicle, which includes a multi-rotor unmanned aerial vehicle 4, and a ground end information processing device 2 and a remote control device 3 disposed on the ground. Be fixed with laser radar, protective housing and camera on many rotor unmanned aerial vehicle 4, wherein the protective housing is inside to contain orientation module, navigation module, treater, storage module and wireless module. The structure of each component and the operation to be realized will be specifically described below with reference to fig. 1.
In this embodiment, many rotor unmanned aerial vehicle 4 for carry on laser radar the camera reaches other functional modules to realize built on stilts high-voltage conductor space point cloud data acquisition. Meanwhile, a distance detection sensor is arranged in the circumferential direction of the device, so that the device can avoid obstacles in the autonomous cruising process.
In this embodiment, the camera is arranged on the body of the unmanned aerial vehicle and used for shooting and recording in real time in the air.
In this embodiment, laser radar is fixed in one side of many rotor unmanned aerial vehicle 4, through sending light pulse for the target object in succession, then receives the light that returns from the object with the sensor, obtains the target object distance through the time of flight of surveying light pulse, can realize in 28m effectively keeps away the barrier distance, realizes 360 all-round scans with 8000 scanning frequency per second for it is relative to survey the aerial high voltage conductor of target many rotor unmanned aerial vehicle's distance and give the treater with data. And the device laser radar chooses pulsed laser radar for use, can resist sunlight and disturb.
In this embodiment, the positioning module adopts an IMU high-precision angle sensor, the sensor can perform angle scanning measurement, and the distance data scanned by the laser radar can be combined to obtain the three-dimensional spatial point cloud data of the area. The working principle of the IMU high-precision angle sensor is that the IMU high-precision angle sensor comprises three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers are used for detecting acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes are used for detecting angular velocity signals of the carrier relative to a navigation coordinate system, measuring the angular velocity and the acceleration of the object in a three-dimensional space, and calculating the posture of the object according to the angular velocity signals.
In this embodiment, navigation module is used for coordinating the high-voltage line that ground end remote control equipment set up and realizes automatic locking high-voltage wire in the safety threshold value of aircraft, makes unmanned aerial vehicle and wire keep fixed distance when patrolling and voyaging along the line, thereby can independently adjust flight attitude according to line trend, sag height and plan the flight route of design unmanned aerial vehicle flight platform.
In this embodiment, the wireless module is used to connect the ground control device and the remote control device, the camera, the laser radar, the positioning module, the navigation module, and the processor, so as to implement information transmission therebetween. Specifically, the following functions may be implemented: firstly, receiving an instruction sent by the ground-side remote control equipment 3 and transmitting the instruction to a processor; secondly, transmitting the image shot by the camera to the processor in real time for processing; thirdly, transmitting the distance data of the overhead high-voltage conductor relative to the multi-rotor unmanned aerial vehicle 4 acquired by the laser radar to a processor for calculation; fourthly, transmitting the position data of the multi-rotor unmanned aerial vehicle 4 acquired by the positioning module to a processor for calculation; and fifthly, transmitting the real-time image shot by the camera and the aerial high-voltage wire space point cloud data calculated by the processor back to the ground end information processing equipment 2.
In this embodiment, the processor is an operation core and a control core of the flight platform, and has a first function of issuing an instruction to the unmanned aerial vehicle and executing the instruction received by the wireless module from the ground-end remote control device 3; the second function is to process the real-time video image from the camera and transmit the image back to the ground end, so that the working personnel can see the cruising visual field and the state of the aerial vehicle in real time, and other manual operations and emergency operations are facilitated; the third function of the system is to calculate the position data of the unmanned aerial vehicle transmitted by the wireless module and acquired by the positioning module and the distance data of the overhead high-voltage conductor acquired by the laser mine relative to the multi-rotor unmanned aerial vehicle to obtain the spatial point cloud data of the overhead high-voltage conductor, and store the spatial point cloud data of the overhead high-voltage conductor into the storage module.
In this embodiment, the storage module is configured to record cross-over type upper and lower point cloud set data.
In this embodiment, the ground-side information processing device 2 and the remote control device 3 are configured to send an instruction to the multi-rotor unmanned aerial vehicle 4, the ground-side information processing device 2 is configured to receive aerial high-voltage wire space point cloud data and a real-time image sent back by the wireless module, and perform fitting analysis on the point cloud data by using a modeling method to perform comprehensive management on the aerial high-voltage wire space point cloud data, for example, a manager can clearly recognize cross-over potential hazards that may exist in this area, so as to achieve early prevention, early warning, and early elimination. The principle of fitting and analyzing point cloud data by using a modeling method is as follows: there are two mathematical models describing the spatial curve of a transmission line: a catenary model and a parabolic model, which can be considered as an approximation of the catenary model. And (4) acquiring aerial high-voltage conductor space point cloud data. The spatial curve may be approximated or fitted by regression analysis or least squares fitting through the coordinates of a number of control points on the power line. And directly solving curve parameters by taking the known points as constraint conditions to obtain a reconstruction curve. Regression analysis is one of data analysis methods widely used, and a great amount of observation data are processed by using a mathematical method, so that a mathematical expression which is relatively in line with the internal rules of an object is obtained. The determination of parameters in the power transmission line space curve model essentially belongs to the nonlinear parameter regression problem, and the optimal estimation of the problem can be obtained by applying the least square method. Therefore, the related work of detecting the distance between the high-voltage power grid wires is finished in real time, high in precision and high in efficiency.
The working principle and the operation process of the present invention are further described with reference to fig. 1 and 2:
step 1: as shown in fig. 1, a worker operates a multi-rotor unmanned aerial vehicle 4 on the ground by using a remote control device 3 to take off from a designated takeoff point 1 and fly to a region to be detected, and a positioning module records the geographic coordinates of the takeoff point 1;
step 2: autonomously cruising along a first crossed crossing line 8, and collecting distance data of the overhead high-voltage conductor relative to the multi-rotor unmanned aerial vehicle 4 by combining with a laser radar;
and step 3: autonomously cruising along a second crossed crossing line 9, and collecting distance data of the overhead high-voltage conductor relative to the multi-rotor unmanned aerial vehicle 4 by combining with a laser radar;
and 4, step 4: by matching with an IMU high-precision angle sensor, the distance data of the first cross crossing line 8 and the second cross crossing line 9 acquired in the steps 2 and 3 relative to the multi-rotor unmanned aerial vehicle 4 can be obtained after calculation of the processor, the point cloud data of the first cross crossing line 8 and the second cross crossing line 9 relative to the flying point 1 in the three-dimensional space can be obtained, and the point cloud data of the first cross crossing line 8 and the second cross crossing line 9 in the three-dimensional space is transmitted back to the ground end information processing equipment 2 through the wireless module.
As shown in fig. 3 and 4, the distance data and the geographic coordinates are converted into point cloud data of a three-dimensional space, and the steps are as follows:
in a three-dimensional space, a rectangular coordinate system [ O, e ] is established by taking a designated flying point of the unmanned aerial vehicle as a reference point O1,e2,e3]；
The position of the drone relative to reference point O is P (x ', y ', z ');
p '(x', y ',0) is the projection of point P (x', y ', z') on the xoy plane;
the electric wires between the two high-voltage wire towers are black thick straight lines L1 and L2 (for simplicity of drawing, straight lines are used for replacing curved lines);
M1(x1,y1,z1)，M2(x2,y2,z2) Is the rectangular coordinate system [ O, e ] of points on the high-voltage electric wires L1, L21,e2,e3]Rectangular coordinate information of (1); m1PM2A plane y-y' parallel to the plane xoz;
at M with P as reference point1PM2Planar establishment of a polar coordinate System, M1(ρ1,θ1)，M2(ρ2,θ2) Is point M on the target high-voltage electric lines L1, L2 as shown in FIG. 31,M2Polar coordinate information relative to the reference point P.
In actual measurement, high-precision data of P (x ', y ', z ') can be obtained through an unmanned aerial vehicle space positioning technology and an IMU angle detection technology; the distance and angle information collected by the laser radar can determine the point M on the target high-voltage electric wire L1, L21,M2Polar coordinate data M1(ρ1,θ1)，M2(ρ2,θ2). Therefore, point M on the target high-voltage line L1, L21,M2The rectangular coordinate data of (a) can be calculated as follows:
xi＝xi'±ρi*cos(θi)；
yi＝yi'；
zi＝zi'±ρi*sin(θi)；
wherein i is 1,2
Therefore, the high-voltage power grid three-dimensional space is simulated according to the high-voltage wire space point cloud data.
And 5: the ground end information processing equipment 2 receives point cloud data of the space end, high-precision space three-dimensional space point set data construction is carried out on the high-voltage power grid, and space curves of the first cross type crossing line 8 and the second cross type crossing line 9 are approximated or fitted through coordinates of a plurality of control points on the power transmission line by utilizing a fitting technology.
Step 6: and the ground end information processing device 2 establishes an overhead transmission line crossing clearance curve model according to the space curve data of the first crossing line 8 and the second crossing line 9 in the step 5.
To simulate overhead high-voltage line L1 and L2 clearance curves, further calculation is needed through distance formula development:
from the observed data, fitting results freal(t) approximates a unary quadratic function.
Because systematic errors and accidental errors cannot be completely eliminated, the distance curve is further optimized by a least square method, and a clearance distance fitting function f (t) is set as follows:
f(t)＝at2+bt+c
an accurate expression of the clearance fit function f (t) can be obtained by solving the above equation system, and then a clearance fit function image can be made on a two-bit plane.
The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. A cross-type crossing line distance measuring method based on a multi-rotor unmanned aerial vehicle is characterized by comprising the following steps:
(1) the multi-rotor unmanned aerial vehicle is controlled to take off from a designated flying starting point and fly to a detection area;
(2) selecting a first cross crossing line, cruising along the line at a fixed distance, acquiring position data of the first cross crossing line relative to the multi-rotor unmanned aerial vehicle through a laser radar, and acquiring position information of the unmanned aerial vehicle relative to a flying point in real time through a positioning module;
(3) after the cruise of the first crossed crossing line in the detection area is finished, the cruise is carried out along the second crossed crossing line at a fixed distance, the position data of the second crossed crossing line relative to the multi-rotor unmanned aerial vehicle is obtained through a laser radar, and meanwhile, the position information of the unmanned aerial vehicle relative to a flying-off point is obtained in real time through a positioning module;
(4) converting the position data and the positioning information obtained in the steps (2) and (3) into point cloud data in a three-dimensional space;
(5) approximating or fitting the space curves of the first cross type crossing line and the second cross type crossing line by the coordinates of a plurality of control points on the power transmission line by using a fitting technology for the point cloud data in the three-dimensional space;
(6) according to the space curve in the step (5), establishing a model of the overhead transmission line crossing clearance curve, comprising the following steps:
by analysis, the overhead transmission line cross-over clearance is approximately a function of t, y',
f(t)＝at2+bt+c
optimizing a mathematical model of an overhead transmission line crossing clearance curve by using a least square principle:
wherein
The actual clearance distance of the unmanned aerial vehicle L1 and L2 is acquired, and parameters a, b and c of a clearance curve model f (t) can be determined by solving the equation system.
2. The method of claim 1, wherein the step of flying the drone at a fixed distance along two crossing lines is: set up the safe threshold value of unmanned aerial vehicle and crossing line on ground remote control equipment, the automatic locking of navigation module on the unmanned aerial vehicle crosses the line according to above-mentioned safe threshold value, and the aerial condition of patrolling and examining is looked over in real time to the staff on ground through the camera on the unmanned aerial vehicle.
3. The method for measuring the crossed crossing line distance based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein in the step (4), the position data and the positioning information obtained in the steps (2) and (3) are converted into point cloud data in a three-dimensional space, and the steps are as follows:
(4-1) setting in a three-dimensional space, establishing a rectangular coordinate system [ O, e ] by taking the designated flying point of the unmanned aerial vehicle as a reference point O1,e2,e3]I.e., the oxyz space; the xoy plane is used as the ground, the oz direction is perpendicular to the ground upwards, and the position of the unmanned aerial vehicle relative to the reference point O is P (x ', y ', z '); p '(x', y ',0) is the point P (x', y ', z') on xoy planeProjection of the surface; the first cross crossover line and the second cross crossover line are set to be L1, L2, M1(x1,y1,z1)，M2(x2,y2,z2) Indicating the rectangular coordinates [ O, e ] of points on lines L1, L2, respectively1,e2,e3]Rectangular coordinate information of (1); m1PM2A plane y-y' parallel to the plane xoz;
(4-2) at M with P as a reference point1PM2Establishing a polar coordinate system on a plane, and calculating a point M1(x1,y1,z1)、M2(x2,y2,z2) The polar coordinate in the polar coordinate system is denoted as M1(ρ1,θ1)、M2(ρ2,θ2)；
(4-3) in actual measurement, the aircraft respectively cruises along lines L1 and L2, and the distance and angle data acquired by the laser radar can be processed to obtain the data at M by taking P as a reference point1PM2Polar coordinate data M of plane establishing polar coordinate system1(ρ1,θ1)、M2(ρ2,θ2) The positioning module obtains the above-mentioned P (x ', y ', z '), thereby obtaining the coordinates in the three-dimensional space by:
xi＝xi'±ρi*cos(θi)；
yi＝yi'；
zi＝zi'±ρi*sin(θi)；
wherein i is 1, 2.
4. A measuring device for realizing the crossed crossing line distance measuring method according to any one of claims 1-3, which is characterized by comprising a multi-rotor unmanned aerial vehicle, ground end information processing equipment and remote control equipment, wherein a laser radar, a camera and a protective shell are arranged below the multi-rotor unmanned aerial vehicle, a positioning module, a navigation module, a processor and a wireless module are arranged in the protective shell, the laser radar and the camera are respectively connected with the processor, the positioning module and the navigation module are also respectively connected with the processor, and the processor is respectively in data communication with the ground end information processing equipment and the remote control equipment through the wireless module; when measuring, many rotor unmanned aerial vehicle fly with fixed distance along two crossing overlines in proper order.
5. A measuring device as claimed in claim 4, wherein a memory module is provided within the protective casing, the memory module being connected to the processor.
6. A measuring device according to claim 4, wherein distance detecting sensors are mounted around the multi-rotor drone, the distance detecting sensors being connected to the processor.
7. The measurement device of claim 4, wherein the positioning module comprises an IMU angle sensor.
8. A measuring device according to claim 4, characterized in that the lidar is a pulsed lidar.
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| US20120177353A1 (en) * | 2011-01-11 | 2012-07-12 | Michael Dowell | Laser Point of View and Camera Focus Assist Device and Method of Use |
| CN102381481A (en) * | 2011-08-01 | 2012-03-21 | 四川省科学城久利科技实业有限责任公司 | Unmanned aerial vehicle-mounted laser radar system |
| CN102645203B (en) * | 2012-05-18 | 2014-07-30 | 绵阳天眼激光科技有限公司 | Power line crossover measurement method based on airborne laser radar data |
| CN103779808A (en) * | 2013-12-30 | 2014-05-07 | 国家电网公司 | Power transmission line intelligent inspection system based on LiDAR |
| CN104901255A (en) * | 2015-06-16 | 2015-09-09 | 国网山东省电力公司经济技术研究院 | High-voltage overhead line crossing method and safe distance separating device |
| CN105180876B (en) * | 2015-08-26 | 2018-06-15 | 国家电网公司 | Overhead transmission line hands over span from accurate measurement method under complex situations |
| CN205246878U (en) * | 2015-09-22 | 2016-05-18 | 南方电网科学研究院有限责任公司 | Laser radar transmission line machine patrols supplementary monitoring devices |
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Denomination of invention: Cross crossing line distance measurement method and device based on multi rotor UAV Effective date of registration: 20220303 Granted publication date: 20200904 Pledgee: Development Zone sub branch of Bank of Guangzhou Co.,Ltd. Pledgor: GUANGZHOU JIZHEN INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2022980002152 |
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Denomination of invention: Method and device for measuring the distance of cross crossing lines based on multi rotor unmanned aerial vehicles Effective date of registration: 20230406 Granted publication date: 20200904 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Tianhe branch Pledgor: GUANGZHOU JIZHEN INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2023980037407 |
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