CN104101332A - Automatic matching method for inspection photos of transmission lines - Google Patents
Automatic matching method for inspection photos of transmission lines Download PDFInfo
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- CN104101332A CN104101332A CN201410343740.5A CN201410343740A CN104101332A CN 104101332 A CN104101332 A CN 104101332A CN 201410343740 A CN201410343740 A CN 201410343740A CN 104101332 A CN104101332 A CN 104101332A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to an automatic matching method for inspection photos of transmission lines. The method comprises the following steps: 1, shooting time of each aerial photo is acquired, flight direction data of an UAV (unmanned aerial vehicle) at different time are acquired, and geographic orientation data of inspected target towers are acquired; 2, track time is taken as shooting time according to the shooting time of each aerial photo, and the flight direction data, corresponding to the track time, of the UAV are inquired, so that the flight direction data in the shooting position of each aerial photo are acquired; 3, distance calculation is performed pairwise according to the flight direction data of the shooting positions of the aerial photos and the geographic orientation data of the towers; 4, the tower with the smallest distance with the shooting position of each aerial photo is found out, the aerial photo is matched with the tower, and accordingly, all the aerial photos are matched with the towers; and 5, files are created according to tower numbers, and all the aerial photos are filed correspondingly. The aerial photos and the towers can be automatically matched with the method.
Description
Technical field
The present invention relates to electrical network unmanned plane and patrol and examine technical field, particularly a kind of unmanned plane is patrolled and examined postflight polling transmission line image automatic matching method.
Background technology
Along with electrical network unmanned plane is patrolled and examined the widespread use of technology, patrol and examine the data of taking photo by plane that flight all can produce magnanimity at every turn, these data of taking photo by plane all must be mated with corresponding shaft tower.Owing to patrolling and examining the large and periphery topography and geomorphology of overhead line structures number, photo amount, equipment appearance is all similar, to artificial screening, causes very large difficulty.
At present, taking photo by plane, work for the treatment of all must please be familiar with the manual inspection personnel of periphery shaft tower landform, the operating personnel that take photo by plane participate in the arrangement screening operation that photo array work could complete shaft tower equipment and photo reluctantly jointly, not only screen difficulty large, recognition efficiency is low, and due to the angle of being taken photo by plane, light problems affect, easily there is identification error.
Summary of the invention
The object of the present invention is to provide a kind of polling transmission line image automatic matching method, the method can realize the Auto-matching of aerial photograph and shaft tower.
For achieving the above object, technical scheme of the present invention is: a kind of polling transmission line image automatic matching method, comprises the following steps:
Step S1: obtain the shooting time of every aerial photograph, and form picture data with every aerial photograph and corresponding shooting time thereof; From unmanned plane during flying flight path data, obtain unmanned plane in the flight orientation data of different time, and form flight path data with each flight orientation data and corresponding flight path time thereof; Obtain the geographic orientation data of patrolling and examining target shaft tower, and form shaft tower data by shaft tower number and corresponding geographic orientation data thereof;
Step S2: according to the shooting time of every aerial photograph, get the flight path time and equal shooting time, inquire the flight orientation data corresponding to each flight path time unmanned plane, thereby obtain the flight orientation data of every aerial photograph camera site;
Step S3: utilize the flight orientation data of every aerial photograph camera site and the geographic orientation data of shaft tower, carry out between two distance and calculate;
Step S4: find and every shaft tower that aerial photograph camera site is nearest, this aerial photograph is mated with this shaft tower, thereby realize mating of all aerial photographs and shaft tower;
Step S5: set up archives with shaft tower number, by the corresponding filing of all aerial photographs.
The invention has the beneficial effects as follows and provide a kind of polling transmission line image automatic matching method, the method to overcome to depend merely on artificial screening difficulty large, easily occur the problem of error, realized the Auto-matching of aerial photograph and shaft tower.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
After having patrolled and examined, aerial photograph need to be carried out to sorting and file, the difficulty of mating with shaft tower based on number of pictures is larger, in order to reduce the difficulty of artificial screening, proposes polling transmission line image automatic matching method of the present invention.Main invention thinking is as follows:
After every photograph taking, all can produce the attribute of a shooting time, according to this shooting time, go to inquire about the residing geodata of the corresponding time point of flight track, as longitude, latitude etc., according to geodata and the residing geographic position of all shaft towers of single photo coupling, calculate again, finally draw nearest shaft tower.Then this photo is mated to this shaft tower.
After screening, produce and take the file that shaft tower number is filename, and relevant picture is filed under corresponding folder.
Polling transmission line image automatic matching method of the present invention, as shown in Figure 1, comprises the following steps:
Step S1: obtain the shooting time of every aerial photograph, and form picture data with every aerial photograph and corresponding shooting time thereof; From unmanned plane during flying flight path data, obtain unmanned plane in the flight orientation data of different time, and form flight path data with each flight orientation data and corresponding flight path time thereof; Obtain the geographic orientation data of patrolling and examining target shaft tower, and form shaft tower data by shaft tower number and corresponding geographic orientation data thereof;
Step S2: according to the shooting time of every aerial photograph, get the flight path time and equal shooting time, inquire the flight orientation data corresponding to each flight path time unmanned plane, thereby obtain the flight orientation data of every aerial photograph camera site;
Step S3: utilize the flight orientation data of every aerial photograph camera site and the geographic orientation data of shaft tower, carry out between two distance and calculate;
Step S4: find and every shaft tower that aerial photograph camera site is nearest, this aerial photograph is mated with this shaft tower, thereby realize mating of all aerial photographs and shaft tower;
Step S5: set up archives with shaft tower number, by the corresponding filing of all aerial photographs.
Be more than preferred embodiment of the present invention, all changes of doing according to technical solution of the present invention, when the function producing does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (1)
1. a polling transmission line image automatic matching method, is characterized in that, comprises the following steps:
Step S1: obtain the shooting time of every aerial photograph, and form picture data with every aerial photograph and corresponding shooting time thereof; From unmanned plane during flying flight path data, obtain unmanned plane in the flight orientation data of different time, and form flight path data with each flight orientation data and corresponding flight path time thereof; Obtain the geographic orientation data of patrolling and examining target shaft tower, and form shaft tower data by shaft tower number and corresponding geographic orientation data thereof;
Step S2: according to the shooting time of every aerial photograph, get the flight path time and equal shooting time, inquire the flight orientation data corresponding to each flight path time unmanned plane, thereby obtain the flight orientation data of every aerial photograph camera site;
Step S3: utilize the flight orientation data of every aerial photograph camera site and the geographic orientation data of shaft tower, carry out between two distance and calculate;
Step S4: find and every shaft tower that aerial photograph camera site is nearest, this aerial photograph is mated with this shaft tower, thereby realize mating of all aerial photographs and shaft tower;
Step S5: set up archives with shaft tower number, by the corresponding filing of all aerial photographs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410343740.5A CN104101332A (en) | 2014-07-19 | 2014-07-19 | Automatic matching method for inspection photos of transmission lines |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410343740.5A CN104101332A (en) | 2014-07-19 | 2014-07-19 | Automatic matching method for inspection photos of transmission lines |
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| CN104101332A true CN104101332A (en) | 2014-10-15 |
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| CN201410343740.5A Pending CN104101332A (en) | 2014-07-19 | 2014-07-19 | Automatic matching method for inspection photos of transmission lines |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103822615A (en) * | 2014-02-25 | 2014-05-28 | 北京航空航天大学 | Unmanned aerial vehicle ground target real-time positioning method with automatic extraction and gathering of multiple control points |
| CN104835152A (en) * | 2015-04-27 | 2015-08-12 | 国家电网公司 | Processing method and system of power transmission line inspection images |
| CN106547814A (en) * | 2016-09-23 | 2017-03-29 | 广西电网有限责任公司电力科学研究院 | A kind of power transmission line unmanned machine patrols and examines the structuring automatic archiving method of image |
| CN107506406A (en) * | 2017-08-07 | 2017-12-22 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of electric power line pole tower photo archiving method and system |
| CN109640057A (en) * | 2018-12-30 | 2019-04-16 | 广东电网有限责任公司 | A kind of transmission line of electricity video monitoring method and relevant apparatus |
| CN110865654A (en) * | 2019-12-06 | 2020-03-06 | 河南送变电建设有限公司 | A method for dealing with defects in grid unmanned aerial vehicle inspection |
| CN111339347A (en) * | 2020-05-19 | 2020-06-26 | 北京数字绿土科技有限公司 | Management method and device for inspection photos |
| CN111476313A (en) * | 2020-04-26 | 2020-07-31 | 广东电网有限责任公司梅州供电局 | Unmanned aerial vehicle photo classification method and device and computer readable storage medium |
| CN111488478A (en) * | 2020-05-27 | 2020-08-04 | 广东电网有限责任公司 | Unmanned aerial vehicle photo file automatic arrangement method and system based on GPS positioning |
| CN111680184A (en) * | 2020-05-22 | 2020-09-18 | 常州市新翼空间信息科技有限公司 | Orthographic file preprocessing system for aerial photo screening |
| CN113032596A (en) * | 2021-03-31 | 2021-06-25 | 广东电网有限责任公司 | Picture archiving method, system and equipment for transmission line tower and computer medium |
| CN113656619A (en) * | 2021-08-16 | 2021-11-16 | 普宙科技(深圳)有限公司 | Management method and management system for power grid inspection photos |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| US12097956B2 (en) | 2021-04-30 | 2024-09-24 | Hydro-Quebec | Drone with tool positioning system |
| CN118941995A (en) * | 2024-08-29 | 2024-11-12 | 国网湖北省电力有限公司利川市供电公司 | A method, system and drone for defect detection of distribution lines |
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| CN103823449A (en) * | 2014-03-07 | 2014-05-28 | 国家电网公司 | Centralized monitoring subsystem and method for power transmission line routing inspection with unmanned plane |
| CN103839194A (en) * | 2014-03-07 | 2014-06-04 | 国家电网公司 | Unmanned aerial vehicle routing inspection image retrieval system and method based on electric transmission line and GIS |
| CN103886189A (en) * | 2014-03-07 | 2014-06-25 | 国家电网公司 | Patrolling result data processing system and method used for unmanned aerial vehicle patrolling |
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| CN103824340A (en) * | 2014-03-07 | 2014-05-28 | 山东鲁能智能技术有限公司 | Intelligent inspection system and inspection method for electric transmission line by unmanned aerial vehicle |
| CN103823449A (en) * | 2014-03-07 | 2014-05-28 | 国家电网公司 | Centralized monitoring subsystem and method for power transmission line routing inspection with unmanned plane |
| CN103839194A (en) * | 2014-03-07 | 2014-06-04 | 国家电网公司 | Unmanned aerial vehicle routing inspection image retrieval system and method based on electric transmission line and GIS |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103822615A (en) * | 2014-02-25 | 2014-05-28 | 北京航空航天大学 | Unmanned aerial vehicle ground target real-time positioning method with automatic extraction and gathering of multiple control points |
| CN103822615B (en) * | 2014-02-25 | 2016-01-20 | 北京航空航天大学 | A kind of multi-control point extracts and the unmanned aerial vehicle target real-time location method be polymerized automatically |
| CN104835152A (en) * | 2015-04-27 | 2015-08-12 | 国家电网公司 | Processing method and system of power transmission line inspection images |
| CN106547814A (en) * | 2016-09-23 | 2017-03-29 | 广西电网有限责任公司电力科学研究院 | A kind of power transmission line unmanned machine patrols and examines the structuring automatic archiving method of image |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN107506406B (en) * | 2017-08-07 | 2020-10-20 | 中国南方电网有限责任公司超高压输电公司广州局 | Picture archiving method and system for power transmission line tower |
| CN107506406A (en) * | 2017-08-07 | 2017-12-22 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of electric power line pole tower photo archiving method and system |
| CN109640057A (en) * | 2018-12-30 | 2019-04-16 | 广东电网有限责任公司 | A kind of transmission line of electricity video monitoring method and relevant apparatus |
| CN110865654A (en) * | 2019-12-06 | 2020-03-06 | 河南送变电建设有限公司 | A method for dealing with defects in grid unmanned aerial vehicle inspection |
| CN111476313A (en) * | 2020-04-26 | 2020-07-31 | 广东电网有限责任公司梅州供电局 | Unmanned aerial vehicle photo classification method and device and computer readable storage medium |
| CN111339347A (en) * | 2020-05-19 | 2020-06-26 | 北京数字绿土科技有限公司 | Management method and device for inspection photos |
| CN111339347B (en) * | 2020-05-19 | 2020-09-08 | 北京数字绿土科技有限公司 | Management method and device for inspection photos |
| CN111680184A (en) * | 2020-05-22 | 2020-09-18 | 常州市新翼空间信息科技有限公司 | Orthographic file preprocessing system for aerial photo screening |
| CN111488478A (en) * | 2020-05-27 | 2020-08-04 | 广东电网有限责任公司 | Unmanned aerial vehicle photo file automatic arrangement method and system based on GPS positioning |
| CN113032596A (en) * | 2021-03-31 | 2021-06-25 | 广东电网有限责任公司 | Picture archiving method, system and equipment for transmission line tower and computer medium |
| US12097956B2 (en) | 2021-04-30 | 2024-09-24 | Hydro-Quebec | Drone with tool positioning system |
| CN113656619A (en) * | 2021-08-16 | 2021-11-16 | 普宙科技(深圳)有限公司 | Management method and management system for power grid inspection photos |
| CN118941995A (en) * | 2024-08-29 | 2024-11-12 | 国网湖北省电力有限公司利川市供电公司 | A method, system and drone for defect detection of distribution lines |
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