CN109459437A - Multi-rotor unmanned aerial vehicle transmission tower defect identification method based on high accuracy positioning - Google Patents
Multi-rotor unmanned aerial vehicle transmission tower defect identification method based on high accuracy positioning Download PDFInfo
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- CN109459437A CN109459437A CN201811318451.4A CN201811318451A CN109459437A CN 109459437 A CN109459437 A CN 109459437A CN 201811318451 A CN201811318451 A CN 201811318451A CN 109459437 A CN109459437 A CN 109459437A
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- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
一种基于高精度定位的多旋翼无人机输电杆塔缺陷识别方法，包括如下步骤：①在输电杆塔巡视区域塔身处喷涂定位点；②在地表稳定区域标定控制点并测量控制点坐标；③在控制点处架设地基增强定位基准站；④配置多旋翼无人机悬停三维坐标及镜头方向并启动；⑤无人机在固定位置悬停并通过定位点校准拍摄方向，拍摄N张照片并编号；⑥巡检工作开展时，重复3～5操作进行复拍图像获取；⑦将复拍的N张照片分别与标准照片通过定位点进行校正；⑧使用图像识别程序遍历对应照片重叠相幅部分的像素点；⑨将像素差异超出阈值的区域进行标定；⑩判断标定部分的是否为杆塔缺陷或缺陷预警。本发明可提前发现设备缺陷，提升巡检工作的精细化、标准化程度。
A method for identifying defects of multi-rotor unmanned aerial vehicle transmission towers based on high-precision positioning, comprising the following steps: 1. spraying positioning points on the tower body in the inspection area of the transmission towers; 2. calibrating control points in a stable surface area and measuring the coordinates of the control points; 3. Set up a ground-based enhanced positioning reference station at the control point; ④ Configure the multi-rotor UAV to hover 3D coordinates and lens direction and start it; number; ⑥ When the inspection work is carried out, repeat operations 3 to 5 to obtain re-shot images; ⑦ Correct the N photos of the re-shot and the standard photos through the positioning points respectively; ⑧ Use the image recognition program to traverse the overlapping parts of the corresponding photos ⑨ Calibrate the area where the pixel difference exceeds the threshold value; ⑩ Determine whether the calibration part is a tower defect or a defect warning. The invention can discover equipment defects in advance, and improve the refinement and standardization of the inspection work.
Description
Technical field
The invention belongs to electric device maintenance technical fields, more particularly to the transmission tower based on unmanned plane and image recognition
Inspection field.
Background technique
Inspection to transmission tower is the important component of the daily maintenance work of transmission line of electricity, in recent years, more rotors without
It is man-machine that the important means that the high advantage of fineness has become transmission line of electricity fining inspection is maked an inspection tour with it.But it still relies primarily at present
Personnel are manually operated unmanned plane and carry out inspection, are affected, are deposited by factors such as personnel's operating experience, level of skill, environmental catastrophes
The problems such as routing inspection efficiency is low, stability is poor, simultaneously because the differences such as polling path, camera site, the shadow for causing inspection to shoot
As differing greatly.Although existing unmanned plane device has the function of fixed point flight, shooting at present, it is limited by hovering precision, shadow
The shooting angle and quality of picture cannot be guaranteed, and can not obtain the consistent image of phase panel height degree for automatic processing.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of more rotors based on high accuracy positioning nobody
Machine transmission tower defect identification method, this method enhances positioning reference station using ground and target stem tower beacon note anchor point greatly mentions
High the hovering precision of multi-rotor unmanned aerial vehicle and the map sheet precision of shooting image, ensure that the height of multiple bat image is consistent.It utilizes
Map sheet anchor point accurately corrects bat image again and makes the accuracy for automating defect recognition that can realize stable promotion, fundamentally mentions
Transmission tower unmanned plane routing inspection efficiency, benefit and quality are risen, transmission of electricity fortune inspection personnel labor intensity is mitigated.
As above design, the present invention solve its technical problem and adopt the following technical solutions to achieve: one kind is based on high-precision
The multi-rotor unmanned aerial vehicle transmission tower defect identification method of positioning, characterized by the following steps:
1. being maked an inspection tour in transmission tower and spraying anchor point at the tower body of region；
2. demarcating control point in earth's surface stability region and measuring control point coordinates；
3. setting up ground at control point enhances positioning reference station；
4. configuration multi-rotor unmanned aerial vehicle hovering three-dimensional coordinate and lens direction simultaneously start；
5. unmanned plane hovers in fixed position and calibrates shooting direction by anchor point, N photos of shooting are simultaneously numbered；
6. inspection work is carried out, 3~5 operation of repetition carries out multiple image of clapping and obtains；
7. the N of multiple take photos are corrected with standard photographs by anchor point respectively；
8. traversing the pixel of corresponding photo-overlap phase width part using image recognition program；
9. pixel difference is demarcated beyond the region of threshold value；
10. whether judge calibration part is shaft tower defect or defect early warning.
1. transmission tower tour region includes transmission tower base foundation position, nameplate position and tower head portion to above-mentioned steps
Position, and three anchor points of spraying are enclosed at the tour visual angle of the shaft tower tower body at them.
2. above-mentioned steps demarcate control point with steel nail and determine control point coordinates by translocation.
Above-mentioned steps 3. at the control point pair in and set up ground enhancing positioning reference station.
4. above-mentioned steps select the multi-rotor unmanned aerial vehicle with RTK, connect positioning reference station and configure the three of N number of hovering point
Coordinate is tieed up, rotating lens direction alignment shaft tower simultaneously starts.
Map sheet shape determined by above three anchor point is square, and what anchor point was surrounded rectangular should cover tour portion
The 80% of part.
The advantages and positive effects of the present invention are:
1, the present invention is aided with bar by carrying the multi-rotor unmanned aerial vehicle connection ground enhancing base station of high-precision positioner
Anchor point on tower realizes that high-precision shaft tower is maked an inspection tour area image and obtained, improve inspection data acquisition standardization level and
The degree of automation improves working efficiency.
2, the present invention realizes the investigation and transmission tower wind of Pixel-level defect by the fining comparison of High-precision image
The prediction of danger effectively raises the fining degree of transmission tower inspection, excludes human factor and does caused by work quality
It disturbs.
3, it is aided with high accuracy positioning base station the present invention is based on airborne RTK device and realizes that unmanned plane hovering position high-precision is controlled
System, while realizing the shooting direction calibration of camera based on three anchor points and focusing.
Three anchor points realize the essence of image as interior industry image correcting error control point while realizing data acquisition positioning
Quasi- correction.
4, the method for the invention only compares the image pixel information being overlapped in anchor point region, avoids subtracting while erroneous judgement
Lack calculation amount, improves recognition efficiency.
5, the method for the invention can not only find shaft tower defect characteristic, also recordable shaft tower changing features, such as nut
It loosens, the deformation of tower material, is prevented and handled before defect characterization.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Specific embodiment
Technical solution of the present invention is described in further detail below with reference to drawings and examples, but should
Know, these attached drawings are designed for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
It points out, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
The present invention just is illustrated in conjunction with Fig. 1 below.
A kind of multi-rotor unmanned aerial vehicle transmission tower defect identification method based on high accuracy positioning, includes the following steps:
1, spraying three is enclosed at the shaft tower tower body tour visual angle at transmission tower base foundation position, nameplate position, tower head position
A anchor point；
Three white anchor points are sprayed in shaft tower tower body, map sheet shape determined by three anchor points is square, and is positioned
Rectangular should cover that point is surrounded makes an inspection tour 80% or so of component.
2, the earth's surfaces such as rock or hard surfacing stability region is with steel nail calibration control point and true by translocation near shaft tower
Determine control point coordinates；
Determine that the absolute position of base station is intended to multi-rotor unmanned aerial vehicle energy when unification is repeatedly clapped again with unified coordinate system
It is enough to keep consistent with the positional relationship of shaft tower.
3, at the control point pair in and set up ground enhancing positioning reference station；
By ground enhance positioning reference station pair in be intended to fix each flight when base station position with the more rotors of fixation without
The fixed erection of base station can also be set up base station stablizing geological province to reduce artificial repetition, realized by man-machine hovering position
Inspection working automation is carried out.
4, selection has the multi-rotor unmanned aerial vehicle of RTK, connects positioning reference station and configures the three-dimensional coordinate of N number of hovering point,
Rotating lens direction alignment shaft tower simultaneously starts；
RTK need to fly control with unmanned plane and be integrated to realize that the location information of positioning can instruct the target of unmanned plane during flying
Position.
5, unmanned plane hovers in fixed position and calibrates shooting direction by anchor point, and N photos of shooting are simultaneously numbered (first
Photo is completed standard picture and is obtained as standard photographs)；
Normal data acquisition is carried out when shaft tower state is normal, is provided with the inspection work automated in for a long time for the later period
Reference frame.
6, when inspection work is carried out, 3~5 operation of repetition carries out multiple image of clapping and obtains；
3~5 image-acquisition phases to work for Daily Round Check, 1,2 two o'clocks are basic preparation, are worked in Daily Round Check
Shi Wuxu carries out.
7, the N of multiple take photos are corrected with standard photographs by anchor point respectively, it is ensured that corresponding equipment region picture
Vegetarian refreshments is substantially overlapping；
Due to anchor point in the position of object be it is absolutely fixed, can carry out repeatedly multiple clapping figure with this anchor point
The correction of picture, so that the shaft tower equipment image overlap for repeatedly clapping same position again reaches to realize the diversity ratio pair of Pixel-level
To the purpose of discovery tiny defect.
8, the pixel of corresponding photo-overlap phase width part is traversed using image recognition program；
9, pixel difference is demarcated beyond the region of threshold value；
10, shaft tower defect or defect early warning are judged whether it is according to the equipment image variation of calibration part.
The present invention using ground enhance positioning reference station and target stem tower beacon note anchor point greatly improve more rotors nobody
The hovering precision of machine and the map sheet precision of shooting image, ensure that the multiple height for clapping image is consistent.It is accurate using map sheet anchor point
Correction claps image again and makes the accuracy for automating defect recognition that can realize stable promotion.The present invention helps polling transmission line people
Member promotion transmission tower inspection work fining degree, thus be effectively promoted polling transmission line efficiency, alleviate it is defeated
The labor intensity of electricity fortune inspection personnel effectively prevents the generation of transmission tower defect, and important early warning is provided for active defect elimination.
Above embodiments describe the invention in detail, but content is only the preferred embodiment of the present invention, no
It can be believed to be used to limit the scope of the invention.Any changes and modifications in accordance with the scope of the present application,
It should still fall within the scope of the patent of the present invention.
Claims (6)
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
| CN111256702A (en) * | 2020-04-27 | 2020-06-09 | 天津市普迅电力信息技术有限公司 | An autonomous inspection method of unmanned aerial vehicle for inspection of power towers |
| CN112269398A (en) * | 2020-11-04 | 2021-01-26 | 国网福建省电力有限公司漳州供电公司 | Unmanned aerial vehicle of transformer substation independently patrols and examines system |
| CN113064438A (en) * | 2021-03-31 | 2021-07-02 | 中国计量大学 | Inspection robot and control device and inspection method thereof |
| CN114047779A (en) * | 2021-10-22 | 2022-02-15 | 贵州电网有限责任公司 | A defect tracking method and system based on UAV inspection |
| CN114489102A (en) * | 2022-01-19 | 2022-05-13 | 上海复亚智能科技有限公司 | Self-inspection method and device for electric power tower, unmanned aerial vehicle and storage medium |
| CN115565118A (en) * | 2022-12-07 | 2023-01-03 | 南方电网数字电网研究院有限公司 | Method for identifying single hanging point and single string of cross crossing point of power transmission line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
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| CN112269398A (en) * | 2020-11-04 | 2021-01-26 | 国网福建省电力有限公司漳州供电公司 | Unmanned aerial vehicle of transformer substation independently patrols and examines system |
| CN112269398B (en) * | 2020-11-04 | 2024-03-15 | 国网福建省电力有限公司漳州供电公司 | Unmanned aerial vehicle of transformer substation independently patrols and examines system |
| CN113064438A (en) * | 2021-03-31 | 2021-07-02 | 中国计量大学 | Inspection robot and control device and inspection method thereof |
| CN114047779A (en) * | 2021-10-22 | 2022-02-15 | 贵州电网有限责任公司 | A defect tracking method and system based on UAV inspection |
| CN114489102A (en) * | 2022-01-19 | 2022-05-13 | 上海复亚智能科技有限公司 | Self-inspection method and device for electric power tower, unmanned aerial vehicle and storage medium |
| CN115565118A (en) * | 2022-12-07 | 2023-01-03 | 南方电网数字电网研究院有限公司 | Method for identifying single hanging point and single string of cross crossing point of power transmission line |
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