CN109739254A - Using the unmanned plane and its localization method of visual pattern positioning in a kind of electric inspection process - Google Patents
Using the unmanned plane and its localization method of visual pattern positioning in a kind of electric inspection process Download PDFInfo
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Abstract
本发明公开了一种电力巡检中采用视觉图像定位的无人机及其定位方法，通过机载摄像头和地面站的算法程序实现对无人机位置的确定。在无人机云台装备一个定位单目摄像头获取无人机下方物体实时图像，图像回传给地面站，由地面站的视觉定位算法程序ORB‑SLAM2计算出无人机视觉定位摄像头的位姿，以此代表无人机的位置信息，从而对无人机实现视觉定位。并且在地面站系统中根据特征点信息构建3D数字地图，记录无人机运动轨迹以及分布的特征点，同时可以直观地了解电网输电线杆塔周围的地理环境信息。
The invention discloses an unmanned aerial vehicle using visual image positioning in electric power inspection and a positioning method thereof. The location of the unmanned aerial vehicle is determined through an airborne camera and an algorithm program of a ground station. Equipped with a positioning monocular camera on the PTZ of the UAV to obtain the real-time image of the object under the UAV, the image is sent back to the ground station, and the visual positioning algorithm program ORB‑SLAM2 of the ground station calculates the pose of the UAV visual positioning camera , so as to represent the position information of the UAV, so as to realize the visual positioning of the UAV. And in the ground station system, a 3D digital map is constructed based on the feature point information to record the UAV's trajectory and distributed feature points, and at the same time, it can intuitively understand the geographical environment information around the power grid transmission line tower.
Description
Technical field
The present invention relates to unmanned plane power grid inspection fields, use visual pattern to position more particularly in a kind of electric inspection process
Unmanned plane and its localization method.
Background technique
In recent years, unmanned plane industry stable development, unmanned plane performance are greatly improved, especially quadrotor drone due to
The features such as its stability is good, easy to operate, can hover receives the favor for the industries such as fan and agricultural, express delivery of taking photo by plane.
Unmanned plane power grid inspection is even more to obtain high attention recently.Since it has safe and reliable, high efficient and flexible,
Low-cost characteristic will gradually replace manual inspection.
In addition, 110kV and the above transmission line of electricity asset size increase rapidly, and average growth rate per annum reaches by taking south electric network as an example
To 9.6%.2000 kilometers of the whole network overhead transmission line west and east span, 4300 meters of Hematocrit, wherein 80% Above Transmission Lines are located at
Far from cities and towns, the separate main line of communication, meagrely-populated high mountain high hill area, and needs spy to patrol special dimension route and account for whole route specific gravity
Up to 20%, power transmission line road transport inspection difficulty is big, quality requirement is high.And traditional manual inspection work difficulty is big, and the duty cycle is long,
Safety coefficient is low, high labor cost, while patrol officer's deficient phenomena was serious in recent years, and average growth rate per annum is less than 3%.Tradition
Artificial mode increasingly can not meet the demand of China's power grid O&M, under such a background, unmanned plane electric inspection process is new
The exploration of mode is very necessary.
Secondly, relying on GPS geo-location system for the unmanned plane of electric inspection process instantly more.Because general transmission line of electricity
Shaft tower coordinate many places are obvious in hypsography, the remote area in position, and the locating effect of unmanned plane is unsatisfactory.In addition, positioning
Effect also suffers from the influence of barrier and electromagnetic interference.Once GPS satellite positioning is interfered or dropout, unmanned plane
Working in the case where location information mistake will necessarily result in catastrophic result.
Summary of the invention
Goal of the invention: it is an object of the invention to solve existing unmanned plane electric inspection process only with GPS positioning, because one
As transmission line of electricity shaft tower coordinate many places it is obvious in hypsography, the remote area in position, GPS to the locating effect of unmanned plane simultaneously
It is undesirable, in addition, locating effect also suffers from the influence of barrier and electromagnetic interference, once GPS satellite positioning is interfered
Or dropout, unmanned plane work the problem of will necessarily result in catastrophic result in the case where location information mistake.
Technical solution: to solve the above problems, the present invention the following technical schemes are provided:
A kind of unmanned plane positioned in electric inspection process using visual pattern, including can be realized flight function nobody
Machine matrix has holder in the bottom of unmanned plane, and holder is equipped with camera lens can be always towards the monocular cam of bottom surface.
Further, the three-dimensional laser radar scanning device, infrared for capableing of aid imaging is additionally provided in the matrix of unmanned plane
Thermal imaging system, ultraviolet imager and multi-spectral imager, be additionally provided on holder be able to detect electric force pole tower high-resolution it is visible
Photocamera/camera.
Further, the wireless communication module that can be communicated with earth station is additionally provided in the matrix of unmanned plane.
A kind of unmanned plane localization method positioned in electric inspection process using visual pattern, comprising the following steps:
1) it is communicated after unmanned plane takes off with earth station, earth station does not stop reception unmanned plane and passes through monocular cam shooting
Obtained image information；
2) earth station handles the picture frame that unmanned plane is passed back in real time, calculates R and t with the attitudes vibration of former frame, and
System
Middle storage key frame；
3) error is eliminated, unmanned plane setting accuracy is improved.
Further, in the step 2), the variation of pose is by spin matrix R and translation vector between consecutive frame
T specifically comprises the following steps: come what is described
A) earth station extracts ORB characteristic point from picture frame, and is carried out according to the previous frame characteristic point stored in system
Matching；
B) multipair feature point group (x is obtained after matchingi1,xi2), equation is constrained using to poleWherein E is referred to as
Essential matrix, E=tΛR, and at least 8 pairs or more of matching characteristic point construct equation group；The sheet resolved using 8 methods
Stromal matrix E contains the pose information converting of camera；
Then SVD decomposition is carried out to essential matrix E, i.e., E is resolved into E=U Σ VTForm；The R and t solved respectively has two
Group solution:
Since characteristic point position is inevitable in front of monocular cam, it is possible to exclude incongruent three groups of solutions；
C) it is constantly inserted into key frame, records characteristic point information, and carry out to monocular cam posture information using BA algorithm
Local nonlinearity optimization, the key frame of filter record, rejects extra key frame later.
Further, the step 3) is divided into closed-loop detection link and closed-loop corrected link,
Closed-loop detection link calculates the bag of words information of key frame, if there are the description of similar bag of words, instruction sheets in system
Mesh camera reaches scene before having returned to some.
After detecting closed loop, monocular SLAM calculates similarity transformation by Sim3 algorithm；
Closed-loop corrected link merges duplicate cloud first, and new Bian Yilian is inserted into Covisibility Graph
Connect closed loop；The posture information of present frame and coupled key frame can be all corrected.It is excellent by Essential Graph again
Change pose figure, dispensing error is into entire figure.
The utility model has the advantages that the present invention is compared with prior art: equipping a positioning monocular in unmanned machine head through the invention
Camera obtains unmanned plane underlying object realtime graphic, and image returns to earth station, by the vision positioning algorithm routine of earth station
ORB-SLAM2 calculates the pose of unmanned plane vision positioning shooting head, and the location information of unmanned plane is represented with this, thus to nobody
Machine realizes vision positioning.And 3D numerical map, record unmanned plane movement are constructed according to characteristic point information in earth station system
The characteristic point of track and distribution, while the geographical environment information around power grid transmission line shaft tower can be intuitively understood.
Detailed description of the invention
Fig. 1 is in unmanned plane electric inspection process of the present invention using vision positioning technical solution structural schematic diagram；
Fig. 2 is the characteristic point and monocular monocular cam posture schematic diagram that the present invention carries out vision positioning using ORB algorithm.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
A kind of unmanned plane positioned in electric inspection process using visual pattern, including can be realized flight function nobody
Machine matrix has holder in the bottom of unmanned plane, and holder is equipped with camera lens can be always towards the monocular cam of bottom surface.
High Resolution Visible Light camera/the camera for capableing of aid imaging is additionally provided in the matrix of unmanned plane, three-dimensional swashs
Optical radar scanning device, infrared thermal imager, ultraviolet imager and multi-spectral imager.
The wireless communication module that can be communicated with earth station is additionally provided in the matrix of unmanned plane.
A kind of unmanned plane localization method positioned in electric inspection process using visual pattern, comprising the following steps:
1) it is communicated after unmanned plane takes off with earth station, earth station does not stop reception unmanned plane and passes through monocular cam shooting
Obtained image information；
2) earth station handles the picture frame that unmanned plane is passed back in real time, calculates R and t with the attitudes vibration of former frame, and
System
Middle storage key frame；
3) error is eliminated, unmanned plane setting accuracy is improved.
The variation of pose is described by spin matrix R and translation vector t between consecutive frame.
ORB-SLAM2 program is divided into three threads, and figure and closed loop detection are built in tracking, part.
1) track thread is responsible for extracting ORB characteristic point from picture frame, and according to the previous frame feature stored in system
Point is matched.Multipair feature point group (x is obtained after matchingi1,xi2), equation is constrained using to pole(wherein E is claimed
For essential matrix, E=tΛR) and at least 8 pairs or more matching characteristic point construct equation group.It is resolved using 8 methods
Essential matrix E contains the pose information converting of camera.
Then SVD decomposition (Eigenvalues Decomposition) is carried out to essential matrix E, i.e., E is resolved into E=U Σ VTForm.It solves
R and t respectively have two groups of solutions:
, since characteristic point position is inevitable in front of monocular cam, it is possible to exclude incongruent three groups of solutions.
2) part builds figure line journey and is constantly inserted into key frame, records characteristic point information, and use BA (bundle
Adjustment) algorithm carries out local nonlinearity optimization to monocular cam posture information.The key frame of filter record later, is picked
Except extra key frame.
3) the characteristic point point cloud position that the monocular cam pose and trigonometric ratio that the first two thread is calculated obtain, all
There are errors, even if locally or globally being optimized locally building in figure line journey using BA, but still can have accumulated error.It closes
Ring detection thread is then to be broadly divided into closed-loop detection and closed-loop corrected for eliminating accumulated error.
Closed-loop detection link calculates bag of words (BOW) information of key frame, if said in system there are the description of similar bag of words
Bright monocular cam reaches scene before having returned to some.The author offline of ORB-SLAM2 has trained largely based on ORB
The bag of words of description need to load process sequence.
After detecting closed loop, monocular SLAM calculates similarity transformation by Sim3 algorithm.
Closed-loop corrected link merges duplicate cloud first, and new Bian Yilian is inserted into Covisibility Graph
Connect closed loop.The posture information of present frame and coupled key frame can be all corrected.It is excellent by Essential Graph again
Change pose figure, dispensing error is into entire figure.
By attached drawing 1 it is found that unmanned plane uses vision positioning firstly the need of on unmanned machine head platform in electric inspection process
A monocular cam is configured, this camera is different from being not used in for high-resolution camera used in electric power facility inspection
Detection data is obtained, and is only intended to the image data immediately below shooting unmanned plane, therefore the monocular cam needs to be placed in nothing
On man-machine movable holder, guarantees camera face ground always, do not influenced by unmanned plane athletic posture.
The realtime graphic that monocular cam obtains sends back earth station by wireless transport module by unmanned plane.
After earth station has obtained the image of unmanned plane passback, using the ORB-SLAM2 program in earth station system to image
Carry out information extraction.
Monocular ORB-SLAM2 program needs to carry out initialization procedure before realizing unmanned plane positioning.The purpose of initialization is
The scale factor of real physical world and 3D digital world map is obtained using several frame images after booting, and sets unmanned plane
Takeoff point coordinate is recorded in the 3D digital map data of system.
Earth station positions unmanned plane using ORB-SLAM2 program in real time, and records the flight path of unmanned plane, with 3D number
Word map form is presented on earth station's screen.The characteristic point of record is all the point on unmanned plane underlying object, therefore 3D is digital
The feature point cloud chart that map is presented simultaneously more can intuitively observe the geographical environment situation below unmanned plane.
Unmanned plane can obtain the 3D digital map information of earth station's building by wireless transport module, to know itself
Location information, according to the trace information of record, unmanned plane can accurately make a return voyage in autonomous progress entirely.
Claims (6)
1. the unmanned plane positioned in a kind of electric inspection process using visual pattern, the unmanned plane including can be realized flight function
Matrix, it is characterised in that: have holder in the bottom of unmanned plane, holder is equipped with camera lens can be always towards the monocular camera shooting of bottom surface
Head.
2. the unmanned plane positioned in electric inspection process according to claim 1 using visual pattern, it is characterised in that: nothing
The three-dimensional laser radar scanning device for capableing of aid imaging, infrared thermal imager, ultraviolet imager are additionally provided in man-machine matrix
And multi-spectral imager, the High Resolution Visible Light camera/camera for being able to detect electric force pole tower is additionally provided on holder.
3. the unmanned plane positioned in electric inspection process according to claim 1 using visual pattern, it is characterised in that: nothing
The wireless communication module that can be communicated with earth station is additionally provided in man-machine matrix.
4. the unmanned plane localization method positioned in a kind of electric inspection process as described in claim 1 using visual pattern,
It is characterized in that: the following steps are included:
1) it is communicated after unmanned plane takes off with earth station, earth station does not stop reception unmanned plane and shoots to obtain by monocular cam
Image information；
2) earth station handles the picture frame that unmanned plane is passed back in real time, calculates R and t with the attitudes vibration of former frame, and in system
Middle storage key frame；
3) error is eliminated, unmanned plane setting accuracy is improved.
5. the unmanned plane localization method positioned in electric inspection process according to claim 4 using visual pattern, special
Sign is: in the step 2), the variation of pose is described by spin matrix R and translation vector t between consecutive frame,
Specifically comprise the following steps:
A) earth station extracts ORB characteristic point from picture frame, and is matched according to the previous frame characteristic point stored in system；
B) multipair feature point group (x is obtained after matchingi1,xi2), equation is constrained using to poleWherein E is referred to as essence
Matrix, E=tΛR, and at least 8 pairs or more of matching characteristic point construct equation group；The essential square resolved using 8 methods
Battle array E contains the pose information converting of camera；
Then SVD decomposition is carried out to essential matrix E, i.e., E is resolved into E=U Σ VTForm；The R and t solved respectively has two groups of solutions:
Since characteristic point position is inevitable in front of monocular cam, it is possible to exclude incongruent three groups of solutions；
C) it is constantly inserted into key frame, records characteristic point information, and part is carried out to monocular cam posture information using BA algorithm
Nonlinear optimization, the key frame of filter record, rejects extra key frame later.
6. according to the unmanned plane localization method for using visual pattern to be positioned in electric inspection process as claimed in claim 4, feature
Be: the step 3) is divided into closed-loop detection link and closed-loop corrected link,
Closed-loop detection link calculates the bag of words information of key frame, if illustrating that monocular is taken the photograph there are the description of similar bag of words in system
Scene is reached before having returned to some as head.
After detecting closed loop, monocular SLAM calculates similarity transformation by Sim3 algorithm；
Closed-loop corrected link merges duplicate cloud first, and is inserted into new side in Covisibility Graph and is closed with connecting
Ring；The posture information of present frame and coupled key frame can be all corrected.Position is optimized by Essential Graph again
Appearance figure, dispensing error is into entire figure.
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