CN-116244799-B - Main network pole and tower refined inspection key part design method and device

Abstract

The invention discloses a main network pole and tower refined inspection key part design method and device, the method is divided into different types according to shooting targets, global shooting points and local shooting points, different methods are applied to each type, shooting distances and shooting angles are calculated, shooting point positions are reasonably planned, the field angle of all types of shooting targets is maximum, the resolution of local type shooting point images is higher, and aerial shooting points are safer. And (3) automatically generating a routing inspection route according to the routing inspection standard and different shooting modes in sequence, and automatically carrying out standardized naming according to the aerial photo points to automatically and safely detect the route of the tower. The method improves the efficiency of the unmanned aerial vehicle pole and tower fine inspection route design, greatly reduces manual intervention, and improves the automation and intelligent level of the unmanned aerial vehicle pole and tower fine inspection to a certain extent, wherein the route sequence and the photo naming are more standardized.

Inventors

• LI YINGCHENG
• LIU XIAOLONG
• XUE YANLI
• LI CHANGKE
• SUN YIMING

Assignees

• 中测新图(北京)遥感技术有限责任公司

Dates

Publication Date

20260512

Application Date

20230213

Claims (4)

1. 1. The utility model provides a main network shaft tower fine inspection key position design method which is characterized in that the method comprises the following steps: dividing shooting targets into different types, including global shooting targets and local shooting targets, shooting the different types of shooting targets by adopting a preset shooting mode and principle by taking the maximum field angle of the global shooting targets and the maximum image resolution of the local shooting targets as targets, reasonably planning shooting points by calculating shooting distances and shooting angles, and obtaining optimal shooting parameters; The device comprises a global framework, an insulator string, a cross arm hanging point, a shooting principle and a wire end hanging point, wherein the global framework is used for shooting the whole view or the body of the tower in an oblique shooting mode; Shooting different types of shooting targets by adopting a preset shooting mode and principle, reasonably planning shooting points by calculating shooting distance and shooting angle, and obtaining optimal shooting parameters, wherein the method specifically comprises the following steps of: For cross arm hanging points: when shooting by using a fixed-focus camera: Calculating a shooting distance Shootdis = Gsd f/cellsize according to camera parameters and a target resolution, wherein Gsd is ground resolution, f is focal length, cellsize is pixel resolution, and when the shooting distance is smaller than a safe distance, the camera is not suitable for use and can be replaced to meet the requirement; When shooting with a zoom camera: Firstly, calculating a safety distance by using a minimum focal length, wherein Shootdis = Gsd ×fmin/cellsize, fmin is the minimum focal length, and Shootdis is a shooting distance corresponding to the minimum focal length; When the shooting distance is smaller than the safety distance, zooming is needed, so that better shooting pictures can be obtained by the safety distance, calf = Safedis, cellsize/GSD is calculated, safedis is the safety distance, calf is the focal length calculated by the safety distance, namely the focal length needed to be zoomed; when the shooting distance is greater than the safety distance, shooting a picture by using the safety distance, wherein the picture resolution reaches a target value, and obtaining a clear image; Shooting different types of shooting targets by adopting a preset shooting mode and principle, reasonably planning shooting points by calculating shooting distance and shooting angle, and obtaining optimal shooting parameters, wherein the method specifically comprises the following steps of: for wire end hanging points: when shooting by using a fixed-focus camera: Firstly, calculating a shooting distance Shootdis which keeps clear 1= Gsd f/cellsize, wherein Gsd is ground resolution, f is focal length, and cellsize is pixel resolution; Then Gsdl =length/imgheight, shootdis2 = Gsd1×f/cellsize; Wherein Length is the Length of the lead end hanging point part, gsdl is the resolution of the hanging point part when shooting the whole time, shootdis2 is the corresponding shooting distance, if shootdis2 is smaller than shootdis1 which is 1.2 times, the shooting distance of shootdis2 is used for shooting once, and if shootdis2 is larger than shootdis1 which is 1.2 times, shootdis1 and shootdis are used for shooting twice respectively; When shooting with a zoom camera: firstly, calculating a shooting distance Gsdl =length/imgheight, shootdis2 = Gsd1×f/cellsize of the shooting with the minimum focal Length; then calculate the focal length that needs to be zoomed to reach the target resolution at this distance: Calf=shootdis2*cellsize/GSD; wherein GSD is target resolution, calf is calculated zoom value, by taking two pictures at the same position, taking the whole of the lead end hanging point component with the minimum focal length, and then zooming to take local detail.
2. 2. The utility model provides a key position design device is patrolled and examined to main network shaft tower is meticulous, its characterized in that, the device is used for: dividing shooting targets into different types, including global shooting targets and local shooting targets, shooting the different types of shooting targets by adopting a preset shooting mode and principle by taking the maximum field angle of the global shooting targets and the maximum image resolution of the local shooting targets as targets, reasonably planning shooting points by calculating shooting distances and shooting angles, and obtaining optimal shooting parameters; The device comprises a global framework, an insulator string, a cross arm hanging point, a shooting principle and a wire end hanging point, wherein the global framework is used for shooting the whole view or the body of the tower in an oblique shooting mode; Shooting different types of shooting targets by adopting a preset shooting mode and principle, reasonably planning shooting points by calculating shooting distance and shooting angle, and obtaining optimal shooting parameters, wherein the method specifically comprises the following steps of: For cross arm hanging points: when shooting by using a fixed-focus camera: Calculating a shooting distance Shootdis = Gsd f/cellsize according to camera parameters and a target resolution, wherein Gsd is ground resolution, f is focal length, cellsize is pixel resolution, and when the shooting distance is smaller than a safe distance, the camera is not suitable for use and can be replaced to meet the requirement; When shooting with a zoom camera: Firstly, calculating a safety distance by using a minimum focal length, wherein Shootdis = Gsd ×fmin/cellsize, fmin is the minimum focal length, and Shootdis is a shooting distance corresponding to the minimum focal length; When the shooting distance is smaller than the safety distance, zooming is needed, so that better shooting pictures can be obtained by the safety distance, calf = Safedis, cellsize/GSD is calculated, safedis is the safety distance, calf is the focal length calculated by the safety distance, namely the focal length needed to be zoomed; when the shooting distance is greater than the safety distance, shooting a picture by using the safety distance, wherein the picture resolution reaches a target value, and obtaining a clear image; Shooting different types of shooting targets by adopting a preset shooting mode and principle, reasonably planning shooting points by calculating shooting distance and shooting angle, and obtaining optimal shooting parameters, wherein the method specifically comprises the following steps of: for wire end hanging points: when shooting by using a fixed-focus camera: Firstly, calculating a shooting distance Shootdis which keeps clear 1= Gsd f/cellsize, wherein Gsd is ground resolution, f is focal length, and cellsize is pixel resolution; Then Gsdl =length/imgheight, shootdis2 = Gsd1×f/cellsize; Wherein Length is the Length of the lead end hanging point part, gsdl is the resolution of the hanging point part when shooting the whole time, shootdis2 is the corresponding shooting distance, if shootdis2 is smaller than shootdis1 which is 1.2 times, the shooting distance of shootdis2 is used for shooting once, and if shootdis2 is larger than shootdis1 which is 1.2 times, shootdis1 and shootdis are used for shooting twice respectively; When shooting with a zoom camera: firstly, calculating a shooting distance Gsdl =length/imgheight, shootdis2 = Gsd1×f/cellsize of the shooting with the minimum focal Length; then calculate the focal length that needs to be zoomed to reach the target resolution at this distance: Calf=shootdis2*cellsize/GSD; wherein GSD is target resolution, calf is calculated zoom value, by taking two pictures at the same position, taking the whole of the lead end hanging point component with the minimum focal length, and then zooming to take local detail.
3. 3. A main network pole and tower refined inspection key part design system is characterized by comprising a processor and a memory; The memory is used for storing one or more program instructions; The processor is configured to execute one or more program instructions to perform the method of claim 1.
4. 4. A computer storage medium having one or more program instructions embodied therein for performing the method of claim 1 by a main network tower fine inspection critical section design system.

Description

Main network pole and tower refined inspection key part design method and device Technical Field The invention relates to the technical field of unmanned aerial vehicle fine inspection, in particular to a main network tower fine inspection key part design method and device. Background With the gradual maturity of unmanned aerial vehicle technology, artificial intelligence, automated control technique, sensor technology development, unmanned aerial vehicle full-automatic refined inspection will become future development trend. The data acquisition frequency is improved, the data acquisition quality is improved, the data acquisition achieves the minute level, real-time performance and standardization, and the unmanned aerial vehicle power inspection is imperative to develop to the automatic intelligent direction under the requirement. Some companies in the market do some work in the aspect of the main overhead transmission line fine inspection route planning function, can realize accurately extracting shooting components (insulator strings and ground wire hanging points) to the tangent tower in the aspect of the main overhead transmission line fine inspection, can automatically generate the functions of the tangent tower shooting points and the like, but the processing effect on the strain tower is not ideal enough, a large amount of manual editing is needed, and the intelligent degree is not high. Disclosure of Invention Therefore, the invention provides a main network pole and tower refined inspection key part design method and device, which are used for solving the problem of low automation level of the generation of the existing pole and tower refined inspection route. In order to achieve the above object, the present invention provides the following technical solutions: according to a first aspect of an embodiment of the present invention, a method for designing a refined inspection key part of a main network tower is provided, where the method includes: dividing shooting targets into different types, including global shooting targets and local shooting targets, shooting the different types of shooting targets by adopting a preset shooting mode and principle by taking the maximum field angle of the global shooting targets and the maximum image resolution of the local shooting targets as targets, reasonably planning shooting points by calculating shooting distances and shooting angles, and obtaining optimal shooting parameters; the method comprises the steps of photographing the whole view or the tower body of the tower in an oblique photographing mode for a global framework, photographing the whole view or the tower body of the insulator string in a mode of aiming at the middle area of the insulator string according to a certain depression angle, photographing the cross arm hanging points in order to ensure that photographing is clear, and photographing the lead end hanging points in order to ensure that photographing is clear and photographing is complete. Further, shooting targets of different types by adopting a preset shooting mode and principle, and reasonably planning shooting points by calculating shooting distance and shooting angle to obtain optimal shooting parameters, wherein the method specifically comprises the following steps: for the global framework: Firstly, calculating the shooting distance of vertical shooting: Gsd = towerh/imgheight, where Gsd is ground resolution, towerh is tower height, imgheight is photo height, shootdis = Gsd f/cellsize, shootdis is vertical shooting distance, f is focal length, cellsize is pixel resolution; then calculating the shooting distance of oblique shooting: first calculating the angle of view VIEWANGLE =arctan (imgheight/2×cellsize/f) ×2; Wherein VIEWANGLE is the field angle, arctan () is the arctangent function; calculating the horizontal distance of the aerial photographing point, wherein Hordis = shootdis ×cos (fan); wherein Hordis is the horizontal distance of the aerial photographing point, cos () is a cosine function, fangle is the depression angle, and is as low as possible below the maximum depression angle; Calculating the aerial photographing point height ShootH = Hordis tan (fangle-VIEWANGLE/2) +H2; ShootH is the aerial photographing point height, and H3 is the tower top height; calculating a target point height objh = shootdis sin (fan) -ShootH, wherein objh is the target point height; When some towers exceed the preset height threshold, the maximum depression angle is used as much as possible, and when the calculated relative flight altitude, namely the value of the flight altitude minus the tower altitude exceeds the preset height threshold, the flight altitude is re-planned, and the shooting point altitude is re-calculated. Further, shooting targets of different types by adopting a preset shooting mode and principle, and reasonably planning shooting points by calculating shooting distance and shooting angle to obtain optimal shooting param