CN115580708A - Unmanned aerial vehicle inspection method for optical cable line - Google Patents
Unmanned aerial vehicle inspection method for optical cable line Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle inspection method for an optical cable line, which comprises the following steps: 1, constructing an inspection system, 2, determining an inspection scheme and an inspection route of an unmanned aerial vehicle, and generating a track file; 3, determining the load and the cruising time taken by the unmanned aerial vehicle; 4, starting to carry out inspection work along the determined inspection route; 5, transmitting real-time data of the unmanned aerial vehicle back to the ground, 6, identifying the obvious hidden danger on the optical cable line in real time by an optical cable line obvious hidden danger real-time identification system in the ground station system, and once identifying the obvious hidden danger, carrying out warning intervention and taking pictures for evidence; 7, carrying out fine identification on the basis of the high-definition photos; and 8, when the hidden danger is found through fine identification, informing manual processing, and when the hidden danger is not found, marking as normal. The invention can automatically collect the picture information on the optical cable line and automatically analyze and identify abnormal conditions; and the manual use is less, and the efficiency is higher beneficial effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle routing inspection, in particular to an unmanned aerial vehicle routing inspection method for an optical cable line.
Background
At present, the development of each industry is closely related to communication technology, the requirement for communication is higher and higher no matter enterprises, individuals or government offices, the development speed of the communication industry is very rapid, but the current communication technology still needs to adopt a large number of optical cables as media to transmit signals, so the quality of the communication technology is directly related to the current maintenance of communication optical cable lines. In the prior art, in order to ensure the normal work of the optical cable, special personnel or machines can patrol and examine the optical cable line, and the abnormal condition of the optical cable line can be discovered in time, and the problem can be solved quickly.
The inventor of this patent application is through investigation research, and the mode of patrolling and examining is being patrolled and examined along the optical cable line by artifical driving at present is because the cost of labor is high, and patrols and examines inefficiency, is being phased out gradually. People begin to use the unmanned aerial vehicle to patrol the optical cable line, but the current unmanned aerial vehicle patrol method mainly comprises the steps of taking a camera by the unmanned aerial vehicle to shoot along the optical cable line, then sending shot pictures back to the control center, and manually identifying abnormal conditions on the optical cable line by an operator of the control center.
In summary, there is no method for automatically collecting the image information on the optical cable line and simultaneously performing automatic analysis to identify abnormal conditions; and the unmanned aerial vehicle inspection method has less manual use and higher efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of providing a device which can automatically collect picture information on an optical cable line and simultaneously automatically analyze and identify abnormal conditions; and the unmanned aerial vehicle routing inspection method has less manual use and higher efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an unmanned aerial vehicle inspection method for an optical cable line comprises the following steps:
firstly, constructing an inspection system, wherein the inspection system comprises an unmanned aerial vehicle platform, a ground station system and an optical cable line inspection data processing platform; the unmanned aerial vehicle platform comprises a flying platform, a flying control module, an airplane data transmission module, an airborne computing platform, a load platform and an airplane image transmission module, wherein the flying control module is respectively in signal connection with the flying platform, the airplane data transmission module and the airborne computing platform are in signal connection, a positive photography high-definition camera and an inclined photography pan-tilt camera which are in signal connection with the airplane image transmission module are hung on the load platform, the shooting angle of the positive photography high-definition camera is kept perpendicular to the ground, the long edge of a shot image is perpendicular to the direction of a machine head of the unmanned aerial vehicle, and an included angle which is larger than 0 degree and smaller than 90 degrees is formed between the inclined photography pan-tilt camera and the positive photography high-definition camera; the ground station system comprises a ground data transmission module, a ground flight control module, a ground image transmission module, a ground image acquisition module and an optical cable line obvious hidden danger real-time identification system which are sequentially in signal connection, wherein the airplane data transmission module is in wireless connection with the ground data transmission module, and the ground data transmission module is in signal connection with the airplane image transmission module; the optical cable line inspection data processing platform is a pure software system installed on a high-performance server and comprises a high-definition inspection image acquisition module, an image preprocessing module, a target identification hidden danger finding module, an image splicing module, an image comparison hidden danger finding module and an inspection result presenting module which are in signal connection with one another; a data transmission channel is arranged between the positive photography high-definition camera and the high-definition inspection image acquisition module;
secondly, determining a routing inspection scheme and a routing inspection route of the unmanned aerial vehicle according to the laying path of the optical cable, the distance to be inspected, the geography and meteorological environment on the routing inspection line and the requirement of a routing inspection task, and generating a track file;
thirdly, determining the load and the cruising time of the unmanned aerial vehicle according to the inspection scheme, and selecting proper rack accessories, a power system and a communication module;
fourthly, controlling the unmanned aerial vehicle to start to execute the inspection work along the determined inspection route;
fifthly, in the process of the unmanned aerial vehicle inspection, a tripod head camera which obliquely shoots returns a shot video stream corresponding to the current picture on the optical cable line to the ground station system in real time; meanwhile, the positive photography high-definition camera takes pictures at a set distance according to a set interval and stores high-definition pictures on the unmanned aerial vehicle, and picture information is transmitted to the high-definition inspection image acquisition module after the unmanned aerial vehicle returns to the ground;
sixthly, identifying the obvious hidden danger on the optical cable line in real time by an optical cable line obvious hidden danger real-time identification system in the ground station system, and immediately controlling the unmanned aerial vehicle to fly back to the hidden danger position for warning intervention and photographing for evidence collection once the obvious hidden danger is identified;
seventhly, fine identification; after unmanned aerial vehicle navigates back, read the positive photographic camera of high definition of machine-carried and shoot the image, send to the optical cable circuit and patrol and examine data processing platform and carry out the discernment that becomes more meticulous to the image, specifically include: acquiring high-definition inspection image data, preprocessing the image, identifying a target of the high-definition image, splicing the image and comparing the image; the integrity of line facilities such as optical cable monuments, manhole covers and the like can be finely searched through image splicing and comparison, or the terrain change caused by disasters such as debris flow and the like is judged, and hidden dangers existing in the lines are checked in advance;
and eighthly, when the fine identification finds the hidden danger, notifying a worker to recheck and confirm the hidden danger, when the fine identification does not find the hidden danger, marking the situation as normal, and finishing the current inspection after archiving the inspection data.
Preferably, the load platform is also provided with an acousto-optic alarm device, and the acousto-optic alarm device is in signal connection with the airborne computing platform.
Preferably, when the routing inspection scheme is customized, the method needs to fully analyze the main influence factors such as the landform condition, the weather condition, the inspection object, the routing inspection task and the like according to the field investigation condition, and select an operation mode matched with the current routing inspection of the optical cable line from conventional quick routing inspection, conventional fine routing inspection and special fine routing inspection.
Preferably, on the basis of analyzing performance indexes of a flight platform and a load of the unmanned aerial vehicle, coupling selection is carried out on the unmanned aerial vehicle platform, a visible light camera/video camera, an acousto-optic alarm system and other equipment according to an operation mode and a routing inspection line distance; the unmanned aerial vehicle for the optical cable line patrols and examines and applies the mode matching from patrolling and examining the object and patrolling and examining the business object itself, confirms the required load type, load parameter, unmanned aerial vehicle parameter layer by layer to after the scheme demonstration and the system design are patrolled and examined to the unmanned aerial vehicle optical cable line, confirm again and accomplish unmanned aerial vehicle and load type selection and crew member and allocate.
After the method is adopted, the invention has the following beneficial effects: the method is characterized in that a set of unmanned aerial vehicle inspection platform based on double cameras is creatively built, an inspection method is invented on the basis of the platform, and then an inspection route of the unmanned aerial vehicle is determined in sequence to generate a track file; the front-mounted inclined camera feeds back a video stream in real time, and the ground station identifies hidden troubles of an optical cable line in real time; taking pictures by a high-definition camera at a fixed distance, and further off-line high-precision identification of hidden dangers after the unmanned aerial vehicle navigates backwards; when the hidden danger of the optical cable line is found, the unmanned aerial vehicle automatically goes back to the hidden danger position for warning intervention, and the steps of photographing and evidence obtaining are carried out, so that full automation, high-efficiency and high-accuracy inspection are realized.
In conclusion, the invention provides a system which can automatically collect the picture information on the optical cable line and simultaneously automatically analyze and identify the abnormal situation; and the unmanned aerial vehicle inspection method has less manual use and higher efficiency.
Drawings
Fig. 1 is a structural framework of the unmanned aerial vehicle inspection system for optical cable lines in the invention.
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle for routing inspection of the optical cable line.
Fig. 3 is a schematic diagram of a polling operation flow corresponding to the unmanned aerial vehicle polling method for the optical cable line.
Fig. 4 is a diagram of a demand analysis in the unmanned aerial vehicle inspection work of the optical cable line of the present invention.
Fig. 5 is a block diagram of the unmanned aerial vehicle inspection operation scheme of the optical cable line.
As shown in the figure: 1. inspecting the unmanned aerial vehicle; 2. a positive photography high definition camera; 3. a pan/tilt camera for tilt imaging.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
With reference to the attached drawings 1 to 5, an unmanned aerial vehicle inspection method for an optical cable line comprises the following steps:
firstly, constructing an inspection system, wherein the inspection system comprises an unmanned aerial vehicle platform, a ground station system and an optical cable line inspection data processing platform; the unmanned aerial vehicle platform comprises a flying platform, a flying control module, an airplane data transmission module, an airborne computing platform, a load platform and an airplane image transmission module, wherein the flying control module is respectively in signal connection with the flying platform, the airplane data transmission module and the airborne computing platform are in signal connection, a positive photography high-definition camera and an inclined photography pan-tilt camera which are in signal connection with the airplane image transmission module are hung on the load platform, the shooting angle of the positive photography high-definition camera is kept perpendicular to the ground, the long edge of a shot image is perpendicular to the direction of a machine head of the unmanned aerial vehicle, and an included angle which is larger than 0 degree and smaller than 90 degrees is formed between the inclined photography pan-tilt camera and the positive photography high-definition camera; the ground station system comprises a ground data transmission module, a ground flight control module, a ground image transmission module, a ground image acquisition module and an optical cable line obvious hidden danger real-time identification system which are sequentially in signal connection, wherein the airplane data transmission module is in wireless connection with the ground data transmission module, and the ground data transmission module is in signal connection with the airplane image transmission module; the optical cable line inspection data processing platform is a pure software system installed on a high-performance server and comprises a high-definition inspection image acquisition module, an image preprocessing module, a target identification hidden danger finding module, an image splicing module, an image comparison hidden danger finding module and an inspection result presenting module which are in signal connection with one another; a data transmission channel is arranged between the positive photography high-definition camera and the high-definition inspection image acquisition module;
secondly, determining a routing inspection scheme and a routing inspection route of the unmanned aerial vehicle according to the laying path of the optical cable, the distance to be inspected, the geography and meteorological environment on the routing inspection line and the requirement of a routing inspection task, and generating a track file;
thirdly, determining the load and the cruising time of the unmanned aerial vehicle according to the inspection scheme, and selecting proper rack accessories, a power system and a communication module;
fourthly, controlling the unmanned aerial vehicle to start to execute the inspection work along the determined inspection route;
fifthly, in the inspection process of the unmanned aerial vehicle, a tripod head camera which obliquely shoots returns a shot video stream corresponding to the current picture on the optical cable line to a ground station system in real time; meanwhile, the positive photography high-definition camera takes pictures at a set distance according to a set interval and stores high-definition pictures on the unmanned aerial vehicle, and picture information is transmitted to the high-definition inspection image acquisition module after the unmanned aerial vehicle returns to the ground;
sixthly, identifying the obvious hidden danger on the optical cable line in real time by an optical cable line obvious hidden danger real-time identification system in the ground station system, and immediately controlling the unmanned aerial vehicle to fly back to the hidden danger position for warning intervention and photographing for evidence collection once the obvious hidden danger is identified;
seventhly, fine identification is carried out; after unmanned aerial vehicle navigates back, read the positive photographic camera of high definition of machine-carried and shoot the image, send to the optical cable circuit and patrol and examine data processing platform and carry out the discernment that becomes more meticulous to the image, specifically include: acquiring high-definition inspection image data, preprocessing the image, identifying a target of the high-definition image, splicing the image and comparing the image; the integrity of line facilities such as optical cable monuments, manhole covers and the like can be finely searched through image splicing and comparison, or the terrain change caused by disasters such as debris flow and the like is judged, and hidden dangers existing in the lines are checked in advance;
and eighthly, when the fine identification finds the hidden danger, notifying a worker to recheck and confirm the hidden danger, when the fine identification does not find the hidden danger, marking the situation as normal, and finishing the current inspection after archiving the inspection data.
When the method for unmanned aerial vehicle routing inspection of the optical cable line is implemented, the main processes are as follows: constructing a double-camera inspection platform; determining a routing inspection route of the routing inspection unmanned aerial vehicle 1, and generating a track file; the inspection unmanned aerial vehicle 1 is used for mounting a positive photography high-definition camera 2, an inclined photography pan-tilt camera 3 and acousto-optic warning equipment, and the downward inclination angle of the inclined photography pan-tilt camera 3 is kept as alpha; the elevation angle alpha can be adjusted between 0-90 degrees (as an optimization, generally set to 45 degrees), the imaging long edges of the positive photography high-definition camera 2 and the tilt camera 3 are perpendicular to the flight direction of the unmanned aerial vehicle (namely the main shafts of the camera and the camera body project in the main shaft direction of the unmanned aerial vehicle), the pan-tilt camera returns video streams in real time in the process of the unmanned aerial vehicle performing optical cable line inspection flight, and the ground station identifies hidden troubles of the optical cable line in real time; taking pictures by a high-definition camera at a fixed distance, and further off-line high-precision identification of hidden dangers after the unmanned aerial vehicle navigates backwards; when finding optical cable circuit hidden danger, unmanned aerial vehicle is automatic still to go to hidden danger position and warns the intervention to it is forensics to shoot.
The double-camera inspection platform system comprises three parts, namely an unmanned aerial vehicle platform (comprising integrated task load), a ground station subsystem and an optical cable line inspection data processing subsystem. Each part of the unmanned aerial vehicle inspection system is composed and has the following functions. 1. An unmanned aerial vehicle platform; the unmanned aerial vehicle platform comprises a flight platform, a flight control module, an airborne computing platform, a data transmission module, a picture transmission module and a task load (comprising an acousto-optic warning module, a positive photography high-definition camera and an oblique photography real-time monitoring module). The method mainly finishes the acquisition of various images and the warning intervention of illegal operation. 2. A ground station subsystem; the ground station subsystem comprises a data transmission module, an image acquisition module, an illegal operation and obvious hidden danger target identification software module and a ground station control software module. The subsystem mainly completes illegal operation, obvious hidden danger target identification and various controls of the unmanned aerial vehicle platform. 3. An optical cable line inspection data processing subsystem; the optical cable line inspection data processing subsystem is a pure software system installed on a high-performance server and mainly comprises an image acquisition module, an image preprocessing module, a target identification hidden danger finding module, an image splicing module, an image comparison module and an inspection result presentation module. The subsystem mainly completes fine identification and result presentation of hidden dangers of optical cable lines.
The unmanned aerial vehicle system inspection process is realized as follows: firstly, according to the optical cable line inspection task, the unmanned aerial vehicle inspection system can be divided into three stages in the inspection process: firstly, a polling preparation stage; secondly, performing routing inspection and identifying obvious hidden danger in real time; and thirdly, fine identification of the hidden line danger and data management of routing inspection.
Stage one: and (6) preparing for inspection. The method comprises three aspects of content, namely, firstly, the requirement of the inspection task needs to be analyzed, the type of the inspection task is known, and the time requirement, the fineness, the inspection environment, the task characteristics and the like of the inspection task are comprehensively analyzed; secondly, aiming at the polling object (the optical cable line body and the accessory facilities/the sudden disaster situation of the optical cable line corridor environment/fault disaster), determining to be fine polling or quick polling from the polling business requirement, and determining a polling mode by combining polling weather factors, particularly wind factors and influence of rain and snow, and topographic factors, such as open plains or mountain forests; and finally, comprehensively considering various factors to form an inspection scheme, determining specific conditions such as load, cruising time, environment adaptability and the like of the flying ride, selecting proper rack accessories, power systems and communication modules, and building an unmanned aerial vehicle inspection platform.
And a second stage: and identifying the obvious hidden danger in real time. The unmanned aerial vehicle platform is built in the previous stage, the ground station system is the unmanned aerial vehicle platform, the unmanned aerial vehicle platform is composed of a flight platform, a flight control module and a communication interaction module, the flight platform is a control object, the flight control module is a core, image transmission and data transmission are bridges, real-time image information and flight attitude information of an unmanned aerial vehicle sensor are transmitted to the ground station through the image transmission and the data transmission, the ground station performs fusion calculation on received data, then control instructions of the ground station are sent to the flight control, and the flight control receives the control instructions and then controls the flight platform to adjust the flight attitude. If the vehicles or other threats which are violating the construction are identified, the unmanned aerial vehicle automatically flies to the identification region and intervenes in real time.
And a third stage: and (4) carrying out fine identification on the hidden line danger. After unmanned aerial vehicle navigates back, read the positive photographic camera of high definition of machine-carried and shoot the image, send to the optical cable circuit and patrol and examine data processing platform and carry out the discernment that becomes more meticulous to the image, specifically include: the method comprises the steps of high-definition inspection image data acquisition, image preprocessing, high-definition image target identification, image splicing and image comparison. The target recognition is carried out with image denoising, defogging and other processing, although the target recognition cannot be carried out in real time like the stage two, the recognition degree is higher and more accurate, in addition, the splicing and comparison of the images can be used for finely searching the sound conditions of line facilities such as optical cable monuments, manhole covers and the like, or judging the terrain change caused by disasters such as debris flow and the like, and the hidden danger of the line is checked in advance.
Simultaneously, in this embodiment, according to unmanned aerial vehicle patrols and examines characteristic analysis, provided one set of optical cable circuit unmanned aerial vehicle and patrolled and examined the work flow and supply the reference, following respectively to wherein the primary link introduce as follows: 1. surveying on site; before the unmanned aerial vehicle is used for the optical cable line patrol, a task section of the unmanned aerial vehicle patrol operation is determined firstly, and the site investigation work is carried out. The survey contents comprise line trends, landforms, cross-over conditions, rod road and monument coordinates, field operation environments, airspace conditions, traffic conditions and other dangerous points and the like. According to the field terrain conditions, the flat and solid ground is selected as the take-off and landing point of the multi-rotor unmanned aerial vehicle (the take-off and landing point required by the general multi-rotor unmanned aerial vehicle is small, and about 1 square meter is enough). For the inspection operation of the unmanned aerial vehicle which is considered as dangerous and complex in field investigation, organizational measures, technical measures and safety measures are specially made, and relevant examination and approval procedures are fulfilled. 2. Selecting an operation mode; when the operation mode is selected, the operation mode matched with the current optical cable line inspection is selected from conventional quick inspection, conventional fine inspection and special fine inspection by combining the field investigation condition and fully analyzing according to main influence factors such as topographic and topographic conditions, weather conditions, inspection objects, inspection tasks and the like. 3. Unmanned aerial vehicle selection and load allocation; on the basis of analyzing performance indexes of an unmanned aerial vehicle flight platform and a load, coupling selection is carried out on the unmanned aerial vehicle platform, a visible light camera, an acousto-optic warning system and other equipment according to an operation mode and a routing inspection line distance. The unmanned aerial vehicle for the optical cable line inspection uses pattern matching to start from an inspection object and an inspection business object, determines required load types, load parameters and unmanned aerial vehicle parameters layer by layer, performs verification and system design of an unmanned aerial vehicle optical cable line inspection scheme, completes unmanned aerial vehicle and load type selection and crew allocation, and can be executed according to the following sub-steps: (1) Through the unmanned aerial vehicle of analysis optical cable line operation task demand of patrolling, clearly and definitely patrol and examine the target, like visible light tour such as pole way, suspension wire, stay cord, monument, people well lid, optical cable line corridor ambient image concatenation and modeling, optical cable line peripheral engineering vehicle and constructor visible light tour, infrared tour and reputation early warning intervention, fault monitoring and emergent special tour etc. behind the natural disasters. (2) And (3) determining the load type, parameters and type selection according to the inspection requirement obtained in the step 1. (3) And (4) providing unmanned type selection requirements such as unmanned aerial vehicle load capacity, application scenes, crew configuration and the like according to the load type obtained in the step 2. And (4) completing unmanned aerial vehicle operation pattern matching.
When specifically implementing, regarding the formulation of unmanned aerial vehicle patrol and examine the scheme, can refer to following flow: firstly, a routing inspection operation scheme is specifically formulated according to different routing inspection field conditions and operation modes of the optical cable line, and the main content of the routing inspection operation scheme is shown in fig. 5. The formulation of the inspection operation scheme needs to fully consider and design various contents so as to ensure the smooth development of the inspection operation task.
After the scheme is confirmed, when the unmanned aerial vehicle reaches the inspection line section, the operation permission procedure is fulfilled to the empty management department which needs to be reported in time, and the operation can be performed after permission is obtained. And if the flight height exceeds 100 meters or the necessary section is required to perform the airspace approval procedure on the air traffic control department in the region of the inspection line according to the corresponding national regulations.
Before taking off, whether the on-site meteorological conditions are suitable for flying or not is confirmed, the surrounding geographical environment is checked, particularly, the periphery of a tall building or a tree around the section of the line patrol optical cable line and the places with electromagnetic interference on the periphery need to be carefully considered whether the requirements of safe taking off and landing are met or not. If satisfy the requirement, inspect many rotor unmanned aerial vehicle bodies, detect the electric quantity of battery to and whether each part is intact, confirm whether satisfy the required time of flight, inspect the work list and carry out the check item by item to each branch system of unmanned aerial vehicle before patrolling and examining the flight according to unmanned aerial vehicle, ensure that the system is normal. And the unmanned aerial vehicle autonomously executes the inspection task according to the waypoint information and acquires and transmits the line image data in real time. Many rotor unmanned aerial vehicle patrols and examines that the airspeed should not be too fast, and operating personnel should observe the unmanned aerial vehicle situation closely, avoids the emergence of abnormal conditions. Personnel operating the pan-tilt camera should pay close attention to the transmission image of the ground station display, assist in judging the position of the unmanned aerial vehicle, and observe various data information in the flight inspection process. The operating personnel should keep good cooperation with each other, adjust flight state in time, ensure that unmanned aerial vehicle satisfies to patrol and examine shooting angle and time requirement.
The method can analyze and process the hidden dangers of construction of engineering vehicles and personnel around the optical cable line in real time, and control the unmanned aerial vehicle to hover for warning intervention or take pictures for evidence. To peripheral topography and landform change etc. of optical cable line, can patrol and examine the data processing platform and carry out trouble hidden danger intelligent analysis and patrol and examine the result and present based on the optical cable line after unmanned aerial vehicle patrols and examines.
After the operation is finished, appearance and part inspection is carried out, and the use record of the unmanned aerial vehicle inspection system is made. Before withdrawing, the unmanned aerial vehicle should take out the battery. Before people leave, the site should be cleaned, the list of equipment and tools is checked, and the site is confirmed to be free from omission. All photos collected by the unmanned aerial vehicle are stored as first-hand data of operation and maintenance, and numbering, naming and filing are carried out in time.
In specific implementation, the method for calculating the position of the hidden danger target in the unmanned aerial vehicle inspection of the optical cable line comprises the steps of collecting an optical cable line image by using the unmanned aerial vehicle and a variable-focus pan-tilt camera, and identifying the hidden danger target (the position of a target central point in the image is obtained) in the collected optical cable line image based on an artificial intelligence algorithm. The main work of the method is to respectively calculate the GPS positions of hidden danger targets in a high-definition orthographic image and a video frame-cut image of a pan-tilt camera under the condition that the GPS position, the flight height and the course angle of the unmanned aerial vehicle, the shooting angle of the known image, the ground width covered by the image and other related parameters are known.
The calculation process of the target position of the high-definition camera in positive photography comprises the following steps:
1. calculating the relative coordinate position of the target central pixel point and the central origin of the photo;
2. establishing a ground coordinate system (the original point is a ground point corresponding to the central point of the photo) according to the shooting angle, and converting the coordinate of the photo into a position corresponding to the ground coordinate;
3. converting the ground coordinate position rotation into a position of a geographic coordinate system (taking the north pole as a vertical axis and the east direction as a horizontal axis);
4. and calculating the GPS of the target according to the GPS of the unmanned aerial vehicle and the geographic coordinate system position of the target.
The calculation flow of the target position of the pan-tilt camera for inclined shooting comprises the following steps:
1. calculating the position of the center point of the photo in a geographic coordinate system (taking the north pole as the vertical axis and the east direction as the horizontal axis);
2. calculating the relative coordinate position of the target central pixel point and the central origin of the photo;
3. calculating a stretching scaling relation according to the shooting angle, establishing a ground coordinate system (the original point is a ground point corresponding to the central point of the picture) according to the shooting angle, and converting the pixel coordinate of the target in the picture into a relative ground coordinate position;
3. the ground coordinate position is rotationally converted into a position of a geographic coordinate system (the unmanned aerial vehicle projection point is taken as an origin, the north pole direction is taken as a longitudinal axis, and the east direction is taken as a transverse axis);
4. and calculating the GPS of the target according to the GPS of the unmanned aerial vehicle and the geographic coordinate system position of the target.
In the above scheme, on the basis of the above flow and principle, there are various formulas that can be selected, and those skilled in the art have no implementation obstacles in the light of the above disclosed scheme, and the formulas are numerous and have long contents, and thus are not described herein again.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual configuration is not limited thereto. In summary, those skilled in the art should be able to conceive of the present invention without creative design of the similar structural modes and embodiments without departing from the spirit of the present invention, and all such modifications should fall within the protection scope of the present invention.
Claims (4)
1. The utility model provides a method that unmanned aerial vehicle of optical cable line patrols and examines which characterized in that: the method comprises the following steps:
firstly, constructing an inspection system, wherein the inspection system comprises an unmanned aerial vehicle platform, a ground station system and an optical cable line inspection data processing platform; the unmanned aerial vehicle platform comprises a flying platform, a flying control module, an airplane data transmission module, an airborne computing platform, a load platform and an airplane image transmission module, wherein the flying control module is respectively in signal connection with the flying platform, the airplane data transmission module and the airborne computing platform are in signal connection, a positive photography high-definition camera and an inclined photography pan-tilt camera which are in signal connection with the airplane image transmission module are hung on the load platform, the shooting angle of the positive photography high-definition camera is kept perpendicular to the ground, the long edge of a shot image is perpendicular to the direction of a machine head of the unmanned aerial vehicle, and an included angle which is larger than 0 degree and smaller than 90 degrees is formed between the inclined photography pan-tilt camera and the positive photography high-definition camera; the ground station system comprises a ground data transmission module, a ground flight control module, a ground image transmission module, a ground image acquisition module and an optical cable line obvious hidden danger real-time identification system which are sequentially in signal connection, wherein the airplane data transmission module is in wireless connection with the ground data transmission module, and the ground data transmission module is in signal connection with the airplane image transmission module; the optical cable line inspection data processing platform is a pure software system installed on a high-performance server and comprises a high-definition inspection image acquisition module, an image preprocessing module, a target identification hidden danger finding module, an image splicing module, an image comparison hidden danger finding module, an inspection result presenting module and the like which are in signal connection with each other; a data transmission channel is arranged between the positive photography high-definition camera and the high-definition inspection image acquisition module;
secondly, determining a routing inspection scheme and a routing inspection route of the unmanned aerial vehicle according to the laying path of the optical cable, the distance to be inspected, the geography and meteorological environment on the routing inspection line and the requirement of a routing inspection task, and generating a track file;
thirdly, determining the load and the cruising time of the unmanned aerial vehicle according to the inspection scheme, and selecting proper rack accessories, a power system and a communication module;
fourthly, controlling the unmanned aerial vehicle to start to execute the inspection work along the determined inspection route;
fifthly, in the process of the unmanned aerial vehicle inspection, a tripod head camera which obliquely shoots returns a shot video stream corresponding to the current picture on the optical cable line to the ground station system in real time; meanwhile, the positive photography high-definition camera takes pictures at a set distance according to a set interval and stores high-definition pictures on the unmanned aerial vehicle, and picture information is transmitted to the high-definition inspection image acquisition module after the unmanned aerial vehicle returns to the ground;
sixthly, identifying the obvious hidden danger on the optical cable line in real time by an optical cable line obvious hidden danger real-time identification system in the ground station system, and immediately controlling the unmanned aerial vehicle to fly back to the hidden danger position for warning intervention and photographing for evidence collection once the obvious hidden danger is identified;
seventhly, fine identification is carried out; after unmanned aerial vehicle navigates back, read the shooting image of the positive photographic camera of high definition that the machine carried, send to the optical cable line and patrol and examine data processing platform and carry out the discernment that becomes more meticulous to the image, specifically include: acquiring high-definition inspection image data, preprocessing the image, identifying a target of the high-definition image, splicing the image and comparing the image; the sound conditions of line facilities such as optical cable monuments, manhole covers and the like can be searched in a refined mode through image splicing and comparison, or the terrain change caused by disasters such as debris flow and the like is judged, and hidden dangers existing in the lines are checked in advance;
and eighthly, when the fine identification finds the hidden danger, informing the worker to recheck and confirm the hidden danger, when the fine identification does not find the hidden danger, marking the situation as normal, and finishing the current inspection after archiving the inspection data.
2. The method for unmanned aerial vehicle inspection according to claim 1, wherein: and the load platform is also provided with an acousto-optic alarm device which is connected with the airborne computing platform through signals.
3. The unmanned aerial vehicle inspection method for optical cable lines according to claim 1, wherein: when the inspection scheme is customized, the inspection scheme needs to be combined with the field investigation condition, the full analysis is carried out according to the main influence factors such as the landform condition, the weather condition, the inspection object, the inspection task and the like, and the operation mode matched with the current optical cable line inspection is selected from the conventional quick inspection, the conventional fine inspection and the special fine inspection.
4. The method for unmanned aerial vehicle inspection according to claim 1, wherein: on the basis of analyzing performance indexes of an unmanned aerial vehicle flight platform and a load, coupling selection is carried out on the unmanned aerial vehicle flight platform, a visible light camera, an acousto-optic alarm system and other equipment according to an operation mode and a routing inspection line distance; the unmanned aerial vehicle for the optical cable line patrols and examines and applies the mode matching from patrolling and examining the object and patrolling and examining the business object itself, confirms the required load type, load parameter, unmanned aerial vehicle parameter layer by layer to after the scheme demonstration and the system design are patrolled and examined to the unmanned aerial vehicle optical cable line, confirm again and accomplish unmanned aerial vehicle and load type selection and crew member and allocate.
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