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System and method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol

A measurement method and measurement system technology, which is applied in the direction of line-of-sight measurement, measurement device, measurement distance, etc., can solve the problems of high measurement cost and complicated technology, and achieve the effect of simple technology, low cost and simple structure

Active Publication Date: 2019-08-16
GUANGDONG POWER GRID CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention provides a distance and azimuth measurement system and method for UAV line inspection in order to overcome the defects of high cost and complicated technology of UAV line inspection distance and azimuth angle measurement described in the prior art

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  • System and method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol
  • System and method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol
  • System and method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol

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Embodiment 1

[0058] This embodiment provides a distance and azimuth measurement system for UAV line inspection.

[0059] The system includes a drone, a binocular camera carried by the drone, and an onboard computer;

[0060] The onboard computer includes an image processing module and a data processing module;

[0061] The binocular camera is used to collect power line image information and transmit the collected image information to the image processing module; the imaging chips of the two lenses of the binocular camera are on the same plane;

[0062] The image processing module is responsible for processing the image information transmitted by the binocular camera; converting the image information into data information; and sending the data information to the data processing module;

[0063] The data processing module is responsible for processing the data information to obtain the distance between the UAV and the power line and the azimuth of the UAV.

Embodiment 2

[0065] This embodiment provides a method for measuring the distance and azimuth angle of a UAV line patrol. The method is applied to the system described in Embodiment 1, wherein the azimuth refers to the angle at which the UAV deviates from the vertical direction of the power line, that is, by lines of force and perpendicular to the horizontal plane in an upward direction, such as Figure 5 The θ shown; or from another perspective, it is the deviation angle between the power line and the normal direction of the imaging plane of the binocular camera carried by the UAV, or the azimuth angle, such as figure 1 θ shown.

[0066] so figure 1 As shown, the imaging chip of the binocular camera forms an imaging plane, the normal direction of which is n, and the power lines are parallel to the imaging plane; A and B are two power lines, or the positions of the same power line at different times; p1 and p2 are power lines The target point on the power line or the defect on the power l...

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Abstract

The invention relates to a system and a method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol. The system comprises an unmanned aerial vehicle, a binocular camera carried by the unmanned aerial vehicle and an airborne computer; the airborne computer comprises an image processing module and a data processing module; the binocular camera is used for acquiring power line image information and transmitting the acquired image information to the image processing module; imaging chips of two lenses of the binocular camera are positioned on the same plane; the image processing module is responsible for converting the image information into data information and transmitting the data information to the data processing module. The method comprises the following steps:S1: carrying out all calibration on the whole view field of the camera; S2: collecting power line image information and transmitting the image information to the image processing module; S3: processing the image, and calculating to obtain the distance between the power line and the central point of an imaging plane formed by the binocular camera imaging chip; and S4: calculating the vertical distance between the unmanned aerial vehicle and the power line and the azimuth angle of the unmanned aerial vehicle. The system for measuring distance and azimuth angle of unmanned aerial vehicle line patrol is low in cost, and the method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol is simple in technology.

Description

technical field [0001] The invention relates to the technical field of UAV line inspection, and more particularly, to a distance and azimuth measurement system and method for UAV line inspection. Background technique [0002] Domestic power transmission and distribution rely on the transmission network and distribution network, so the safety of the power grid is very important to industrial production and people's lives; traditional manual inspection of line safety mainly relies on naked eye identification, which is inefficient and has many hidden dangers; in recent years, the use of wireless There are more and more human-machine safety inspections on transmission and distribution power lines. UAV inspections mainly identify defects and faults in power lines through airborne equipment, and inspect potential safety hazards on power lines from various angles; During the process, it is particularly important to measure the distance between the UAV and the power line, determine ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/00G01C1/00
CPCG01C1/00G01C3/00
Inventor 关家华仇志成郑楚韬张耀宇孔祥轩潘景志陆凯烨林晓璇王伟冠黄焯麒
Owner GUANGDONG POWER GRID CO LTD