Unmanned aerial vehicle platform and method for geological disaster prevention and control of power transmission line

Abstract

The invention discloses an unmanned aerial vehicle platform and method for transmission line geological disaster prevention and control, and relates to the field of transmission line geological disaster prevention and control, the unmanned aerial vehicle platform comprises a lightweight unmanned aerial vehicle flight pod, a camera system, a sensing system, a receiver, an image acquisition card, a GPS positioning system, a synchronous controller and an image processor; the camera system comprises an integrated high-definition digital camera, a multispectral camera, an oblique photography camera and a three-dimensional laser scanner; the sensing system comprises a POS sensor and an earth surface displacement sensor; the camera system is mounted on a flight pod of the light unmanned aerial vehicle. And the GPS positioning system and the synchronous controller are used for unifying the time-space reference of the camera system and the sensing system. The air-ground combined three-dimensional cooperative monitoring platform and method for the geological disaster hidden danger of the power transmission line have the advantages of being low in flight cost, high in data resolution, flexible in dispatching and the like.

Description

Technical Field

[0001] The present invention relates to the field of geological disaster prevention and control of power transmission lines, and in particular to an unmanned aerial vehicle platform and method for geological disaster prevention and control of power transmission lines. Background Art

[0002] As an important lifeline project in modern society, power transmission lines are easily threatened by geological disasters due to their long transmission distance, large span, variable environmental conditions along the way, and complex geological terrain. Common types of geological disasters for power transmission lines include landslides, collapses, ground deformations, and special soil foundation disasters, which seriously affect the safety of overhead power transmission lines.

[0003] For the types of geological disasters on transmission lines, the following prevention and control methods are generally used:

[0004] Multi-source stereoscopic intelligent monitoring and early warning system: Building a multi-source stereoscopic intelligent monitoring and early warning system for geological disasters based on ubiquitous IoT perception provides an effective means for disaster prevention and mitigation of power grids. The system uses meteorological satellites, radar satellites and Beidou satellites to build an "air-space-ground" multi-source stereoscopic monitoring and early warning system for geological disasters on power transmission lines from three spatial scales: wide area, local area and single body, with large-scale detection, medium-range search and small-scale monitoring.

[0005] The application of UAV remote sensing technology in the investigation of geological disasters along power transmission lines can obtain the characteristics, size and spatial distribution of geological disaster bodies through the interpretation of UAV remote sensing images, verify and supplement the results of field investigations, which is of great significance to the prevention and control of geological disasters and emergency rescue along the power transmission lines.

[0006] The multi-source three-dimensional intelligent monitoring and early warning system has problems with collaborative observation and limited data collection. Although there are a large number of satellites, satellites from different operators differ in space observation coverage and frequency, making it difficult to meet specific application needs. Satellite remote sensing is limited by the physical characteristics of satellite platforms and sensors, resulting in limitations in spatial resolution, spectral resolution, temporal resolution, radiation resolution and weather of imaging remote sensing data.

[0007] The performance of remote sensing equipment carried by current drones is limited, including remote sensing image resolution, sensor type and performance, etc. These factors may affect the accuracy and effectiveness of geological disaster investigations. Drone images are easily affected by terrain cutting and vegetation coverage, and the generated three-dimensional model cannot accurately reflect the geological disaster form, which will also affect the interpretation effect. Summary of the invention

[0008] The purpose of the present invention is to solve the problems of insufficient data coordination and poor data accuracy in the prior art for preventing and controlling geological disasters on power transmission lines, and propose an unmanned aerial vehicle platform for preventing and controlling geological disasters on power transmission lines, comprising:

[0009] Lightweight UAV flight pod, camera system, sensor system, receiver, image acquisition card, GPS positioning system, synchronization controller, image processor;

[0010] The camera system includes: integrated high-definition digital camera, multi-spectral camera, oblique photography camera, 3D laser scanning;

[0011] The sensing system includes: POS sensor, surface displacement sensor;

[0012] The camera system is mounted on a lightweight UAV flight pod;

[0013] Integrated high-definition digital camera for taking high-definition pictures;

[0014] Multispectral cameras are used to simultaneously receive information radiated or reflected by the same target in different narrow spectral bands, and obtain photos of the target in different spectral bands;

[0015] The oblique photography camera is used to simultaneously collect images from vertical and four oblique angles;

[0016] POS sensors are used to measure and provide position and posture information;

[0017] 3D laser scanning is used to obtain point cloud data of the surface of an object;

[0018] Surface displacement sensors are used to monitor geological changes;

[0019] The receiver is used to receive information fed back by the POS sensor;

[0020] The image acquisition card is used to convert the acquired image data into information that can be processed by the PC, and at the same time provides control signals for integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, and 3D laser scanning;

[0021] The GPS positioning system is used to use GPS time as the time reference, and unify the time and space references of the camera system and the sensor system through the synchronous timing method and the synchronous controller;

[0022] The image processor is used to process the data and photos collected by the camera system and the sensor system. Based on the computer multi-scale fusion modeling technology, it obtains the image processing results, analyzes the geological disasters in real time, and conducts dynamic prevention and control.

[0023] Furthermore, the lightweight UAV flight pod consists of three parts, namely a manual control unit, a central interface unit and a gyro stabilization unit.

[0024] Furthermore, the light source of the multispectral camera includes: visible light, infrared light and ultraviolet light.

[0025] Furthermore, the image processing results include: real-scene 3D model, 3D point cloud, digital surface model, digital elevation model, and digital orthophoto.

[0026] Furthermore, the GPS time is used as the time reference, and the time and space references of the camera system and the sensor system are unified through the synchronous timing method and the synchronous controller, specifically:

[0027] The time signal and second pulse signal output by the GPS positioning system are introduced into the synchronization controller, and the synchronization controller is synchronized. The synchronization controller provides time to the camera system, and the sensor system receives the PPS signal and resets the second count.

[0028] Furthermore, numerical simulation methods are used for computer multi-scale fusion modeling, including: finite element analysis, discrete element analysis, and finite difference method.

[0029] Furthermore, the location information provided by the GPS positioning system is converted into geocentric rectangular coordinates, expressed as:

[0030]

[0031] Among them, L represents longitude, B represents latitude, and H represents altitude. represents the spherical-centered rectangular coordinate system, N represents the radius of the spherical circle, and e represents the first eccentricity of the earth;

[0032] Use the distance formula between two points in space to find the distance between two points:

[0033]

[0034] Where D is the distance between points A and B, (X A ,Y A ,Z A ) represents the rectangular coordinates of the center of the sphere at point A, (X B ,Y B ,Z B ) represents the rectangular coordinates of the center of the sphere at point B.

[0035] A geological disaster prevention and control method is also proposed, which is based on the above-mentioned UAV platform and includes:

[0036] Take high-definition pictures with the integrated high-definition digital camera;

[0037] Use a multispectral camera to simultaneously receive information radiated or reflected by the same target in different narrow spectral bands to obtain photos of the target in different spectral bands;

[0038] Use an oblique photography camera to simultaneously collect images from vertical and four oblique angles;

[0039] Use POS sensors to measure and provide position and posture information;

[0040] Use 3D laser scanning to obtain point cloud data on the surface of an object;

[0041] Use surface displacement sensors to monitor geological changes;

[0042] Use the receiver to receive the information fed back by the POS sensor;

[0043] Use image acquisition cards to convert acquired image data into information that can be processed by the PC, while providing control signals for integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, and 3D laser scanning;

[0044] Use the GPS time of the GPS positioning system as the time reference, and unify the time and space references of the camera system and the sensor system through the synchronous timing method and the synchronous controller;

[0045] Use image processors to process the data and photos collected by the camera system and sensor system, obtain image processing results based on computer multi-scale fusion modeling technology, analyze geological disasters in real time, and carry out dynamic prevention and control.

[0046] The beneficial effects brought by the technical solution provided by the present invention are:

[0047] The present invention provides a UAV platform and method for the prevention and control of geological disasters in power transmission lines. The platform includes: a lightweight UAV flight pod, a camera system, a sensor system, a receiver, an image acquisition card, a GPS positioning system, a synchronous controller, and an image processor. A platform and method for air-ground combined three-dimensional collaborative monitoring of geological disaster hazards in power transmission lines are proposed, and a technical method system covering the entire process of fine identification-monitoring and early warning-simulation-dynamic prevention and control of geological disaster hazards in power transmission lines is established. The present invention adopts UAV medium and low altitude data acquisition technology as an important means of spatial data acquisition, which has the advantages of long flight time, low flight cost, high data resolution, flexible scheduling, etc., can realize real-time data transmission, and can enter high-risk areas for detection, which is a powerful supplement to satellite remote sensing and traditional aerial photogrammetry. The present invention can also provide visual scene information of defects or hidden dangers, facilitate manual auxiliary diagnosis and investigation, improve the efficiency of power transmission line inspection, and save costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a block diagram of a UAV platform for geological disaster prevention and control of power transmission lines according to an embodiment of the present invention;

[0049] Figure 2 It is an architecture diagram of an unmanned aerial vehicle platform for geological disaster prevention and control of power transmission lines according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0051] Example 1: A block diagram of a UAV platform for geological disaster prevention and control of power transmission lines according to an embodiment of the present invention is as follows: Figure 1 , including:

[0052] Lightweight UAV flight pod, camera system, sensor system, receiver, image acquisition card, GPS positioning system, synchronization controller, image processor.

[0053] The camera system includes: integrated high-definition digital camera, multi-spectral camera, oblique photography camera, and three-dimensional laser scanning; the sensor system includes: POS sensor and surface displacement sensor.

[0054] The camera system is mounted on a lightweight UAV flight pod.

[0055] The integrated high-definition digital camera is used to take high-definition pictures; the multi-spectral camera is used to simultaneously receive the information radiated or reflected by the same target in different narrow spectral bands, and obtain photos of the target in different spectral bands; the oblique photography camera is equipped with multiple cameras to simultaneously collect images from five different angles, such as vertical and four oblique angles, and can provide high-spatial resolution images and generate high-resolution three-dimensional models. The oblique photography technology can obtain images of multiple angles of a ground point at the same time through a single flight, realizing all-round observation of the target; the POS sensor is used to measure and provide high-precision position and attitude information, and mainly relies on the GPS positioning system and inertial measurement device to directly determine the spatial position and attitude of the object. It can provide more accurate data than using GPS alone, especially in environments where GPS signals are unavailable; 3D laser scanning is used to obtain high-precision point cloud data on the surface of an object, and the error is usually at the millimeter level, ensuring the accuracy of the measurement; the surface displacement sensor is used to monitor geological changes, such as early warning and monitoring of natural disasters such as earthquakes, landslides, and mudslides. Simulate geological images under different meteorological conditions, and determine in advance the towers where geological disasters may occur to prevent damage and tripping of transmission lines caused by geological disasters; the receiver is used to receive information fed back by the POS sensor; the image acquisition card is used to convert the obtained image data into information that can be processed by the PC, and at the same time provide control signals for integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, and three-dimensional laser scanning; the GPS positioning system is used to use GPS time as the time reference, and unify the time and space references of the camera system and the sensor system through synchronous timing methods and synchronous controllers; the image processor is used to process the data and photos collected by the camera system and the sensor system. First, the image is pre-processed by methods such as median filtering, and the image processing results are obtained based on computer multi-scale fusion modeling technology, so as to analyze geological disasters in real time and carry out dynamic prevention and control.

[0056] Specifically, the lightweight UAV flight pod consists of three parts, namely the manual control unit, the central interface unit and the gyro stabilization unit. Based on the multi-closed-loop composite miniaturized pod gyro stabilization platform technology, it can ensure the imaging quality during the UAV inspection operation and realize the geological disaster survey and distance accuracy measurement of the transmission line. The operator controls the motion of the pod by operating various switches and buttons on the manual control unit. The central interface unit completes the transmission of all signals between the pod system and the outside world, including power input, output after video signal processing, USB communication, serial communication, and GPS signal output. The gyro stabilization unit part includes an airborne tracking frame, a camera system, and a gyro stabilization platform, which mainly completes the stable output of the image of the tracked object.

[0057] Specifically, the light sources of multispectral cameras include visible light, infrared light and ultraviolet light. The different reflection characteristics of objects in different spectral regions are fully utilized to increase the amount of information obtained about the target and improve the ability to interpret and identify images.

[0058] Specifically, the image processing results include: real-life 3D models, 3D point clouds, digital surface models, digital elevation models, and digital orthophotos; the processing software includes: Pix4D and ContextCapture.

[0059] Specifically, the GPS time of the GPS positioning system is used as the time reference, and the time and space references of the camera system and the sensor system are unified through the synchronous timing method and the synchronous controller, specifically:

[0060] The time signal and second pulse signal output by the GPS positioning system are introduced into the synchronization controller, and the synchronization controller is synchronized. The synchronization controller provides time to the camera system, and the sensor system receives the PPS signal and resets the second count.

[0061] Specifically, numerical simulation methods are used for computer multi-scale fusion modeling, including: finite element analysis, discrete element analysis, and finite difference method. Finite element analysis uses mathematical approximation methods to simulate real physical systems (geometry and load conditions); discrete element analysis is a numerical simulation method used to solve discontinuous medium problems; the finite difference method is a method for finding numerical solutions to partial differential (or ordinary differential) equations and equation groups, and it can perform fine simulation of the development and movement of hidden dangers caused by special conditions such as natural conditions and heavy rainfall.

[0062] Specifically, the location information provided by the GPS positioning system is converted into geocentric rectangular coordinates, expressed as:

[0063]

[0064] Among them, L represents longitude, B represents latitude, and H represents altitude. represents the spherical-centered rectangular coordinate system, N represents the radius of the eccentric circle, and e represents the first eccentricity of the earth.

[0065] Use the distance formula between two points in space to find the distance between two points:

[0066]

[0067] Where D is the distance between points A and B, (X A ,Y A ,Z A ) represents the rectangular coordinates of the center of the sphere at point A, (X B ,Y B ,Z B ) represents the rectangular coordinates of the center of the sphere at point B.

[0068] The above platform is represented as the sensor device layer, data storage layer, software support layer, and business application layer architecture. Figure 2 Specifically, the sensor device layer includes: integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, 3D laser scanning, POS sensors, and surface displacement sensors. The data storage layer includes the data obtained by the sensor device layer: aerial photos, oblique photography data, 3D models, and geographic information. The software support layer includes software and models for processing the data in the data storage layer, including: network programming languages, Pix4D software, ContextCapture software, and disaster analysis models. The business application layer includes the results obtained by the software support layer: drone aerial photography subsystem, image processing subsystem, and disaster analysis subsystem.

[0069] A geological disaster prevention and control method is also proposed, which is based on the above-mentioned UAV platform and includes:

[0070] Take high-definition pictures with the integrated high-definition digital camera;

[0071] Use a multispectral camera to simultaneously receive information radiated or reflected by the same target in different narrow spectral bands to obtain photos of the target in different spectral bands;

[0072] Use an oblique photography camera to simultaneously collect images from vertical and four oblique angles;

[0073] Use POS sensors to measure and provide high-precision position and posture information;

[0074] Use 3D laser scanning to obtain high-precision point cloud data on the surface of an object;

[0075] Use surface displacement sensors to monitor geological changes;

[0076] Use the receiver to receive the information fed back by the POS sensor;

[0077] Use image acquisition cards to convert acquired image data into information that can be processed by the PC, and provide control signals for integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, and 3D laser scanning;

[0078] Use the GPS time of the GPS positioning system as the time reference, and unify the time and space references of the camera system and the sensor system through the synchronous timing method and the synchronous controller;

[0079] Use image processors to process the data and photos collected by the camera system and sensor system. Based on computer multi-scale fusion modeling technology, obtain image processing results, including real-life three-dimensional scenes, fine three-dimensional point clouds, digital surface models, and digital orthophotos, to analyze geological disasters in real time and conduct dynamic prevention and control.

[0080] The present invention may also need to collect geological environment information and remote sensing satellite image data along key transmission lines. Based on computer multi-scale fusion modeling technology, the data and photos collected by drones can be used to obtain real-life three-dimensional models, three-dimensional point clouds, digital surface models and other high-precision results data for quantitative monitoring and evaluation of potential threat towers and lines, providing important basic information and data.

[0081] The system business functions that can be realized by the UAV platform for geological disaster prevention and control of power transmission lines of the present invention include: geological disaster model display, basic measurement, and disaster analysis. The geological disaster model display includes: three-dimensional scene loading, scene preview, ground feature annotation, and scene saving. Basic measurement includes: spatial distance, perimeter measurement, and target contour area. Disaster analysis includes: disaster location, disaster assessment, disaster warning, and dynamic prevention and control of hidden dangers.

[0082] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A UAV platform for geological disaster prevention and control of power transmission lines, characterized in that: The UAV platform includes: a lightweight UAV flight pod, a camera system, a sensor system, a receiver, an image acquisition card, a GPS positioning system, a synchronization controller, and an image processor; The camera system includes: integrated high-definition digital camera, multi-spectral camera, oblique photography camera, 3D laser scanning; The sensing system includes: POS sensor, surface displacement sensor; The camera system is mounted on a lightweight UAV flight pod; Integrated high-definition digital camera for taking pictures; Multispectral cameras are used to simultaneously receive information radiated or reflected by the same target in different narrow spectral bands, and obtain photos of the target in different spectral bands; The oblique photography camera is used to simultaneously collect images from vertical and four oblique angles; POS sensors are used to measure and provide object position and posture information; 3D laser scanning is used to obtain point cloud data of the surface of an object; Surface displacement sensors are used to monitor geological changes; The receiver is used to receive information fed back by the POS sensor; The image acquisition card is used to convert the acquired image data into information that can be processed by the PC, and at the same time provides control signals for integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, and 3D laser scanning; The GPS positioning system is used to use GPS time as the time reference, and unify the time and space references of the camera system and the sensor system through the synchronous timing method and the synchronous controller; The image processor is used to process the data and photos collected by the camera system and the sensor system. Based on the computer multi-scale fusion modeling technology, it obtains the image processing results, analyzes the geological disasters in real time, and conducts dynamic prevention and control.

2. The UAV platform for geological disaster prevention and control of power transmission lines according to claim 1 is characterized in that: The lightweight UAV flight pod consists of three parts: a manual control unit, a central interface unit and a gyro stabilization unit.

3. The UAV platform for geological disaster prevention and control of power transmission lines according to claim 1 is characterized in that: The light sources of multispectral cameras include: visible light, infrared light and ultraviolet light.

4. The UAV platform for geological disaster prevention and control of power transmission lines according to claim 1 is characterized in that: The image processing results include: real-life 3D model, 3D point cloud, digital surface model, digital elevation model, and digital orthophoto.

5. The UAV platform for geological disaster prevention and control of power transmission lines according to claim 1 is characterized in that: Take GPS time as the time reference, unify the time and space reference of the camera system and the sensor system through the synchronous timing method and the synchronous controller, specifically: The time signal and second pulse signal output by the GPS positioning system are introduced into the synchronization controller, and the synchronization controller is synchronized. The synchronization controller provides time to the camera system, and the sensor system receives the PPS signal and resets the second count.

6. The UAV platform for geological disaster prevention and control of power transmission lines according to claim 1 is characterized in that: Numerical simulation methods are used for computer multi-scale fusion modeling, including finite element analysis, discrete element analysis, and finite difference method.

7. The UAV platform for geological disaster prevention and control of power transmission lines according to claim 1 is characterized in that: The location information provided by the GPS positioning system is converted into geocentric rectangular coordinates, expressed as: Among them, L represents longitude, B represents latitude, and H represents altitude. represents the spherical-centered rectangular coordinate system, N represents the radius of the spherical circle, and e represents the first eccentricity of the earth; Use the distance formula between two points in space to find the distance between two points: Where D is the distance between points A and B, (X A ,Y A ,Z A ) represents the rectangular coordinates of the center of the sphere at point A, (X B ,Y B ,Z B ) represents the rectangular coordinates of the center of the sphere at point B.

8. A method for preventing and controlling geological disasters on power transmission lines, characterized in that: The method is implemented based on any one of claims 1 to 7, including: Take pictures with the integrated high-definition digital camera; Use a multispectral camera to simultaneously receive information radiated or reflected by the same target in different narrow spectral bands to obtain photos of the target in different spectral bands; Use an oblique photography camera to simultaneously collect images from vertical and four oblique angles; Use POS sensors to measure and provide position and posture information; Use 3D laser scanning to obtain point cloud data on the surface of an object; Use surface displacement sensors to monitor geological changes; Use the receiver to receive the information fed back by the POS sensor; Use image acquisition cards to convert acquired image data into information that can be processed by the PC, and provide control signals for integrated high-definition digital cameras, multi-spectral cameras, oblique photography cameras, and 3D laser scanning; Use the GPS time of the GPS positioning system as the time reference, and unify the time and space references of the camera system and the sensor system through the synchronous timing method and the synchronous controller; Use image processors to process the data and photos collected by the camera system and sensor system, obtain image processing results based on computer multi-scale fusion modeling technology, analyze geological disasters in real time, and carry out dynamic prevention and control.

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