CN106990791A - The 3 d modeling system and method for a kind of electric power line pole tower - Google Patents
The 3 d modeling system and method for a kind of electric power line pole tower Download PDFInfo
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- CN106990791A CN106990791A CN201610040748.3A CN201610040748A CN106990791A CN 106990791 A CN106990791 A CN 106990791A CN 201610040748 A CN201610040748 A CN 201610040748A CN 106990791 A CN106990791 A CN 106990791A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The present invention provides the 3 d modeling system and method for a kind of electric power line pole tower, and system includes being arranged on three-dimensional modeling module, multi-rotor unmanned aerial vehicle, the differential GPS unit being arranged in multi-rotor unmanned aerial vehicle and the sensing control component being arranged at multi-rotor unmanned aerial vehicle bottom centre of earth station；Method is by controlling many rotors to be flied at a constant speed around electric power line pole tower, while collection multi-rotor unmanned aerial vehicle data in real time；And three-dimensional modeling is carried out to electric power line pole tower according to data.System and method proposed by the present invention can effectively coordinate unmanned plane each functional module, it is ensured that unmanned plane stabilized flight, make full use of unmanned plane to fly the data of control and differential GPS collection, unmanned plane two dimensional image is blended with its geographical posture information；Its cost is low and modeling accuracy is high, it is to avoid the personal safety of maintainer goes wrong, while provide accurate foundation for the research work of electric power line pole tower.
Description
Technical field
The present invention relates to electric power line pole tower modeling technique field, and in particular to a kind of three-dimensional modeling system of electric power line pole tower
System and method.
Background technology
Multi-rotor unmanned aerial vehicle cruising inspection system has convenient, flexible, rapid and convenient advantage, it is possible to achieve efficient and inexpensive obtains
Take the Aerial Images of electric power pylon, but obtain thousands of two dimensional images for each electric power line pole tower inspection, it is necessary to
The professional many pieces of screening of maintainer and discrimination, less efficient and easy error.
In the past, the sequence image of unmanned plane only included two-dimensional signal, it is impossible to reproduce the three-dimensional geometrical structure of entity.Pass
The expensive efficiency of three-dimensional rebuilding method of system is low, though and manned helicopter carries lidar measurement system and can provide high accuracy
Three-dimensional spatial information, but with high costs, threedimensional model is once set up, and renewal frequency is extremely low, it is impossible to react transmission line of electricity
Real-time status.
At present, the reconstruction of mobile pole tower three-dimensional model mainly has two methods.1:Threedimensional model based on laser scanning is built
Cube method：Optical 3-dimensional laser scanning operation principle is to utilize laser triangulation principle, launches a branch of by light source hole
Horizontal laser beam scans object, and the laser beam changes angle by the effect of rotating mirror so that laser rays is transmitted into
Body surface, body surface reflection laser beam, each laser rays all gathers into a frame data by ccd sensor.It is high
The scanning of speed causes user to obtain required data in a short period of time.The shortcoming of this method is that cost is high, implement
Weight, unsuitable UAV flight；2:Three-dimension modeling method based on image modeling technolog：Modeling side based on photo
Method is that the geological information of scene is automatically or semi-automatically extracted according to stereoscopic vision or moving image.Modeling side based on photo
Method can quickly, efficiently complete the three-dimensional modeling of object.General principle based on photo three-dimensional reconstruction is by two width
Photo above obtains the spatial information of each point in photo, and then sets up threedimensional model.This method has the disadvantage that accuracy is relatively low.
The content of the invention
In view of this, the 3 d modeling system and method for a kind of electric power line pole tower that the present invention is provided, the system and method
Unmanned plane each functional module can effectively be coordinated, it is ensured that unmanned plane stabilized flight, make full use of unmanned plane to fly control and poor
Divide the data of GPS gathers, unmanned plane two dimensional image is blended with its geographical posture information；Its cost is low and builds
Mould precision is high, it is to avoid the personal safety of maintainer goes wrong, while being provided for the research work of electric power line pole tower
Accurate foundation.
The purpose of the present invention is achieved through the following technical solutions：
A kind of 3 d modeling system of electric power line pole tower, the system include be arranged on earth station three-dimensional modeling module,
Multi-rotor unmanned aerial vehicle, the differential GPS unit being arranged in multi-rotor unmanned aerial vehicle and it is arranged on the multi-rotor unmanned aerial vehicle bottom
The sensing control component of portion center；
The three-dimensional modeling module is used to receiving the data that the sensing control component beams back and integrates modeling；
The differential GPS unit is used to gather the position data of the rotor wing unmanned aerial vehicle in real time and sends it to described three
Tie up modeling module；
The sensing control component includes being arranged on the aircraft control device at the multi-rotor unmanned aerial vehicle bottom centre and erected
Directly it is arranged on the visible light sensor unit of the aircraft control device bottom；
The aircraft control device is used for the control instruction for receiving the earth station and according to control instruction control
The flight path of multi-rotor unmanned aerial vehicle, the attitude data for gathering the multi-rotor unmanned aerial vehicle in real time simultaneously send it to described three
Tie up modeling module；
The visible light sensor is used to shoot the picture of the electric power line pole tower and sends it to the three-dimensional modeling
Module.
It is preferred that, the aircraft control device be flat cuboid and thereon the length of side of bottom plate be all higher than it is described flat
The height of shape cuboid；
The upper head plate of the aircraft control device is fixedly mounted at the multi-rotor unmanned aerial vehicle bottom centre；
The bottom plate of the aircraft control device is connected with adjustment platform with the visible light sensor unit.
It is preferred that, the visible light sensor unit includes fixing rack for sensor and installed in the fixing rack for sensor bottom
Visible light sensor；
The top of the fixing rack for sensor is fixedly connected with the adjustment platform.
It is preferred that, the adjustment platform includes corner mode connects for screw and the adjustable upper and lower plates of spacing；
Round boss is provided with the bottom center of the upper plate, and the center of the boss is provided with square locating slot, institute
The center for stating locating slot is provided with screw；
The upper plate is equipped with waist-shaped hole at the corner away from the boss, the bottom plate of the aircraft control device is described
The top surface of upper plate is connected with screw through the waist-shaped hole with the adjustment platform packaged type；
The plate center of the lower plate is more than the circular port of the boss radius provided with radius.
It is preferred that, the fixing rack for sensor includes top plate, bottom plate and the coarse adjustment slide plate for connecting the top plate and bottom plate；
The top plate and bottom plate with the slideable connection of the coarse adjustment slide plate；
The top plate is screwed with the locating slot on the boss and is connected；
The visible light sensor is installed with the bottom plate.
It is preferred that, the center of the top plate is provided with screw；The screw through the top plate center screw to described
In the screw of locating slot center, fix the adjustment platform and the fixing rack for sensor.
It is preferred that, the three-dimensional modeling module includes computing unit, memory cell, display unit, integral unit, modeling
Unit and RCU；
The computing unit is used to calculate the operation camera position and attitude information during every photograph taking；
The memory cell is used for the photo for storing visible light sensor shooting；
The display unit is used to show the multi-rotor unmanned aerial vehicle real time position, posture and environmental information；
The integral unit is used to integrate the photo, position, posture and environmental data and is sent to integrated results described
Modeling unit；
The modeling unit sets up the threedimensional model of the electric power line pole tower according to the integrated results；
The RCU is used to, according to realtime graphic and position and attitude information, send and change to the aircraft control device
The instruction of the flight track of the multi-rotor unmanned aerial vehicle.
A kind of three-dimensional modeling method of electric power line pole tower, methods described comprises the following steps：
Step 1. controls many rotors to be flied at a constant speed around the electric power line pole tower, at the same gather in real time many rotors nobody
Geographical position, posture, environment and the image data of machine；
Step 2. receives the geographical position, posture, environment and image data, and according to the geographical position, posture,
Environment and image data carry out three-dimensional modeling to the electric power line pole tower.
It is preferred that, the step 1 includes：
1-1. sets differential GPS unit in the multi-rotor unmanned aerial vehicle, and in the multi-rotor unmanned aerial vehicle bottom centre
The installation sensing control component at place；Wherein, the sensing control component includes being arranged in the multi-rotor unmanned aerial vehicle bottom
Aircraft control device and the visible light sensor unit for being vertically installed at the aircraft control device bottom at the heart；
The RCU that 1-2. is located in the three-dimensional modeling module of earth station controls many rotors around the transmission line of electricity bar
Tower flies at a constant speed；
The differential GPS unit gathers the position data of the rotor wing unmanned aerial vehicle and sends it to three-dimensional in real time simultaneously builds
Mould module, the aircraft control device receive the control instruction of the earth station and controlled according to the control instruction described many
The flight path of rotor wing unmanned aerial vehicle, the attitude data for gathering the multi-rotor unmanned aerial vehicle in real time simultaneously send it to the three-dimensional
Modeling module；The visible light sensor is used to shoot the picture of the electric power line pole tower and sends it to the three-dimensional
Modeling module.
It is preferred that, the step 2 includes：
Operation camera position and posture when computing unit in three-dimensional modeling module described in 2-1. calculates every photograph taking
Information；
The photo that memory cell storage visible light sensor in the three-dimensional modeling module is shot；
And display unit shows the multi-rotor unmanned aerial vehicle real time position, posture and environment letter in the three-dimensional modeling module
Breath；
Integral unit in three-dimensional modeling module described in 2-2. integrates the photo, position, posture and environmental data and will be whole
Close result and be sent to modeling unit；
Modeling unit described in 2-3. sets up the threedimensional model of the electric power line pole tower according to the integrated results.
It can be seen from above-mentioned technical scheme that, the invention provides a kind of 3 d modeling system of electric power line pole tower and side
Method, system includes being arranged on the three-dimensional modeling module of earth station, multi-rotor unmanned aerial vehicle, is arranged in multi-rotor unmanned aerial vehicle
Differential GPS unit and the sensing control component being arranged at multi-rotor unmanned aerial vehicle bottom centre；Method is revolved by the way that control
The wing flies at a constant speed around electric power line pole tower, while collection multi-rotor unmanned aerial vehicle data in real time；And according to data to transmission line of electricity
Shaft tower carries out three-dimensional modeling.System and method proposed by the present invention can effectively coordinate unmanned plane each functional module, protect
Unmanned plane stabilized flight is demonstrate,proved, makes full use of unmanned plane to fly the data of control and differential GPS collection, by unmanned plane two dimension
Image is blended with its geographical posture information；Its cost is low and modeling accuracy is high, it is to avoid the personal safety of maintainer goes out
Existing problem, while providing accurate foundation for the research work of electric power line pole tower.
With immediate prior art ratio, the technical scheme that the present invention is provided has following excellent effect：
1st, in technical scheme provided by the present invention, system and method collection UAV Attitude data, control unmanned plane is each
Individual motor output quantity, each functional module of coordination unmanned plane, it is ensured that unmanned plane stabilized flight, makes full use of unmanned plane to fly control
And the data of differential GPS collection, unmanned plane two dimensional image is blended with its geographical posture information, and based on sequence
The three-dimensional reconstruction of row image is combined, and realizes high accuracy, inexpensive electric power pylon three-dimensional reconstruction.
2nd, technical scheme provided by the present invention, system include being arranged on the three-dimensional modeling module of earth station, many rotors without
Man-machine, the differential GPS unit being arranged in multi-rotor unmanned aerial vehicle and the biography being arranged at multi-rotor unmanned aerial vehicle bottom centre
Feel control assembly；Unmanned plane each functional module can effectively be coordinated, it is ensured that unmanned plane stabilized flight, make full use of nothing
The data of man-machine winged control and differential GPS collection, unmanned plane two dimensional image is blended with its geographical posture information；
Its cost is low and modeling accuracy is high, it is to avoid the personal safety of maintainer goes wrong, while be electric power line pole tower
Research work provides accurate foundation.
3rd, technical scheme provided by the present invention, method is by controlling many rotors to be flied at a constant speed around electric power line pole tower, together
When in real time collection multi-rotor unmanned aerial vehicle data；And three-dimensional modeling is carried out to electric power line pole tower according to data.The present invention is proposed
System and method can effectively coordinate unmanned plane each functional module, it is ensured that unmanned plane stabilized flight, make full use of nothing
The data of man-machine winged control and differential GPS collection, unmanned plane two dimensional image is blended with its geographical posture information；
Its cost is low and modeling accuracy is high.
4th, the technical scheme that the present invention is provided, is widely used, with significant Social benefit and economic benefit.
Brief description of the drawings
Fig. 1 is a kind of structural side view of the 3 d modeling system of electric power line pole tower of the present invention；
Fig. 2 is a kind of structural front view of the 3 d modeling system of electric power line pole tower of the present invention；
Fig. 3 is the structural front view for adjusting platform in the modeling of the present invention；
Fig. 4 is the dimensional structure diagram for adjusting platform in the modeling of the present invention；
Fig. 5 be the present invention modeling in fixing rack for sensor structural representation；
Fig. 6 is a kind of flow chart of the three-dimensional modeling method of electric power line pole tower of the present invention；
Fig. 7 is the flow chart of step 1 in modeling method of the invention；
Fig. 8 is the flow chart of step 2 in modeling method of the invention；
Fig. 9 is a kind of specifically should for the modeling method of the 3 d modeling system realization of utilization electric power line pole tower of the present invention
The three-dimensional reconstruction system schematic diagram based on multi-rotor unmanned aerial vehicle in use-case；.
Wherein, 1- three-dimensional modelings module；2- multi-rotor unmanned aerial vehicles；3- aircraft control devices；4- adjusts platform；401- is circular
Boss；402- locating slots；403- screws；404- waist-shaped holes；405- circular ports；5- fixing rack for sensor；501- top plates；
502- bottom plates；503- coarse adjustment slide plates；6- visible light sensors.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Base
In embodiments of the invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
As illustrated in fig. 1 and 2, the present invention provides a kind of 3 d modeling system of electric power line pole tower, and system includes being arranged on
The three-dimensional modeling module 1 of earth station, multi-rotor unmanned aerial vehicle 2, the differential GPS unit being arranged in multi-rotor unmanned aerial vehicle 2
And it is arranged on the sensing control component at the bottom centre of multi-rotor unmanned aerial vehicle 2；
Three-dimensional modeling module 1 is used to receiving the data that sensing control component beams back and integrates modeling；
Differential GPS unit is used to gather the position data of rotor wing unmanned aerial vehicle in real time and sends it to three-dimensional modeling module 1；
Sensing control component includes being arranged on the aircraft control device 3 and vertically-mounted at the bottom centre of multi-rotor unmanned aerial vehicle 2
The unit of visible light sensor 6 in the bottom of aircraft control device 3；
Aircraft control device 3 is used for the control instruction of satellite receiver and controls multi-rotor unmanned aerial vehicle 2 according to control instruction
Flight path, the in real time attitude data of collection multi-rotor unmanned aerial vehicle 2 simultaneously send it to three-dimensional modeling module 1；
Visible light sensor 6 is used to shoot the picture of electric power line pole tower and sends it to three-dimensional modeling module 1.
Wherein, aircraft control device 3 is flat cuboid and the length of side of bottom plate is all higher than flat cuboid thereon
Height；
The upper head plate of aircraft control device 3 is fixedly mounted at the bottom centre of multi-rotor unmanned aerial vehicle 2；
The bottom plate of aircraft control device 3 is connected with adjustment platform 4 with the unit of visible light sensor 6.
Wherein, it is seen that the unit of optical sensor 6 include fixing rack for sensor 5 and installed in the bottom of fixing rack for sensor 5 can
See optical sensor 6；
The top of fixing rack for sensor 5 is fixedly connected with adjustment platform 4.
As shown in Figures 3 and 4, adjustment platform 4 includes corner mode connects for screw and the adjustable upper and lower plates of spacing；
Round boss 401 is provided with the bottom center of upper plate, and the center of boss is provided with square locating slot 402, it is fixed
The center of position groove 402 is provided with screw 403；
Upper plate is equipped with waist-shaped hole 404 at the corner away from boss, the bottom plate of aircraft control device is used in the top surface of upper plate
Screw is connected through waist-shaped hole 404 with the adjustment packaged type of platform 4；
The plate center of lower plate is more than the circular port 405 of boss radius provided with radius.
As shown in figure 5, fixing rack for sensor 5 includes top plate 501, bottom plate 502 and for connecting top plate 501 and bottom plate
502 coarse adjustment slide plate 503；
Top plate 501 and bottom plate 502 with the slideable connection of coarse adjustment slide plate 503；
Top plate 501 is screwed with the locating slot 402 on boss and is connected；
Visible light sensor 6 is installed with bottom plate 502.
Wherein, the center of top plate 501 is provided with screw 403；Screw passes through the screw 403 of the center of top plate 501 to calmly
In the screw 403 of position groove 402 center, fixed adjustment platform 4 and fixing rack for sensor 5.
Wherein, three-dimensional modeling module 1 includes computing unit, memory cell, display unit, integral unit, modeling unit
And RCU；
Computing unit is used to calculate the operation camera position and attitude information during every photograph taking；
Memory cell is used for the photo for storing the shooting of visible light sensor 6；
Display unit is used to show the real time position of multi-rotor unmanned aerial vehicle 2, posture and environmental information；
Integral unit is used to integrate photo, position, posture and environmental data and integrated results are sent into modeling unit；
Modeling unit sets up the threedimensional model of electric power line pole tower according to integrated results；
RCU is used for according to realtime graphic and position and attitude information, sent to aircraft control device change many rotors without
The instruction of man-machine 2 flight track.
As shown in fig. 6, the present invention provides a kind of three-dimensional modeling method of electric power line pole tower, comprise the following steps：
Step 1. controls many rotors to be flied at a constant speed around electric power line pole tower, while the ground of collection multi-rotor unmanned aerial vehicle 2 in real time
Manage position, posture, environment and image data；
Step 2. receives geographical position, posture, environment and image data, and according to geographical position, posture, environment and
Image data carries out three-dimensional modeling to electric power line pole tower.
As shown in fig. 7, step 1 includes：
1-1. sets differential GPS unit in multi-rotor unmanned aerial vehicle 2, and at the bottom centre of multi-rotor unmanned aerial vehicle 2
Sensing control component is installed；Wherein, sensing control component includes being arranged on the aircraft at the bottom centre of multi-rotor unmanned aerial vehicle 2
Control device 3 and the unit of visible light sensor 6 for being vertically installed at the bottom of aircraft control device 3；
The RCU that 1-2. is located in the three-dimensional modeling module 1 of earth station controls many rotors at the uniform velocity to fly around electric power line pole tower
OK；
Simultaneously differential GPS unit gather the position data of rotor wing unmanned aerial vehicle in real time and send it to three-dimensional modeling module 1,
The control instruction of the satellite receiver of aircraft control device 3 and the flight rail that multi-rotor unmanned aerial vehicle 2 is controlled according to control instruction
Mark, the in real time attitude data of collection multi-rotor unmanned aerial vehicle 2 simultaneously send it to three-dimensional modeling module 1；Visible light sensor
6 are used to shoot the picture of electric power line pole tower and send it to three-dimensional modeling module 1.
As shown in figure 8, step 2 includes：
Computing unit in 2-1. three-dimensional modelings module 1 calculates the operation camera position and posture letter during every photograph taking
Breath；
The photo that memory cell storage visible light sensor 6 in three-dimensional modeling module 1 is shot；
And display unit shows the real time position of multi-rotor unmanned aerial vehicle 2, posture and environmental information in three-dimensional modeling module 1；
Integral unit in 2-2. three-dimensional modelings module 1 integrates photo, position, posture and environmental data and by integrated results
It is sent to modeling unit；
2-3. modeling units set up the threedimensional model of electric power line pole tower according to integrated results.
As shown in figure 9, the present invention provides a kind of tool applied in the modeling method of the 3 d modeling system of electric power line pole tower
In body application examples, the application example, the model gopro4 of sensing control component；The model pixhawk of aircraft control device；
Modeling method is as follows：
(1) the reconstructing three-dimensional model system principle based on multi-rotor unmanned aerial vehicle 2：
The integrated angular-rate sensor of system for flight control computer, angular acceleration transducer, pressure-altitude sensor, unmanned plane is also
GPS is equipped with, multiple sensors cooperate, realizes the safety and stability flight of unmanned plane.Angular-rate sensor accelerates with angle
Degree sensor effect is the real-time pitching of measurement unmanned plane during flying, driftage and roll data；Pressure-altitude sensor effect is to survey
Measure unmanned plane real-time flight height；GPS effects are measurement unmanned plane during flying real-time geographical locations.
Three-dimension modeling method based on image modeling technolog, it is possible to use it is three-dimensional that multiple different angle shots rebuild target
Model, reconstruction model is identical with shape of material objects, but without dimension information, the simple three-dimensional set up based on image modeling technolog
Model application value is low, if during successful acquisition photograph taking camera pitching, driftage, roll, geographical coordinate and height
Deng pose data, then the threedimensional model with actual size information can be rebuild.
Multi-rotor unmanned aerial vehicle 2 has the advantages that convenient, flexible, rapid and convenient, acquisition electric power pylon that can be efficient and inexpensive
Aerial photograph.During unmanned plane during flying, on the one hand the data of each sensor collection ensure the flight of unmanned plane safety and stability, one
Aspect is used to calculate posture information when visible light sensor 6 shoots aerial photograph, recycles based on image modeling technolog
Three-dimension modeling method, rebuilds the electric power line pole tower threedimensional model with sized data.
(2) the reconstructing three-dimensional model system work process based on multi-rotor unmanned aerial vehicle 2：
It is platform with multi-rotor unmanned aerial vehicle 2, carries high definition visible light sensor 6, shaft tower is taken pictures, high definition is utilized
Figure transmission module reaches photo earth station's Model Reconstruction software in real time, while using digital transmission module by system for flight control computer
The position of sensor and GPS measurements, attitude information reach earth station's Model Reconstruction software in real time, and software is to photo, pose
Calculated etc. data, finally set up pole tower three-dimensional model.
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and providing for oneself
Presetting apparatus manipulate not manned aircraft.The system of multi-rotor unmanned aerial vehicle 2 is controlled by frame, power plant module, flight
System, GPS, number are passed, figure is passed, earth station's composition.
During unmanned plane during flying, GPS gathers unmanned plane geographic position data in real time, by data transmission module by unmanned plane
Geographic position data transmit to earth station；Flight control system gathers unmanned plane pitching, roll, yaw-position data in real time,
Limit the unmanned plane angle of pitch, roll angle, the maximum instantaneous variable quantity of yaw angle, it is ensured that unmanned plane stabilized flight, and pass through
Number is passed UAV Attitude data transfer to earth station；Camera is the common carrying instrument of unmanned plane, what Airborne Camera was shot
Photograph or video recording pass through digital transmission module real-time Transmission to earth station.Stored in earth station and show unmanned plane position, appearance in real time
State data, provide foundation, it is ensured that safe flight, earth station shows airborne in real time for unmanned plane operating personnel operation unmanned plane
Picture, the video recording of camera shooting, unmanned plane operating personnel are according to the picture and video recording shot, and adjustment in time is long-range to control
Airborne Camera processed, completes shooting operation.
UAS possesses the hardware configuration that the two dimensional image of shooting is converted into threedimensional model, in earth station system,
The unmanned plane geographical position collected, pitching, driftage, roll data are calculated again, the real-time of Airborne Camera is obtained
Geographical position, pitching, driftage, roll data, and the pose data of camera is combined with the photo that camera is shot, according to
Multi-vision visual principle, rebuilds photographic subjects threedimensional model.
Finally, unmanned plane operation achievement is converted into threedimensional model by two dimensional image, matches somebody with somebody using UAS is existing
Put, the photograph for acquisition of taking photo by plane is converted into threedimensional model, the application field of expansible shooting achievement improves unmanned aerial vehicle onboard
The data user rate of equipment collection.
(3) system modelling accuracy guarantee device：
Reconstruction model precision depends on the flight control accuracy of unmanned plane and the control accuracy of visible light sensor 6.Unmanned plane
Flight control accuracy depend on UAV Flight Control System itself precision and flight control system installation accuracy, for
Determine the unmanned plane of flight control system model, flight control system is used as the brain of unmanned plane, its centre of form and unmanned plane and task device
Overall center of gravity registration is higher, and the flight control accuracy of unmanned plane is higher, can be improved by improving flight control system installation accuracy
The flight control accuracy of unmanned plane.Airborne visible light sensor 6 is rigidly connected with flight control system, surveyed by flight control system
The pose data such as pitching, driftage, roll, height and the geographical coordinate of the overall position of centre of gravity of the unmanned plane and task device of amount
The pose data of visible light sensor 6 are calculated, visible light sensor 6 can be improved by improving flight control system installation accuracy
Control accuracy.Meanwhile, airborne visible light sensor 6 is rigidly connected with flight control system, and unmanned plane and task device are integrally weighed
The heart keeps constant (rotation for ignoring propeller), it is easy to improves unmanned plane and flies flight control accuracy.
The module of 3.1 flight control system position adjustment platform 4：
To improve the installation accuracy of flight control system, the module of system for flight control computer position adjustment platform 4 is devised, the module can
To be rigidly connected with visible light sensor 6.
The adjustment upper plate of platform 4 is provided with mounting hole with the adjustment lower plate of platform 4.The adjustment upper plate of platform 4 is used with flight control system at mounting hole
Mode connects for screw, the longitudinally mounted position of flight control system is adjusted by mounting hole；The lower plate of platform 4 is adjusted at mounting hole and unmanned plane
Fuselage lower plate mode connects for screw, adjusts flight control system by mounting hole and is transversely mounted position.Adjust the upper plate of platform 4 and adjustment platform
4 lower plates are connected by stud with nut, and realize two plate distance variables, accurate adjustment flight control system vertical direction installation site and
Levelness.Square groove and screwed hole are opened in adjustment platform 4 upper plate bottom, for being located by connecting with fixed mount upper end.
3.2 cameras fix frame module：
Visible light sensor 6 is rigidly connected with flying control adjustment platform 4, devises the camera fixed mount matched with adjustment platform 4.
Mounting bracket contacts positioning with camera by two mutual vertical faces, is connected by bottom adjusting screw；Fixed mount upper end
Positioned, connected by top attachment screw by square groove with the adjustment upper plate of platform 4；On coarse adjustment slide plate 503 and fixed mount
End and mounting bracket positioned by stopper slot, connected by adjusting screw, by coarse adjustment slide plate 503 adjust mounting bracket with
The upper plate vertical distance of platform 4 is adjusted, so that coarse adjustment unmanned plane and the overall position of centre of gravity of task device.
Unmanned plane and the overall laterally and longitudinally both direction distribution of weight of task device are symmetrical, weight point on vertical direction
Cloth is asymmetric, so, the flight control system centre of form is laterally and longitudinally only needing accurate adjustment with overall center of gravity registration, in vertical direction
Upper palpus coarse adjustment and accurate adjustment.By changing mounting bracket and fixed mount upper end vertical distance, make overall center of gravity in the vertical direction
Positioned at unmanned aerial vehicle body stage casing, coarse adjustment flies control vertical direction position, then by adjusting the distance between the adjustment upper and lower plate of platform 4
Accurate adjustment flies the position of control in the vertical direction.
(4) earth station's reconstructing three-dimensional model software：
For the flight control system of multi-rotor unmanned aerial vehicle 2, the secondary development based on procedure interface is carried out using its control, is completed
Reconstructing three-dimensional model software is write.Reconstructing three-dimensional model software is passed by number and carries out nothing with the winged control of unmanned plane, differential GPS
Man-machine position, attitude data seamless communication, and by scheme pass receive visible light sensor 6 shoot photo, by data with
Photo is integrated, and the relation between the image coordinate system and space object three-dimensional system of coordinate by camera, calculates camera
Inner parameter, according to the reconstruction set up threedimensional model algorithm, realize target three-dimensional based on image modeling technolog.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment to this
Invention is described in detail, and those of ordinary skill in the art can still enter to the embodiment of the present invention
Row modification or equivalent substitution, and these any modifications or equivalent substitution without departing from spirit and scope of the invention, its is equal
Applying within pending claims of the invention.
Claims (10)
1. a kind of 3 d modeling system of electric power line pole tower, it is characterised in that the system includes being arranged on earth station
Three-dimensional modeling module, multi-rotor unmanned aerial vehicle, the differential GPS unit being arranged in multi-rotor unmanned aerial vehicle and be arranged on institute
State the sensing control component at multi-rotor unmanned aerial vehicle bottom centre；
The three-dimensional modeling module is used to receiving the data that the sensing control component beams back and integrates modeling；
The differential GPS unit is used to gather the position data of the rotor wing unmanned aerial vehicle in real time and sends it to described three
Tie up modeling module；
The sensing control component includes being arranged on the aircraft control device at the multi-rotor unmanned aerial vehicle bottom centre and erected
Directly it is arranged on the visible light sensor unit of the aircraft control device bottom；
The aircraft control device is used for the control instruction for receiving the earth station and according to control instruction control
The flight path of multi-rotor unmanned aerial vehicle, the attitude data for gathering the multi-rotor unmanned aerial vehicle in real time simultaneously send it to described three
Tie up modeling module；
The visible light sensor is used to shoot the picture of the electric power line pole tower and sends it to the three-dimensional modeling
Module.
2. the system as claimed in claim 1, it is characterised in that the aircraft control device be flat cuboid,
And the length of side of bottom plate is all higher than the height of the flat cuboid thereon；
The upper head plate of the aircraft control device is fixedly mounted at the multi-rotor unmanned aerial vehicle bottom centre；
The bottom plate of the aircraft control device is connected with adjustment platform with the visible light sensor unit.
3. system as claimed in claim 2, it is characterised in that the visible light sensor unit is solid including sensor
Determine frame and the visible light sensor installed in the fixing rack for sensor bottom；
The top of the fixing rack for sensor is fixedly connected with the adjustment platform.
4. system as claimed in claim 3, it is characterised in that the adjustment platform include corner mode connects for screw and
Away from adjustable upper and lower plates；
Round boss is provided with the bottom center of the upper plate, and the center of the boss is provided with square locating slot, institute
The center for stating locating slot is provided with screw；
The upper plate is equipped with waist-shaped hole at the corner away from the boss, the bottom plate of the aircraft control device is described
The top surface of upper plate is connected with screw through the waist-shaped hole with the adjustment platform packaged type；
The plate center of the lower plate is more than the circular port of the boss radius provided with radius.
5. system as claimed in claim 4, it is characterised in that the fixing rack for sensor include top plate, bottom plate and
Coarse adjustment slide plate for connecting the top plate and bottom plate；
The top plate and bottom plate with the slideable connection of the coarse adjustment slide plate；
The top plate is screwed with the locating slot on the boss and is connected；
The visible light sensor is installed with the bottom plate.
6. system as claimed in claim 5, it is characterised in that the center of the top plate is provided with screw；The spiral shell
Follow closely in through the screw of the top plate center to the screw of the locating slot center, the fixed adjustment platform is passed with described
Sensor fixed mount.
7. the system as claimed in claim 1, it is characterised in that the three-dimensional modeling module includes computing unit, deposited
Storage unit, display unit, integral unit, modeling unit and RCU；
The computing unit is used to calculate the operation camera position and attitude information during every photograph taking；
The memory cell is used for the photo for storing visible light sensor shooting；
The display unit is used to show the multi-rotor unmanned aerial vehicle real time position, posture and environmental information；
The integral unit is used to integrate the photo, position, posture and environmental data and is sent to integrated results described
Modeling unit；
The modeling unit sets up the threedimensional model of the electric power line pole tower according to the integrated results；
The RCU is used to, according to realtime graphic and position and attitude information, send and change to the aircraft control device
The instruction of the flight track of the multi-rotor unmanned aerial vehicle.
8. a kind of three-dimensional modeling method of electric power line pole tower, it is characterised in that methods described comprises the following steps：
Step 1. controls many rotors to be flied at a constant speed around the electric power line pole tower, at the same gather in real time many rotors nobody
Geographical position, posture, environment and the image data of machine；
Step 2. receives the geographical position, posture, environment and image data, and according to the geographical position, posture,
Environment and image data carry out three-dimensional modeling to the electric power line pole tower.
9. method as claimed in claim 8, it is characterised in that the step 1 includes：
1-1. sets differential GPS unit in the multi-rotor unmanned aerial vehicle, and in the multi-rotor unmanned aerial vehicle bottom centre
The installation sensing control component at place；Wherein, the sensing control component includes being arranged in the multi-rotor unmanned aerial vehicle bottom
Aircraft control device and the visible light sensor unit for being vertically installed at the aircraft control device bottom at the heart；
The RCU that 1-2. is located in the three-dimensional modeling module of earth station controls many rotors around the transmission line of electricity bar
Tower flies at a constant speed；
The differential GPS unit gathers the position data of the rotor wing unmanned aerial vehicle and sends it to three-dimensional in real time simultaneously builds
Mould module, the aircraft control device receive the control instruction of the earth station and controlled according to the control instruction described many
The flight path of rotor wing unmanned aerial vehicle, the attitude data for gathering the multi-rotor unmanned aerial vehicle in real time simultaneously send it to the three-dimensional
Modeling module；The visible light sensor is used to shoot the picture of the electric power line pole tower and sends it to the three-dimensional
Modeling module.
10. method as claimed in claim 9, it is characterised in that the step 2 includes：
Operation camera position and posture when computing unit in three-dimensional modeling module described in 2-1. calculates every photograph taking
Information；
The photo that memory cell storage visible light sensor in the three-dimensional modeling module is shot；
And display unit shows the multi-rotor unmanned aerial vehicle real time position, posture and environment letter in the three-dimensional modeling module
Breath；
Integral unit in three-dimensional modeling module described in 2-2. integrates the photo, position, posture and environmental data and will be whole
Close result and be sent to modeling unit；
Modeling unit described in 2-3. sets up the threedimensional model of the electric power line pole tower according to the integrated results.
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| CN107561547A (en) * | 2017-08-14 | 2018-01-09 | 广州供电局有限公司 | Distance measurement method, apparatus and system of the transmission line of electricity to object |
| CN108346176A (en) * | 2018-02-08 | 2018-07-31 | 河南送变电建设有限公司 | The method of transmission line of electricity three-dimensional modeling |
| CN108955645A (en) * | 2018-07-16 | 2018-12-07 | 福州日兆信息科技有限公司 | Three-dimensional modeling method and device applied to communication iron tower intelligent patrol detection |
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| CN110530366A (en) * | 2019-08-08 | 2019-12-03 | 广东电网有限责任公司 | A kind of flight course planning system and method for transmission line of electricity modeling |
| CN110395400A (en) * | 2019-08-26 | 2019-11-01 | 广州地铁集团有限公司 | A kind of camera automatic balancing arrangement being arranged on unmanned plane |
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| CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
| CN113295144A (en) * | 2021-04-12 | 2021-08-24 | 国家电网有限公司 | Three-dimensional modeling and ranging method for cable terminal tower |
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