阅读说明：本技术 无人机航拍配电网台区测绘方法 (Unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method ) 是由 尹闯 刘博� 钱勇 于晟旻 马忠文 池懿航 迟忠君 徐鹏 赵金 尹子豪 朱楠 于 2020-12-12 设计创作，主要内容包括：本发明涉及一种无人机航拍配电网台区测绘方法,包括下述步骤：确定线路及台区位置、获取测区KML文件、建立航拍任务,规划飞行路径、测区测控点制作、执行飞行任务、坐标解算、利用Pix4D软件合成正射影像图、处理图像及绘图；本发明采用无人机勘测线路能够节省50%的人力,同时节约60%的工作时间。如果线路、台区出现路径变更,诸如排障困难等不可控因素,可以在成图中随意进行路径重新规划设计,3D图可以查到现场的任何建筑物,可以科学的更改设计路径。(The invention relates to a mapping method for an unmanned aerial vehicle aerial photography power distribution network area, which comprises the following steps: determining the positions of a line and a platform area, acquiring a KML file of a measuring area, establishing an aerial photography task, planning a flight path, manufacturing measuring and controlling points of the measuring area, executing the flight task, resolving coordinates, synthesizing an orthophoto map by using Pix4D software, processing the image and drawing; the unmanned aerial vehicle survey line can save 50% of manpower and 60% of working time. If the route and the platform area have route changes, uncontrollable factors such as difficulty in troubleshooting and the like, the route can be freely re-planned and designed in the drawing, any building on the site can be found through the 3D drawing, and the designed route can be scientifically changed.)

1. An unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method is characterized by comprising the following steps:

step 1, determining the positions of a line and a distribution room, and acquiring a KML file of a measurement area;

step 2, establishing an aerial photography task and planning a flight path;

step 3, manufacturing measurement and control points of the measurement area;

step 4, executing a flight task;

step 5, resolving coordinates;

step 6, synthesizing an orthophoto map by using Pix4D software;

step 7, processing the image;

and 8, drawing.

2. The unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method according to claim 1, characterized in that the step 1, firstly, defines the measuring range, and obtains longitude and latitude coordinates of a transformer of the area to be measured or a 10 kv line substation position by using the existing national grid GIS system; selecting an area to be measured in an accurate frame in the Ordovic interactive map, and exporting a KML file; and then guiding the KML file into a DJI GS PRO system.

3. The method for mapping the distribution network area for the aerial photography of the unmanned aerial vehicle as claimed in claim 1, wherein in the step 2, a flight mission is established in a DJI GS PRO system, various flight parameters are planned, a reasonable flight path and a reasonable flight altitude are designed, and the utilization rate of an aircraft battery is improved as much as possible on the premise of not reducing the quality of an image.

4. The method as claimed in claim 1, wherein step 3 is carried out by self-painting, selecting open-air and wide-view places in the survey area, spraying a "cross-star" pattern on the ground, placing the unmanned aerial vehicle at the intersection of the pattern, opening the unmanned aerial vehicle and the PPK device, and taking images to obtain the coordinate position of the image control point.

5. The unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method of claim 1, characterized in that in the step 4, in the flight mission, the flight details are finally adjusted, an open field is selected, all devices are turned on, when all instrument indicator lights are turned on and meet the flight conditions, a ground photo is taken to ensure that the PPK device works effectively, and then the flight mission is executed.

6. The unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method according to claim 1, wherein in the step 5, when the unmanned aerial vehicle takes one picture, the PPK device generates one piece of coordinate data, all data in the PPK device are sent to the cloud calculation platform, the average time of each task calculation is 3-4 hours, and after the calculation is finished, the cloud calculation platform sends back the high-precision coordinates and the image control point coordinates to the terminal.

7. The method according to claim 1, wherein in step 6, hundreds of photos taken by the unmanned aerial vehicle are first imported into the system, original coordinates of the photos are replaced by accurate coordinates sent back by the cloud calculation platform, preliminary inspection is performed for synthesis, lens parameters are ensured to be within a reasonable range, image control points are then arranged, pricking points are performed on positions containing the image control points in the photos, and finally point cloud and orthographic image output are performed to obtain images of the area.

8. The unmanned aerial vehicle aerial photography power distribution network area mapping method according to claim 1, wherein in step 7, Global mapper software is used for checking the image and reading longitude and latitude coordinates of a tower.

9. The method for mapping distribution grid areas by aerial photography by unmanned aerial vehicle according to claim 1, wherein in step 8, the orthophoto image is inserted into AutoCAD, and the design of the line or the distribution grid area is performed by taking the orthophoto image as a background.

Technical Field

The invention relates to a power distribution network area mapping method, in particular to an unmanned aerial vehicle aerial photography power distribution network area mapping method, and belongs to the technical field of power distribution.

Background

The traditional power distribution network station area field survey needs 2 measuring personnel to carry an angle frame, a measuring instrument and other equipment to a station area field, the measurement of two station areas is completed at most every day, and if the path of a line and the station area is changed and uncontrollable factors such as difficulty in obstacle removal and the like occur, the manual repeated measurement needs to be carried out again on the site, so that time and labor are wasted. In addition, a lot of regions which cannot be reached by manpower can only estimate data, and the survey accuracy cannot be guaranteed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a method for mapping a distribution network area for unmanned aerial vehicle aerial photography, and solves the problems of low efficiency, time consumption and labor consumption in on-site survey of the distribution network area in the prior art.

An unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method comprises the following steps:

step 1, determining the positions of a line and a distribution room, and acquiring a KML file of a measurement area;

step 2, establishing an aerial photography task and planning a flight path;

step 3, manufacturing measurement and control points of the measurement area;

step 4, executing a flight task;

step 5, resolving coordinates;

step 6, synthesizing an orthophoto map by using Pix4D software;

step 7, processing the image;

and 8, drawing.

Step 1, firstly, defining a measuring range, and acquiring longitude and latitude coordinates of a transformer area to be measured or a position of a 10 kV line transformer substation by using a traditional state network GIS system; selecting an area to be measured in an accurate frame in the Ordovic interactive map, and exporting a KML file; and then guiding the KML file into a DJI GS PRO system.

And 2, establishing a flight task in a DJI GS PRO system, planning various flight parameters, designing a reasonable flight path and a reasonable flight height, and improving the utilization rate of the aircraft battery as much as possible on the premise of not reducing the imaging quality.

And 3, carrying self-spraying paint, selecting an open place with a wide visual field in the test area, spraying a cross-shaped star pattern on the ground, placing the unmanned aerial vehicle at the pattern intersection, opening the unmanned aerial vehicle and the PPK device, and shooting an image to obtain the coordinate position of the image control point immediately.

And 4, in the field flight task, finally adjusting the flight details, selecting an open field, turning on all the devices, shooting a ground photo when all the instrument indicating lamps are turned on and meet the flight condition, ensuring that the PPK device effectively works, and then executing the flight task.

And 5, when the unmanned aerial vehicle takes one photo, the PPK device generates a piece of coordinate data, all data in the PPK device are sent to the cloud calculating platform, the calculating average time of each task is 3-4 hours, and after the calculation is finished, the cloud calculating platform sends the high-precision coordinate and the image control point coordinate back to the terminal.

And 6, firstly, importing hundreds of photos shot by the unmanned aerial vehicle into the system, replacing original coordinates of the photos with accurate coordinates sent back by the cloud calculating platform, carrying out synthetic preliminary inspection to ensure that lens parameters are within a reasonable range, then starting to arrange image control points, carrying out pricking on positions containing the image control points in the photos, and finally outputting point clouds and orthographic images to obtain images of the area.

And 7, checking the image by using Global mapper software, and reading the longitude and latitude coordinates of the tower.

And 8, inserting the orthographic image into AutoCAD, and designing a line or a platform area by taking the orthographic image as a background.

The invention has the beneficial effects that: by the invention, the unmanned aerial vehicle is operated to take off, land and fly horizontally around the line, and the distance of more than 10 meters is kept for flying and the line equipment is positioned and observed. The line equipment can be randomly positioned and hovered, the observation angle and the level of focal length observation can be randomly adjusted by observing the line equipment at a distance of 5 meters.

Under the condition of sufficient batteries, if a special working vehicle is additionally arranged on the site of a line or a platform area, the image can be directly formed, and data can be generated uniformly after the concentrated flight every day. 1 person can operate and realize the survey site, the total flight time in the area is about 30-40 minutes, 1.5-2 hours are needed for deriving the data generation drawing, and the total work task is completed in about 3 hours. Adopt unmanned aerial vehicle survey circuit can save 50% manpower, practice thrift 60% operating time simultaneously. If the same manpower is adopted, 5 times of economic value can be additionally created. More expensive, if the route and the platform area have route changes, uncontrollable factors such as difficulty in troubleshooting and the like, the route can be freely re-planned and designed in the graph, any building on the site can be found through the 3D graph, and the designed route can be scientifically changed. The design is changed only by directly changing in the drawing.

Detailed Description

In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.

An unmanned aerial vehicle aerial photography power distribution network area surveying and mapping method comprises the following steps.

Step 1, determining the positions of a line and a distribution room, and acquiring a KML file of a measured area: firstly, determining the measuring range, and acquiring the longitude and latitude coordinates of a transformer area to be measured or the position of a 10 kV line transformer substation by utilizing the existing national network GIS system. And (4) accurately framing the area to be measured in the Orvie interactive map, and exporting a KML file. The KML file is introduced into a DJI GS PRO system in iPad by using tools such as WeChat.

Step 2, establishing an aerial photography task, and planning a flight path: in a DJI GS PRO system, a flight task is established, various flight parameters are planned, reasonable flight paths and flight heights are designed, and the utilization rate of an airplane battery is improved as much as possible on the premise of not reducing the imaging quality.

Step 3, manufacturing measurement and control points of the measurement area: in order to ensure the aerial photography measurement accuracy, ground image control points are needed in the measurement area. Firstly carrying from spraying paint, selecting open-air and open-view place in survey district, spraying "cross star" figure on ground, placing unmanned aerial vehicle at figure cross point department, opening unmanned aerial vehicle and PPK device, shooting the image and obtaining this image control point coordinate position immediately. At least 1-2 image control points are arranged in the measuring area, and the larger area is increased by 2-3 image control points per square kilometer.

And 4, executing a flight task: and when the device arrives in the measuring area, the states and the electric quantity of the airplane, the remote controller, the iPad and the PPK device are checked, and the success rate of flight is ensured. In the scene to the flight task, details such as flying height carry out final adjustment, select spacious place, open all devices such as aircraft, PPK, wait that all instrument pilot lamps are lighted, when according with the flight condition, take a ground photo, ensure that the PPK device is effective work, carry out the flight task afterwards. And if the electric quantity is insufficient midway, the airplane can automatically return to the air, and after the battery is replaced, the previous task is continued. And after all tasks are executed, safely landing the airplane.

And 5, coordinate calculation: when the unmanned aerial vehicle takes a photo, the PPK device generates coordinate data, and all data in the PPK device are sent to the cloud calculating platform. The average time for each task is 3-4 hours. And after the resolving is finished, the cloud resolving platform sends back the high-precision coordinates and the image control point coordinates.

Step 6, synthesizing an orthophoto map by using Pix4D software: firstly, hundreds of photos shot by an unmanned aerial vehicle are imported into a system, original coordinates of the photos are replaced by accurate coordinates sent back by a cloud resolving platform, and preliminary synthetic inspection is carried out to ensure that parameters such as lens distortion are in a reasonable range. And then, arranging image control points, and pricking the positions containing the image control points in the picture. And finally, outputting the point cloud and the orthophoto map. Finally we get an image of this region (TIFF and TFW files).

And 7, processing the image: and checking the image by using Global mapper software, reading the longitude and latitude coordinates of the tower, and measuring the span in the software. The resolution of the graph is reduced by the software, so that the image can be conveniently led into the AutoCAD.

Step 8, drawing: and (4) inserting the orthographic image into AutoCAD, and designing a line or a platform area by taking the orthographic image as a background.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.