CN102510011A - Method for realizing the intelligent tour-inspection of power tower based on miniature multi-rotor unmanned helicopter - Google Patents

Abstract

Translated fromChinese

本发明公开了属于输电线路巡检技术领域的基于微型多旋翼无人直升机的电力杆塔智能巡检方法。它分为以下步骤：杆塔建模、检视视点规划、自主导航、数据采集和故障分析；杆塔建模分为数据获取过程、杆塔定位过程、安全区域划分过程和安全区域评估过程；检视视点规划指根据相关约束条件求解最佳观察视点的过程；自主导航分为基本导航和精确导航两个步骤；数据采集指微型多旋翼无人直升机将相关数据传回地面站的过程；故障分析指：巡检及决策人员根据传回地面站的数据进行分析、判别和诊断的过程。本发明的有益效果为：安全性好、检测准确度好、巡检效率高、灵活性高、成本低和可操作性强。

The invention discloses an intelligent power tower inspection method based on a miniature multi-rotor unmanned helicopter and belongs to the technical field of power transmission line inspection. It is divided into the following steps: tower modeling, viewing point planning, autonomous navigation, data acquisition and fault analysis; tower modeling is divided into data acquisition process, tower positioning process, safe area division process and safe area evaluation process; viewing point planning guide The process of solving the best observation point according to relevant constraints; autonomous navigation is divided into two steps: basic navigation and precise navigation; data acquisition refers to the process of micro multi-rotor unmanned helicopters transmitting relevant data back to the ground station; fault analysis refers to: patrol inspection And the process of analysis, discrimination and diagnosis by decision makers based on the data sent back to the ground station. The invention has the beneficial effects of good safety, good detection accuracy, high inspection efficiency, high flexibility, low cost and strong operability.

Description

Electric force pole tower intelligent polling method based on miniature many rotors depopulated helicopter

Technical field

The invention belongs to the polling transmission line technical field, particularly based on the electric force pole tower intelligent polling method of miniature many rotors depopulated helicopter.

Background technology

Adopting high pressure and superhigh pressure overhead power transmission line is long main mode apart from transmission & distribution electric power; Power line and shaft tower annex long term exposure produce disconnected strand, wear and tear, corrode equivalent damage because of the influence that receives lasting mechanical tension, electric flashover, material aging in the open air; Change like untimely reparation, small breakage and defective just possibly enlarge originally.Finally cause serious accident, cause large-area power failure and enormous economic loss, so Utilities Electric Co. progressively increases the maintenance of circuit and the dynamics of monitoring., be the effective means of in time preventing and fixing a breakdown regularly to line equipment inspection.In time finding that line impairment with defective and assess, according to the order of importance and emergency of defective, with rational expense and correct priority, arranges the maintenance and the reparation of necessity, is the effective means of the reliability guaranteeing to supply power.

Traditional routine inspection mode mainly adopts manpower to patrol and examine, and makes with the naked eye or telescope is observed local power line.Because that transmission line distributes is multi-point and wide-ranging, geographical conditions are complicated, the line walking workman need cross over mountain after mountain, wades across a river, on foot or drive to patrol and examine, and inefficiency, labour intensity is big, operational environment is dangerous.

At present routine inspection modes that adopt are that large-scale helicopter or unmanned plane are patrolled and examined more.Though the more traditional manpower routine inspection mode of this method has improved and has patrolled and examined efficient, reduced and patrolled and examined difficulty, because its employed aircraft bodily form is huge, in order to ensure the safe operation of transmission line, often can not be effectively near observed object.And because aircraft handling has unsteadiness, often observed object is passed through in camera coverage fast, can not more comprehensively collect reliable data, has increased technical difficulty.Using another drawback of big payload helicopter is that cost is higher, on the convenience of operation, has bigger restriction.

Miniature multirotor helicopter is a kind of MAV, and is simple in structure, and rotor is converted into simple power through rigid frame.Landing site is limited little, can VTOL, hovering, the flight attitude controllability is strong, require for landing site low, so be particularly suitable for the mountain area.Miniature gyroplane volume is little, in light weight, and its insulating protection shell can be tolerated its soft collision during flying, and institute is so that closely near being carried out hot mission by observed objects.Aircraft operation and maintenance cost are cheap relatively many than big payload helicopter.Therefore, adopt miniature multirotor helicopter to carry out patrol task and have the not available advantage of many other method for inspecting.

Summary of the invention

The invention discloses electric force pole tower intelligent polling method based on many rotor wing unmanned aerial vehicles.It is divided into following steps:

1) shaft tower modeling: use a computer and the GPS navigation system is carried out modeling to the overhead transmission line shaft tower, obtain miniature many rotors depopulated helicopter safe flight zone, and the safe flight zone is assessed;

2) inspect viewpoint planning: the safe flight zone and all feasible observation viewpoints of confirming miniature many rotors depopulated helicopter through the grid of having set up in advance; With flight efficiency, observation quality and patrol task is constraints, and the utilization optimal method is found the solution the optimal viewing viewpoint at effective covering position to be inspected;

Near each observed viewpoint, miniature many rotors depopulated helicopter was different according to self-position and the equipment that observes, and observation angle is finely tuned, guarantee this observations viewpoint to the observed transmission facility of ability catch fully;

3) self-contained navigation: ground station carries out communication through the wireless communication data link with miniature many rotors depopulated helicopter, and adopts basic navigation and precision navigation to control the movement locus and the attitude of miniature many rotors depopulated helicopter;

4) data acquisition: miniature many rotors depopulated helicopter obtains the GPS and the state of flight information of view data, infrared thermal-image data and this observation place through vision sensor in predetermined observation place; Wireless communication data link through ground station and miniature many rotors depopulated helicopter then is with above data back ground station;

5) accident analysis: patrol and examine and the decision-maker according to the visible light of passing ground station back and infrared thermal imagery image data, visible light and infrared thermal imagery video data, GPS positional information and state of flight information material; Assisting down of modules such as ground station's image processing, video analysis and failure diagnosis; Analyze targetedly, differentiate and diagnose; Thereby confirm the health status of overhead transmission line Lifting Method in Pole Tower Integral Hoisting, auxiliary Maintenance of Electric Transmission Line department implements the maintenance and the malfunction elimination of overhead transmission line shaft tower.

Said miniature many rotors depopulated helicopter is equipped with following assembly: lithium battery, transducer, data storage cell, wireless communication module and intelligent control module;

Transducer comprises visible light camera, thermal camera, 6 attitudes and 3 magnetic field sensors, barometer, GPS navigation system and vision measurement systems; Transducer possesses multi-angle anti-jitter shoot function; Visible light camera can carry out 360 ° of rotations of two-freedom to be taken, and has the characteristic of autozoom; Thermal camera is used for the heating situation of test rod tower; 6 attitudes and 3 magnetic field sensors can obtain the flight status parameter of miniature many rotors depopulated helicopter; GPS navigation system and vision measurement system are assisted the navigator fix of miniature many rotors depopulated helicopter, are used to obtain the geographical position coordinates of miniature many rotors depopulated helicopter;

Data storage cell is used to store the flight status parameter and the sensing data of miniature many rotors depopulated helicopter;

Wireless communication module is used to realize the two-way communication of image, data and instruction between miniature many rotors depopulated helicopter and ground;

Intelligent control module is used to realize flight directive conversion and transmission, autonomous attitude control, multisensor scheduling and patrols and examines Data Management Analysis.

Said shaft tower modeling is divided into data acquisition, tower spotting process, safety zone partition process and safety zone evaluation process;

Data acquisition is: the engineering drawing that is provided through the transmission line designer obtains the basic structure of shaft tower, obtains more detailed tower structure characteristic by vision or laser testing on this basis, accomplishes the three-dimensional reconstruction process;

The tower spotting process is: according to map and GPS navigation system each shaft tower of transmission line to be detected is carried out the accurate location location;

The safety zone partition process is: according to (People's Republic of China's power industry standard " the overhead transmission line helicopter is maked an inspection tour technological guide rule "); In safe flight zone of the peripheral delimitation in advance of each shaft tower; With this zone discrete according to the granularity of shaft tower three-dimensional reconstruction be the lattice of throwing the net; On behalf of accessibility one of miniature many rotors depopulated helicopter, each summit on the grid observe viewpoint, and the arc between the summit is represented the possible flight path of miniature many rotors depopulated helicopter;

The safety zone evaluation process is: frequency and intrinsic useful life according to each equipment in the safe flight zone breaks down are further assessed the safe flight zone of gained, thereby confirm the different weights in safe flight zone.

Said basic navigation is meant: through GPS navigation system and the miniature many rotors depopulated helicopter of vision measurement system joint estimate and planned the relative position of observing between the viewpoint, thereby control the flight path of miniature many rotors depopulated helicopter;

Said precision navigation is meant: according to the spatial relationship between the position of shaft tower model, vision measurement system and miniature many rotors depopulated helicopter GPS navigation system; And the measured value of combination GPS navigation system; Further the observation viewpoint of the miniature many rotors depopulated helicopter of calibration is guaranteed its accurately predetermined observation place of visit.

Beneficial effect of the present invention is:

1) fail safe of this intelligent polling method is good.Owing to before miniature many rotors unmanned helicopter flight, in advance electric tower is carried out modeling, around shaft tower, cook up aircraft and patrol and examine and promptly can catch the reliable range of observation that image can not touched the power transmission line element again in the process smoothly.In this scope, seek flight path when patrolling and examining, guaranteed the fail safe of miniature many rotors depopulated helicopter and overhead transmission line simultaneously.

2) this intelligent polling method accuracy in detection is good.Be different from tradition and patrol and examine the method for using large aircraft; This method adopts miniature multirotor helicopter; Can be under the premise that security is guaranteed more closely, multi-angle, in all directions observed object in the image is accurately gathered, for the power circuit polling failure diagnosis provides high-quality information.

3) this intelligent polling method is patrolled and examined the efficient height.Being different from traditional roaming type patrols and examines; This method is at first carried out safety zone planning, on this basis it is separated into the lattice of throwing the net, through carrying out the overall merit that weighting obtains this observation viewpoint to observing viewpoint in the evaluation aspect position, the observation effect; In conjunction with flight time constraint, aircraft power consumption constraint; Find the solution according to Optimum Theory, can make aircraft find the optimal path of accomplishing whole patrol task, avoided unnecessary time loss and aircraft energy consumption.

4) flexibility of this intelligent polling method is high.This method will be to the abstract form for net in the safety zone of electric tower modeling gained, makes aircraft in the face of different electric tower structure, complicated plant coverage condition along the line the time, all can carry out flexible modeling.Therefore, all has adaptability preferably in the face of different this methods of overhead transmission line environment.

5) this intelligent polling method cost is low, and is workable.The employed miniature multirotor helicopter of this method is patrolled and examined employed large aircraft than tradition and is all being had absolute predominance aspect aircraft price, the cost of equipment maintenance.

Description of drawings

Fig. 1 is miniature multirotor helicopter electric force pole tower intelligent patrol detection flow chart;

Fig. 2 a is that miniature multirotor helicopter is patrolled and examined flight safety zone front view;

Fig. 2 b is that miniature multirotor helicopter is patrolled and examined flight safety zone left view;

Fig. 2 c is that miniature multirotor helicopter is patrolled and examined flight safety zone vertical view;

Fig. 3 a is miniature multirotor helicopter viewpoint planning and optimal route selection front view;

Fig. 3 b is miniature multirotor helicopter viewpoint planning and optimal route selection left view;

Label among the figure: 1-safe flight zone 1; 2-safe flight zone 2; 3-safe flight zone 3; 4-safe flight zone 4; 5-safe flight zone 5; 6-safe flight zone 6; 7-safe flight zone 7.

Embodiment

Below in conjunction with accompanying drawing to further explain of the present invention:

As shown in Figure 1, based on the electric force pole tower intelligent polling method of many rotor wing unmanned aerial vehicles.It is divided into following steps: the shaft tower modeling, inspect viewpoint planning, self-contained navigation, data acquisition and accident analysis.

The shaft tower modeling is divided into data acquisition, tower spotting process, safety zone partition process and safety zone evaluation process;

Data acquisition is: the engineering drawing that is provided through the transmission line designer obtains the basic structure of shaft tower, obtains more detailed tower structure characteristic by vision or laser testing on this basis, accomplishes the three-dimensional reconstruction process;

The tower spotting process is: according to map and GPS navigation system each shaft tower of transmission line to be detected is carried out the accurate location location;

The safety zone partition process is: according to People's Republic of China's power industry standard " the overhead transmission line helicopter is maked an inspection tour technological guide rule "; Peripheral to delimit a safe flight zone in advance (be that aircraft is patrolled and examined and promptly can be caught the reliable range of observation that image can not touched the power transmission line element again in the process smoothly at each shaft tower; When miniature many rotors depopulated helicopter flies in this scope; Must not hang and run into any power transmission tower element and electric wire, must not cause harmful effect the power transmission line operate as normal; Observation has observation visual angle preferably to target in this scope).

Shown in Fig. 2 a, Fig. 2 b, Fig. 2 c, be the three-view diagram in safe flight zone, insafe flight zone 1 and 7, miniature many rotors depopulated helicopter can observe shaft tower, lead, earthing device and infrastructure; Insafe flight zone 2,3,5,6, miniature many rotors depopulated helicopter can observe insulator, gold utensil, affiliated facility and lead.The frequency statistics result who breaks down according to transmission facility in each safe flight zone gives the different weights of patrolling and examining with intrinsic useful life to the safe flight zone of gained.For example, mark off emphasis and patrol and examine zone (safe flight zone 2,3,5,6) and the common zone (safe flight zone 1,4,7) of patrolling and examining.Regard the safe flight zone among Fig. 2 a, Fig. 2 b, Fig. 2 c as in the space a curved surface; With obtaining the lattice of throwing the net after its discretization; On behalf of accessibility one of miniature many rotors depopulated helicopter, the summit observe viewpoint; Arc is represented the possible flight path of miniature many rotors depopulated helicopter, shown in Fig. 3 a, Fig. 3 b.

The safety zone evaluation process is: frequency and intrinsic useful life according to each equipment in the safe flight zone breaks down are further assessed the safe flight zone of gained, thereby confirm the different weights (patrolling and examining zone, the common zone etc. of patrolling and examining like emphasis) in safe flight zone.

The said viewpoint of inspecting is planned the process that is meant preferred view viewpoint in above-mentioned safe flight zone;

Observe viewpoint and refer to miniature many rotors depopulated helicopter residing observation place and visual angle in the space; Be miniature many rotors depopulated helicopter self position coordinates and vision sensor towards; Specifically; Miniature many rotors depopulated helicopter needs to have access to each zone successively according to order and accomplishes whole shaft tower patrolled and examined (collection of visible images collection, infrared image acquisition, electric tower and surrounding enviroment information), the transmission facility that in the zone, will observe this zone comprise in the process of patrolling and examining; But intra-zone is observed viewpoint and is selected to have flexibility; How to select to observe viewpoint accordingly, the quality of guaranteeing to observe and the time of flight are the problems that viewpoint planning will solve.Confirm the safe flight zone and all feasible observation viewpoints of miniature many rotors depopulated helicopter in advance through the connected graph of having set up; With flight efficiency, observation quality and patrol task is constraints, and the utilization optimal method is found the solution the optimal viewing viewpoint at effective covering position to be inspected;

Miniature many rotors depopulated helicopter is planned its movement locus and observation visual angle according to the result of shaft tower modeling.Shown in Fig. 2 a, Fig. 2 b, Fig. 2 c, miniature many rotors depopulated helicopter is in the process of patrolling and examining, and the order that accordings to the safety zone of dividing travels throughsafe flight zone 1 successively tosafe flight zone 7, and each intra-zone all has many different observation viewpoints.According to the data to shaft tower modeling gained, each observes viewpoint all has different transmission facilities that can observe and different observation angles.

Shown in Fig. 3 a, Fig. 3 b; Viewpoint is observed in the representative of black triangle, when patrolling and examining, and the observation viewpoint of miniature many rotors depopulated helicopter fromzone 1; In transit in the process inzone 2 to 7; Miniature many rotors depopulated helicopter flies on an optimal path, shown in Fig. 3 a, Fig. 3 b middle polyline, to realize the best effect of patrolling and examining.The broken line signal connects these critical observation viewpoints and constitutes an optimal path.Around each observed viewpoint, miniature many rotors depopulated helicopter also needed according to self and observed object relative position observation angle to be finely tuned, guarantee this observations viewpoint to can catch fully by an observed transmission facility.

This moment, miniature many rotors depopulated helicopter began to patrol and examine, owing to carried out the safety zone assessment, the flight course of patrolling and examining of this moment has possessed higher fail safe.Miniature many rotors depopulated helicopter flies to control sensor feedback data such as algorithm combination flying speed, angular speed, height through what move on the processor, accomplishes the control to miniature many rotors unmanned helicopter flight attitude.At first, through the GPS navigation system, miniature many rotors depopulated helicopter is estimated flight position and has been planned the relative position of observing between the viewpoint, the adjustment flight path.Because the limitation of GPS navigation system accuracy, still there are certain error in observation place and the predetermined observation place of this moment, therefore also need further precision navigation.When miniature many rotors depopulated helicopter flies near predetermined observation viewpoint; This moment is main according to the spatial relationship between the position of shaft tower model and miniature many rotors depopulated helicopter; And the measured value of combination GPS navigation system; Further the observation viewpoint of the miniature many rotors depopulated helicopter of calibration is guaranteed its accurately predetermined observation place of visit.

Miniature many rotors depopulated helicopter is according to above-mentioned steps; Begin to carry out self-contained navigation fromsafe flight zone 1; The combined sensor feedback data; Constantly estimation self and the predetermined relative position of observing viewpoint and shaft tower, all optimums of having planned are observed viewpoint in accesssecurity flight range 1 to thesafe flight zone 7 successively.

Miniature many rotors depopulated helicopter passes through visible light camera and thermal camera acquisition of image data in predetermined observation place, and environmental information, the state of flight of each task point are carried out record.When miniature many rotors depopulated helicopter is patrolled and examined, through wireless data link with the data back ground station of being gathered.Ground is patrolled and examined and the decision-maker can be equipped with an imaging device (such as display or portable handheld terminal etc.) that can receive wireless signal and observes the situation on the shaft tower in real time.

Accident analysis is meant: patrol and examine and the decision-maker according to the visible light of passing ground station back and infrared thermal imagery image data, visible light and infrared thermal imagery video data, GPS positional information and state of flight information material; Assisting down of modules such as ground station's image processing, video analysis and failure diagnosis; Analyze targetedly, differentiate and diagnose; Thereby confirm the health status of overhead transmission line Lifting Method in Pole Tower Integral Hoisting, auxiliary Maintenance of Electric Transmission Line department effectively implements the maintenance and the malfunction elimination of overhead transmission line shaft tower.

Claims (4)

Translated fromChinese

1.基于微型多旋翼无人直升机的电力杆塔智能巡检方法，其特征在于，分为以下步骤：1. based on the power tower intelligent inspection method of miniature multi-rotor unmanned helicopter, it is characterized in that, be divided into the following steps:1)杆塔建模：使用计算机和GPS定位系统对架空输电线杆塔进行建模，获得微型多旋翼无人直升机安全飞行区域，并对安全飞行区域进行评估；1) Tower modeling: use the computer and GPS positioning system to model the overhead transmission line tower, obtain the safe flight area of the miniature multi-rotor unmanned helicopter, and evaluate the safe flight area;2)检视视点规划：通过已建立的网格预先确定微型多旋翼无人直升机的安全飞行区域和所有可行的观察视点，以飞行效率、观测质量和巡检任务为约束条件，运用最优化方法求解有效覆盖待巡检部位的最佳观察视点；2) Inspection viewpoint planning: Predetermine the safe flight area and all feasible observation viewpoints of the miniature multi-rotor unmanned helicopter through the established grid, use the optimization method to solve the problem with the constraints of flight efficiency, observation quality and inspection tasks Effectively cover the best observation point of the parts to be inspected;在每个观察视点附近，微型多旋翼无人直升机根据自身位置与观测到的设备的不同，对观测角度进行微调，确保在该观察视点对所能观察到的输电设备进行充分的捕捉；Near each observation viewpoint, the miniature multi-rotor unmanned helicopter fine-tunes the observation angle according to the difference between its own position and the observed equipment, so as to ensure that the observed power transmission equipment can be fully captured at this observation viewpoint;3)自主导航：地面站通过与微型多旋翼无人直升机的无线通讯数据链路进行通讯，并采用基本导航和精确导航控制微型多旋翼无人直升机的运动轨迹和姿态；3) Autonomous navigation: the ground station communicates with the miniature multi-rotor unmanned helicopter through the wireless communication data link, and uses basic navigation and precise navigation to control the trajectory and attitude of the miniature multi-rotor unmanned helicopter;4)数据采集：微型多旋翼无人直升机在预定观察位置通过视觉传感器获得图像数据、红外热像数据以及该观察位置的GPS和飞行状态信息，然后通过地面站与微型多旋翼无人直升机的无线通讯数据链路，将以上数据传回地面站；4) Data acquisition: the micro multi-rotor unmanned helicopter obtains image data, infrared thermal image data, GPS and flight status information of the observation position through the visual sensor at the predetermined observation position, and then passes the wireless connection between the ground station and the miniature multi-rotor unmanned helicopter. Communication data link, which transmits the above data back to the ground station;5)故障分析：巡检及决策人员根据传回地面站的可见光及红外热像图像数据、可见光及红外热像视频数据、GPS位置信息和飞行状态信息资料，在地面站图像处理、视频分析以及故障诊断等模块的辅助下，进行有针对性的分析、判别和诊断，从而确定架空输电线杆塔整体的健康状况，辅助输电线路维护部门实施架空输电线杆塔的维修和故障排查。5) Fault analysis: inspection and decision-making personnel perform image processing, video analysis and With the assistance of fault diagnosis and other modules, targeted analysis, discrimination and diagnosis are carried out, so as to determine the overall health status of overhead transmission line towers, and assist the transmission line maintenance department to implement maintenance and troubleshooting of overhead transmission line towers.2.根据权利要求1所述的基于微型多旋翼无人直升机的电力杆塔智能巡检方法，其特征在于，所述微型多旋翼无人直升机配备有以下组件：锂电池、传感器、数据存储单元、无线通信模块和智能控制模块；2. The power pole tower intelligent inspection method based on the miniature multi-rotor unmanned helicopter according to claim 1, wherein the miniature multi-rotor unmanned helicopter is equipped with the following components: lithium battery, sensor, data storage unit, Wireless communication module and intelligent control module;传感器包括可见光摄像机、红外摄像机、6轴姿态与3轴磁场传感器、气压计、GPS定位系统和视觉测量系统；传感器具备多角度抗抖动拍摄功能；可见光摄像机可以进行两自由度360°旋转拍摄，并具有自动变焦的特性；红外摄像机用于检测杆塔设备的发热情况；6轴姿态与3轴磁场传感器能够获得微型多旋翼无人直升机的飞行状态参数；GPS定位系统和视觉测量系统辅助微型多旋翼无人直升机的导航定位，用于获取微型多旋翼无人直升机的地理位置坐标；Sensors include visible light camera, infrared camera, 6-axis attitude and 3-axis magnetic field sensor, barometer, GPS positioning system and visual measurement system; the sensor has multi-angle anti-shake shooting function; It has the characteristics of automatic zoom; the infrared camera is used to detect the heating of the tower equipment; the 6-axis attitude and 3-axis magnetic field sensors can obtain the flight status parameters of the miniature multi-rotor unmanned helicopter; the GPS positioning system and the visual measurement system assist the miniature multi-rotor unmanned helicopter. The navigation and positioning of the manned helicopter is used to obtain the geographic location coordinates of the miniature multi-rotor unmanned helicopter;数据存储单元用于存储微型多旋翼无人直升机的飞行状态参数和传感器数据；The data storage unit is used to store the flight state parameters and sensor data of the miniature multi-rotor unmanned helicopter;无线通信模块用于实现微型多旋翼无人直升机与地面间的图像、数据和指令的双向通信；The wireless communication module is used to realize the two-way communication of images, data and instructions between the miniature multi-rotor unmanned helicopter and the ground;智能控制模块用于实现飞行指令转换与传输、自主姿态控制、多传感器调度和巡检数据处理分析。The intelligent control module is used to realize flight command conversion and transmission, autonomous attitude control, multi-sensor scheduling and inspection data processing and analysis.3.根据权利要求1所述的基于微型多旋翼无人直升机的电力杆塔智能巡检方法，其特征在于，所述杆塔建模分为数据获取过程、杆塔定位过程、安全区域划分过程和安全区域评估过程；3. the electric power pole tower intelligent inspection method based on the miniature multi-rotor unmanned helicopter according to claim 1, is characterized in that, described pole tower modeling is divided into data acquisition process, pole tower positioning process, safe area division process and safe area assessment process;数据获取过程为：通过输电线路设计者所提供的工程图纸获取杆塔基本的结构，在此基础上借助视觉或激光测试获取更为详细的杆塔结构特征，完成三维重建过程；The data acquisition process is as follows: the basic structure of the tower is obtained through the engineering drawings provided by the designer of the transmission line, and on this basis, the more detailed structural characteristics of the tower are obtained by means of visual or laser testing, and the three-dimensional reconstruction process is completed;杆塔定位过程为：依照地图及GPS定位系统对待检测输电线路每个杆塔进行确切位置定位；The tower positioning process is as follows: according to the map and GPS positioning system, the exact position of each tower of the transmission line to be detected is determined;安全区域划分过程为：依照(中华人民共和国电力行业标准《架空输电线路直升机巡视技术导则》)，在每个杆塔外围事先划定一个安全飞行区域，将该区域按照杆塔三维重建的粒度离散为一张网格，网格上的每个顶点代表微型多旋翼无人直升机可到达的一个观察视点，顶点间的弧代表微型多旋翼无人直升机可能的飞行路径；The process of dividing the safe area is as follows: According to the "Technical Guidelines for Helicopter Inspection of Overhead Power Transmission Lines" of the Electric Power Industry Standard of the People's Republic of China, a safe flight area is delineated in advance on the periphery of each tower, and the area is discretized according to the granularity of the three-dimensional reconstruction of the tower as A grid, each vertex on the grid represents an observation point that the miniature multi-rotor unmanned helicopter can reach, and the arc between the vertices represents the possible flight path of the miniature multi-rotor unmanned helicopter;安全区域评估过程为：按照安全飞行区域中每个设备出现故障的频率与固有使用寿命对所得的安全飞行区域进行进一步评估，从而确定安全飞行区域的不同权重。The evaluation process of the safe flight area is: according to the failure frequency and inherent service life of each device in the safe flight area, the obtained safe flight area is further evaluated, so as to determine the different weights of the safe flight area.4.根据权利要求1所述的基于微型多旋翼无人直升机的电力杆塔智能巡检方法，其特征在于，所述基本导航是指：通过GPS定位系统和视觉测量系统联合估算微型多旋翼无人直升机与已规划观察视点之间的相对位置，从而控制微型多旋翼无人直升机的飞行路径；4. The power pole tower intelligent inspection method based on the miniature multi-rotor unmanned helicopter according to claim 1, characterized in that, the basic navigation refers to: joint estimation of the miniature multi-rotor unmanned area by the GPS positioning system and the visual measurement system The relative position between the helicopter and the planned observation viewpoint, so as to control the flight path of the miniature multi-rotor unmanned helicopter;所述精确导航是指：根据杆塔模型、视觉测量系统与微型多旋翼无人直升机GPS定位系统的位置之间的空间关系，并结合GPS定位系统的测量值，进一步校准微型多旋翼无人直升机的观察视点，确保其准确访问预定的观察位置。The precise navigation refers to: according to the spatial relationship between the tower model, the visual measurement system and the position of the GPS positioning system of the miniature multi-rotor unmanned helicopter, and in combination with the measured value of the GPS positioning system, further calibrate the position of the miniature multi-rotor unmanned helicopter. Observe viewpoints to ensure they are accurately visiting their intended viewing positions.

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