摘要
由于传统高空悬挂方式下的坝面检查存在效率低、安全风险大等问题,常规的无人机航迹规划方法无法满足双曲结构的特高拱坝巡检要求。对此,提出了一种针对特高拱坝的无人机巡检航迹规划新方法,并将该方法应用于云南省小湾水电站。首先,构建拱坝函数模型,再依据相机参数及航摄要求确定各项航空摄影参数,计算出摄影航迹点,然后对航迹点进行坐标换算,最后根据实地情况对航迹点做范围划定并分配无人机群作业架次。结果表明:基于本航迹规划方法所采集的无人机影像可以做到完整覆盖坝面,所获取的影像质量高,满足后期数据处理要求。研究成果可为流域安全监测提供技术支撑和为类似大型复杂结构作业场景提供航迹规划新思路。
Due to the low efficiency and high safety risks associated with traditional high-altitude hanging methods for dam surface inspections,conventional unmanned aerial eehicle flight path planning methods fail to meet the inspection requirements of hyperbolic structures in ultra-high arch dams.In response,a novel unmanned aerial vehicle flight path planning method specifically designed for the inspection of ultra-high arch dams was proposed and applied to Xiaowan Hydropower Station in Yunnan Province.First,a mathematical model of the arch dam was constructed.Then,based on camera parameters and aerial photography requirements,various aerial photography parameters were determined,and the photography waypoint coordinates were calculated.Next,the waypoint coordinates were transformed,and finally,the flight path points were confined and assigned to different unmanned aerial vehicle groups based on the actual conditions in the field.The results showed that unmanned aerial vehicle images collected based on this flight path planning method can achieve complete coverage of the dam surface,with high image quality that meets the requirements for subsequent data processing.The research results can provide technical support for safety monitoring in river basins and offer a new approach to flight path planning for other similar large and complex structures.
作者
陈衍昌
唐炉亮
赵紫龙
余意
CHEN Yanchang;TANG Luliang;ZHAO Zilong;YU Yi(State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing,Wuhan University,Wuhan 430079,China;Huaneng Lancang River Hydropower Co.,Ltd.,Kunming 650214,China)
出处
《水利水电快报》
2024年第12期89-94,102,共7页
Express Water Resources & Hydropower Information
基金
国家重点研发计划“地球观测与导航”专项“区域经济态势时空动态感知技术及应用”项目(2023YFB3906803)。
关键词
安全监测
智能巡检
航迹规划
特高拱坝
无人机
小湾水电站
security monitoring
intelligent inspection
trajectory planning
extra-high arch dam
unmanned aerial vehicle
Xiaowan Hydropower Station
