CN106155086B - A kind of Road Detection unmanned plane and its automatic cruising method - Google Patents
A kind of Road Detection unmanned plane and its automatic cruising method Download PDFInfo
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Abstract
The invention discloses a kind of Road Detection unmanned plane and its automatic cruising methods, the unmanned plane includes rack, dynamical system, vision system, flight control system, road detection system and earth station system, wherein vision system is used to obtain the deviation between the practical course line of unmanned plane and road route, flight control system is for adjusting unmanned plane during flying posture, correct course-line deviation, unmanned plane is set to fly automatically along road route, road detection system is used for road surface reparation, and Road Detection is stored as a result, earth station system is for drawing preset unmanned plane course line；The present invention can automatically fly in conjunction with vision system and preset course line along road during Road Detection；Road Detection result is stored in self-contained memory module by the present invention when carrying out Road Detection, without being communicated with earth station, can be used for remote Road Detection；The present invention realizes Road Detection in the air, can carry different types of road detection apparatus, and road traffic is not interfered during Road Detection.
Description
Technical field
The invention belongs to lane detection technology fields, and in particular to a kind of Road Detection unmanned plane and its automatic cruising side
Method.
Background technology
How quickly with increasing rapidly for highway in China operating mileage, road maintenance task is increasingly heavy, economy, have
It imitates, be accurately determined problem section, road maintenance is carried out using nearby principle in time, for ensureing traffic safety, reducing road
Maintenance cost is of great significance.
Existing Road Detection equipment exists based on road detection vehicle and needs personnel tracking detection, testing cost height, inspection
Survey the defects of range is small, detection efficiency is restricted by traffic.With the development of unmanned air vehicle technique, application field is increasingly
It is more, unmanned plane is had become to the new developing direction of Road Detection for Road Detection.Due to the limitation of UAV Communication distance,
Road Detection unmanned plane is mainly used for the Road Detection of short distance at present, detection process still rely on the artificial intervention in ground and
Control, the problem seriously restrict the further development and application of Road Detection unmanned plane.
Invention content
The technical problem to be solved in the present invention is, for deficiency existing for existing road detection device, to provide a kind of automatic
Change degree is high, is controlled independent of surface personnel, is not limited by communication distance, can be used for remote Road Detection, there is no harm in
Hinder the Road Detection unmanned plane that road traffic, detection range are wide, detection efficiency is high.
In view of the above-mentioned problems, the present invention proposes following technical scheme：
A kind of Road Detection unmanned plane, including rack and dynamical system, the dynamical system are fixed on the rack, feature
It is, further includes vision system, flight control system, road detection system and earth station system；
The vision system, road detection system are connected with flight control system respectively；
The vision system includes wide angle cameras and vision-based detection module, the wide angle cameras and vision-based detection
Module is connected, and the system is for obtaining drift angle of the road route with respect to unmanned plane vertical direction；
The road detection system includes Zoom camera, Road Detection module and memory module, and the zoom is taken the photograph
Camera is separately connected with Road Detection module, memory module, which is used to detect Zoom camera by Road Detection module
The pavement of road image of shooting judges whether the pavement image is vehicle covering road surface or problem road surface, and to problem road surface
It is detected in detail, the information of road surface and location information on the road surface of vehicle covering or problem road surface is stored in memory module
In, all pavement of road images and its corresponding location information that are shot during Road Detection also preserve in a storage module；
The flight control system includes altimeter, gyroscope, magnetometer, accelerometer, locating module and flies control plate, wherein
Altimeter, gyroscope, magnetometer, accelerometer, locating module are connected with by the winged control plate of core of micro-control unit respectively,
The system is used to adjust the flight attitude of unmanned plane, corrects flight deviation；Simultaneously for the result of detection according to vision system, adjust
The lateral shooting angle of Zoom camera in whole road detection system；The system is additionally operable to judge vehicle when road detection system
When covering road surface or problem road surface, adjustment unmanned plane enters floating state, waits for that vehicle leaves road surface to be detected or problem road surface
In detail after detection, adjustment unmanned plane continues to fly；
The earth station system includes PC machine and the ground station software in PC machine, for drawing the pre- of unmanned plane
If course line；
Vision system, flight control system and the road detection system is each attached in rack.
Further, the vision system obtains drift angle of the road route with respect to unmanned plane vertical direction using following formula：
Wherein,Drift angle for road route with respect to unmanned plane vertical direction, driThe every frame figure obtained for wide angle cameras
Lateral distance as between road-center position and image center location；For the lateral visual angle of wide angle cameras；wiIt is wide
Transverse width of the angle video camera per frame image；ψ is the roll angle of unmanned plane, is tilted to the right as just, it is negative to tilt to the left；
Further, the flight attitude of the flight control system adjustment unmanned plane, correction flight deviation refer to：
If the deviation in unmanned plane practical flight position and default course line is less than threshold value D, ifThen adjust nobody
Machine flight attitude flies to the right, ifUnmanned plane during flying posture is then adjusted to fly to the left；
If the deviation in unmanned plane practical flight position and default course line is greater than or equal to threshold value D, adjustment unmanned plane is pressed
According to initially set airline operation.
Wherein, unmanned plane practical flight position and the calculation formula of default course-line deviation L are：
Wherein, (x0,y0) be unmanned plane practical flight position latitude and longitude coordinates；slatThe length represented for unit latitude
Value；slonThe length value represented for unit longitude；A, B, C are by the current position coordinates (x in initial setting course line1slat,
y1slon) and the next position coordinate (x2slat,y2slon) determine linear equation Ax+By+C=0 coefficient.
Further, the road detection system detects the Road of Zoom camera shooting by Road Detection module
Face image judges whether the pavement image is vehicle covering road surface or problem road surface, and is detected in detail to problem road surface
Refer to realizing following functions：
First, flight control system adjusts the cross of Zoom camera in road detection system according to the result of detection of vision system
Pavement of road image is shot to shooting angle, the calculation formula of the wherein lateral shooting angle of Zoom camera is：Wherein, driIn every the frame image obtained for wide angle cameras road-center position and image center location it
Between lateral distance, the right side of road-center position heart position in the picture is just road-center position heart position in the picture
Left side be negative；For the lateral visual angle of wide angle cameras；wiIt is the transverse width of the every frame image of wide angle cameras；
Secondly, if road detection system judges that the pavement of road image of Zoom camera shooting is that vehicle covers road surface
When, flight control system adjustment unmanned plane enters floating state；
If road detection system judges that the pavement of road image of Zoom camera shooting is problem road surface, flight control system
Adjustment unmanned plane enter floating state, the lens focus of Zoom camera in road detection system is tuned up, Zoom camera into
Row auto-focusing obtains the high-definition picture of road, and Road Detection module is by analyzing the high-definition picture problem of implementation
Zoom camera is recalled to original state ended questions road surface and is detected in detail by the detailed detection on road surface；
Finally, after waiting for that vehicle leaves the detection in detail of road surface to be detected or problem road surface, flight control system adjusts nobody
Machine continues to fly.
Further, the unmanned plane further includes wireless data transmission module or USB interface, the wireless data transmission module
Including aerial module and earth module, the aerial module is fixed on the rack, and is connect with flight control system, the ground
Module is connect with the PC machine in earth station system, and the USB interface can match connection with the PC machine in earth station system.
A kind of Road Detection unmanned plane automatic cruising method has also been devised in the present invention, includes the following steps：
Step 1, default course line is imported in unmanned plane；
Step 2, start Road Detection unmanned plane, setting unmanned plane is automatic offline mode, and unmanned plane is according to flight control system
The course data of middle setting flies automatically, and vertical with respect to unmanned plane by vision system acquisition road route in flight course
The drift angle in direction, adjustment flight attitude carry out course line correction；Zoom camera shooting is detected by road detection system simultaneously
Pavement of road image, and problem pavement of road is detected in detail, by the information of road surface on detailed test problems road surface and position
Information preservation in a storage module, all pavement of road images and its corresponding location information shot during Road Detection
It preserves in a storage module；
Step 3, after Road Detection, unmanned plane makes a return voyage.
Further, in the step 2 drift angle of the road route with respect to unmanned plane vertical direction is obtained using following formula：
Wherein,Drift angle for road route with respect to unmanned plane vertical direction, driThe every frame figure obtained for wide angle cameras
The lateral distance between road-center position and image center location as in, the right side of road-center position heart position in the picture
For just, the left side of road-center position heart position in the picture is negative；For the lateral visual angle of wide angle cameras；wiIt is taken the photograph for wide-angle
Transverse width of the camera per frame image；ψ is the roll angle of unmanned plane, is tilted to the right as just, it is negative to tilt to the left.
Further, flight attitude progress course line correction is adjusted in the step 2 refers to：
If the deviation in unmanned plane practical flight position and default course line is less than threshold value D, ifThen adjust nobody
Machine flies to the right, ifUnmanned plane is then adjusted to fly to the left；
If the deviation in unmanned plane practical flight position and default course line is greater than or equal to threshold value D, adjustment unmanned plane is pressed
According to initially set airline operation；
Wherein, unmanned plane practical flight position and the calculation formula of default course-line deviation L are：
Wherein, (x0,y0) be unmanned plane practical flight position latitude and longitude coordinates；slatThe length represented for unit latitude
Value；slonThe length value represented for unit longitude；A, B, C are by the current position coordinates (x in initial setting course line1slat,
y1slon) and the next position coordinate (x2slat,y2slon) determine linear equation Ax+By+C=0 coefficient.
Further, the pavement of road image of Zoom camera shooting is detected in the step 2 by road detection system,
And detection in detail is carried out to problem pavement of road and refers to：
Step 21, flight control system adjusts Zoom camera in road detection system according to the result of detection of vision system
Lateral shooting angle shoots pavement of road image, and the calculation formula of the wherein lateral shooting angle of Zoom camera is：Wherein, driIn every the frame image obtained for wide angle cameras road-center position and image center location it
Between lateral distance, the right side of road-center position heart position in the picture is just road-center position heart position in the picture
Left side be negative；For the lateral visual angle of wide angle cameras；wiIt is the transverse width of the every frame image of wide angle cameras；
Step 22, if road detection system judges that the pavement of road image of Zoom camera shooting is that vehicle covers road surface
When, flight control system adjustment unmanned plane enters floating state；
If road detection system judges that the pavement of road image of Zoom camera shooting is problem road surface, flight control system
Adjustment unmanned plane enter floating state, the lens focus of Zoom camera in road detection system is tuned up, Zoom camera into
Row auto-focusing obtains the high-definition picture of road, and Road Detection module is by analyzing the high-definition picture problem of implementation
Zoom camera is recalled to original state ended questions road surface and is detected in detail by the detailed detection on road surface；
Step 23, after waiting for that vehicle leaves the detection in detail of road surface to be detected or problem road surface, flight control system adjusts nothing
It is man-machine to continue to fly.
Compared with prior art, the present invention has the following technical effects：
1, high degree of automation of the present invention can automatically be flown according to road route during Road Detection, not depended on
It is controlled in surface personnel.
2, testing result is stored in self-contained memory module by the present invention when carrying out Road Detection, is not necessarily to and ground
It stands communication, therefore is not limited by earth station's communication distance, can be used for remote Road Detection.
3, the present invention realizes Road Detection in the air, can carry different types of video camera or other road detection apparatus,
Road fixed point detection can be realized using unmanned plane hovering function, and road traffic is not interfered during Road Detection, detects model
Enclose wide, detection efficiency height.
In conclusion high degree of automation of the present invention, independent of surface personnel control, do not limited by communication distance
It makes, can be used for remote Road Detection, do not interfere that road traffic, detection range are wide, detection efficiency is high.
Description of the drawings
Fig. 1 is the system block diagram of Road Detection automatic cruising unmanned plane of the present invention；
Fig. 2 is the work flow diagram of Road Detection automatic cruising unmanned plane of the present invention.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The invention discloses a kind of Road Detection unmanned plane, including rack and dynamical system, the dynamical system is fixed on
In rack, which further includes vision system, flight control system, road detection system and earth station system；
The vision system, road detection system are connected with flight control system respectively；
As shown in Figure 1, in the present embodiment, the dynamical system includes power supply, electricity tune, motor and propeller；
In the present embodiment, the vision system includes wide angle cameras and using DSP TMS320DM642 as nuclear structure
Vision-based detection module, which is used to obtain deviation between the practical course line of unmanned plane and road route；
In the present embodiment, the flight control system includes MS-5611 altimeters, integrates three-axis gyroscope and 3-axis acceleration
Six axis MPU6000 sensors of meter, HMC5883 magnetometers, M8N GPS positioning modules and with ATMEGA2560 micro-control units it is
The winged control plate of core, the system are used to adjust the flight attitude of unmanned plane, correct flight deviation；Simultaneously for according to vision system
Result of detection, adjust road detection system in Zoom camera lateral shooting angle；The system is additionally operable to work as Road Detection
When system judges vehicle covering road surface or problem road surface, adjustment unmanned plane enters floating state, and it is to be detected to wait for that vehicle leaves
After road surface or the detection in detail of problem road surface, adjustment unmanned plane continues to fly；
In the present embodiment, the road detection system includes Zoom camera, with DSP TMS320DM6467+FPGA
EP3C25F324 is the Road Detection module and SD card memory module of nuclear structure, and the system by Road Detection module for being examined
The pavement of road image for surveying Zoom camera shooting judges whether the pavement image is that vehicle covers road surface or problem road surface,
And problem road surface is detected in detail, the information of road surface and location information on the road surface of vehicle covering or problem road surface are preserved
In a storage module, all pavement of road images and its corresponding location information shot during Road Detection are also stored in and deposit
It stores up in module；
In the present embodiment, the earth station system includes Divine Land k590s PC machine and in the PC machine
The ground Mission Planner station software, the system is for drawing preset unmanned plane course line；
In the present embodiment, the dynamical system, vision system, flight control system and road detection system are each attached to rack
On.
Wherein, vision system obtains drift angle of the road route with respect to unmanned plane vertical direction using following formula：
Wherein,Drift angle for road route with respect to unmanned plane vertical direction, driThe every frame figure obtained for wide angle cameras
The lateral distance between road-center position and image center location as in, the right side of road-center position heart position in the picture
For just, the left side of road-center position heart position in the picture is negative；For the lateral visual angle of wide angle cameras；wiIt is taken the photograph for wide-angle
Transverse width of the camera per frame image；ψ is the roll angle of unmanned plane, is tilted to the right as just, it is negative to tilt to the left.
Flight control system adjusts the flight attitude of unmanned plane, and correction flight deviation refers to：
Default course line provides rough flight path for unmanned plane, and in practical flight, flight control system can combine vision system
The result of detection of system adjusts flight path, so that unmanned plane is flown automatically along the route of real road, unmanned plane is held in flight
The following navigation rule of row：
If the deviation in unmanned plane practical flight position and default course line is less than threshold value D, ifThen adjust nobody
Machine flight attitude flies to the right, ifUnmanned plane during flying posture is then adjusted to fly to the left；
If the deviation in unmanned plane practical flight position and default course line is greater than or equal to threshold value D, adjustment unmanned plane is pressed
According to initially set airline operation.
Wherein, the calculation formula of unmanned plane practical flight position and default course-line deviation L：
Wherein, (x0,y0) be unmanned plane practical flight position latitude and longitude coordinates；slatThe length represented for unit latitude
Value；slonThe length value represented for unit longitude；A, B, C are by the current position coordinates (x in initial setting course line1slat,
y1slon) and the next position coordinate (x2slat,y2slon) determine linear equation Ax+By+C=0 coefficient.
Road detection system detects the pavement of road image of Zoom camera shooting by Road Detection module, judges the road
Whether face image is vehicle covering road surface or problem road surface, and carries out detection in detail to problem road surface and refer to：
First, flight control system adjusts the cross of Zoom camera in road detection system according to the result of detection of vision system
Pavement of road image is shot to shooting angle, the calculation formula of the wherein lateral shooting angle of Zoom camera is：Wherein, driIn every the frame image obtained for wide angle cameras road-center position and image center location it
Between lateral distance, the right side of road-center position heart position in the picture is just road-center position heart position in the picture
Left side be negative；For the lateral visual angle of wide angle cameras；wiIt is the transverse width of the every frame image of wide angle cameras；
Secondly, if road detection system judges that the pavement of road image of Zoom camera shooting is that vehicle covers road surface
When, flight control system adjustment unmanned plane enters floating state；
If road detection system judges that the pavement of road image of Zoom camera shooting is problem road surface, flight control system
Adjustment unmanned plane enter floating state, the lens focus of Zoom camera in road detection system is tuned up, Zoom camera into
Row auto-focusing obtains the high-definition picture of road, and Road Detection module is by analyzing the high-definition picture problem of implementation
Zoom camera is recalled to original state ended questions road surface and is detected in detail by the detailed detection on road surface；
Finally, after waiting for that vehicle leaves the detection in detail of road surface to be detected or problem road surface, flight control system adjusts nobody
Machine continues to fly.
Further, the unmanned plane further includes wireless data transmission module or USB interface, the wireless data transmission module
Including aerial module and earth module, the aerial module is fixed on the rack, and is connect with flight control system, the ground
Module is connect with the PC machine in earth station system, and the USB interface can match connection with the PC machine in earth station system.This reality
It applies in example, using 3DR wireless data transmission modules.
Further, the automatic cruising method of the Road Detection unmanned plane includes the following steps：
Step 1, default course line is imported in unmanned plane；
Step 2, start Road Detection unmanned plane, setting unmanned plane is automatic offline mode, and unmanned plane is according to flight control system
The course data of middle setting flies automatically, and vertical with respect to unmanned plane by vision system acquisition road route in flight course
The drift angle in direction, adjustment flight attitude carry out course line correction；Zoom camera shooting is detected by road detection system simultaneously
Pavement of road image, and problem pavement of road is detected in detail, by the information of road surface on detailed test problems road surface and position
Information preservation in a storage module, all pavement of road images and its corresponding location information shot during Road Detection
It preserves in a storage module；
Step 3, after Road Detection, unmanned plane makes a return voyage.
As shown in Fig. 2, in the present embodiment, the course of work of Road Detection automatic cruising unmanned plane is：First in Mission
The itinerant map of Road Detection is drawn on the station software of the ground Planner, it secondly will using USB data transmission line or wireless data transmission module
In the course data write-in flight control system of Road Detection, then start Road Detection automatic cruising unmanned plane, setting unmanned plane is
Automatic offline mode, unmanned plane fly automatically according to the course data set in flight control system, and by regarding in flight course
Feel the deviation of system detectio flight path and road route, adjustment flight attitude carries out course line correction, while passing through Road Detection
System carries out Road Detection, the information of road surface and location information on the situation of road and problem road surface is stored in memory module, most
After make a return voyage.
Further, in step 2 drift angle of the road route with respect to unmanned plane vertical direction is obtained using following formula：
Wherein,Drift angle for road route with respect to unmanned plane vertical direction, driThe every frame figure obtained for wide angle cameras
The lateral distance between road-center position and image center location as in, the right side of road-center position heart position in the picture
For just, the left side of road-center position heart position in the picture is negative；For the lateral visual angle of wide angle cameras；wiIt is taken the photograph for wide-angle
Transverse width of the camera per frame image；ψ is the roll angle of unmanned plane, is tilted to the right as just, it is negative to tilt to the left.
Further, step 1 presets course line and provides rough flight path for unmanned plane, in practical flight, flies control system
System can adjust flight path in conjunction with the result of detection of vision system, so that unmanned plane is flown automatically along the route of real road, nothing
It is man-machine that following navigation rule is executed in flight：
If the deviation in unmanned plane practical flight position and default course line is less than threshold value D, ifThen adjust nobody
Machine flight attitude flies to the right, ifUnmanned plane during flying posture is then adjusted to fly to the left；
If the deviation in unmanned plane practical flight position and default course line is greater than or equal to threshold value D, adjustment unmanned plane is pressed
According to initially set airline operation.
Wherein, the calculation formula of unmanned plane practical flight position and default course-line deviation L：
Wherein, (x0,y0) be unmanned plane practical flight position latitude and longitude coordinates；slatThe length represented for unit latitude
Value；slonThe length value represented for unit longitude；A, B, C are by the current position coordinates (x in initial setting course line1slat,
y1slon) and the next position coordinate (x2slat,y2slon) determine linear equation Ax+By+C=0 coefficient.
The pavement of road image of Zoom camera shooting is detected in step 2 by road detection system, and to problem road
Road surface carries out detection in detail：
Step 21, flight control system adjusts Zoom camera in road detection system according to the result of detection of vision system
Lateral shooting angle shoots pavement of road image, and the calculation formula of the wherein lateral shooting angle of Zoom camera is：Wherein, driIn every the frame image obtained for wide angle cameras road-center position and image center location it
Between lateral distance, the right side of road-center position heart position in the picture is just road-center position heart position in the picture
Left side be negative；For the lateral visual angle of wide angle cameras；wiIt is the transverse width of the every frame image of wide angle cameras；
Step 22, if road detection system judges that the pavement of road image of Zoom camera shooting is that vehicle covers road surface
When, flight control system adjustment unmanned plane enters floating state；
If road detection system judges that the pavement of road image of Zoom camera shooting is problem road surface, flight control system
Adjustment unmanned plane enter floating state, the lens focus of Zoom camera in road detection system is tuned up, Zoom camera into
Row auto-focusing obtains the high-definition picture of road, and Road Detection module is by analyzing the high-definition picture problem of implementation
Zoom camera is recalled to original state ended questions road surface and is detected in detail by the detailed detection on road surface；
Step 23, after waiting for that vehicle leaves the detection in detail of road surface to be detected or problem road surface, flight control system adjusts nothing
It is man-machine to continue to fly.
After unmanned plane makes a return voyage, the content of memory module storage is consulted by surface personnel, and staff is to Road Detection
As a result it is verified, and is given notice to the nearest road maintenance unit in distance problem road surface, problem road surface is responsible for by the unit
Maintenance work.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention
Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention
In the protection domain of art scheme.
Claims (7)
1. a kind of Road Detection unmanned plane, including rack and dynamical system, the dynamical system are fixed on the rack, feature exists
In further including vision system, flight control system, road detection system and earth station system；
The vision system, road detection system are connected with flight control system respectively；
The vision system includes wide angle cameras and vision-based detection module, the wide angle cameras and vision-based detection module
It is connected, the system is for obtaining drift angle of the road route with respect to unmanned plane vertical direction；
The road detection system includes Zoom camera, Road Detection module and memory module, the Zoom camera
It is separately connected with Road Detection module, memory module, which is used to detect Zoom camera shooting by Road Detection module
Pavement of road image, judge whether the pavement image is vehicle covering road surface or problem road surface, and carry out to problem road surface
Detection in detail preserves the information of road surface and location information on the road surface of vehicle covering or problem road surface in a storage module, road
All pavement of road images shot in the detection process of road and its corresponding location information also preserve in a storage module；
The flight control system includes altimeter, gyroscope, magnetometer, accelerometer, locating module and flies control plate, wherein height
Meter, gyroscope, magnetometer, accelerometer, locating module are connected with by the winged control plate of core of micro-control unit respectively, this is
The flight attitude united for adjusting unmanned plane corrects flight deviation；Simultaneously for the result of detection according to vision system, road is adjusted
The lateral shooting angle of Zoom camera in the detecting system of road；The system is additionally operable to judge that vehicle covers when road detection system
When road surface or problem road surface, adjustment unmanned plane enters floating state, and it is detailed to wait for that vehicle leaves road surface to be detected or problem road surface
After detection, adjustment unmanned plane continues to fly；
The earth station system includes PC machine and the ground station software in PC machine, the default boat for drawing unmanned plane
Line；
Vision system, flight control system and the road detection system is each attached in rack；
The vision system obtains drift angle of the road route with respect to unmanned plane vertical direction using following formula：
Wherein,Drift angle for road route with respect to unmanned plane vertical direction, driIn the every frame image obtained for wide angle cameras
Lateral distance between road-center position and image center location；For the lateral visual angle of wide angle cameras；wiIt is taken the photograph for wide-angle
Transverse width of the camera per frame image；ψ is the roll angle of unmanned plane, is tilted to the right as just, it is negative to tilt to the left.
2. Road Detection unmanned plane as described in claim 1, which is characterized in that the flight of the flight control system adjustment unmanned plane
Posture, correction flight deviation refer to：
If the deviation in unmanned plane practical flight position and default course line is less than threshold value D, ifUnmanned plane is then adjusted to fly
Row posture is flown to the right, ifUnmanned plane during flying posture is then adjusted to fly to the left；
If the deviation in unmanned plane practical flight position and default course line is greater than or equal to threshold value D, adjustment unmanned plane is according to first
Begin the airline operation set；
Wherein, unmanned plane practical flight position and the calculation formula of default course-line deviation L are：
Wherein, (x0,y0) be unmanned plane practical flight position latitude and longitude coordinates；slatThe length value represented for unit latitude；slon
The length value represented for unit longitude；A, B, C are by the current position coordinates (x in initial setting course line1slat,y1slon) and under
One position coordinates (x2slat,y2slon) determine linear equation Ax+By+C=0 coefficient.
3. Road Detection unmanned plane as described in claim 1, which is characterized in that the road detection system is examined by road
The pavement of road image for surveying module detection Zoom camera shooting, judges whether the pavement image is vehicle covering road surface or asks
Road surface is inscribed, and it refers to realizing following functions to carry out detection in detail to problem road surface：
First, flight control system adjusts the lateral of Zoom camera in road detection system and claps according to the result of detection of vision system
Angle is taken the photograph to shoot pavement of road image, the calculation formula of the wherein lateral shooting angle of Zoom camera is：Wherein, driRoad-center position and image center location in the every frame image obtained for wide angle cameras
Between lateral distance, the right side of road-center position heart position in the picture is just road-center position heart position in the picture
The left side set is negative；For the lateral visual angle of wide angle cameras；wiIt is the transverse width of the every frame image of wide angle cameras；
Secondly, if road detection system judges that the pavement of road image of Zoom camera shooting is that vehicle covers road surface, fly
Control system call interception unmanned plane enters floating state；
If road detection system judges that the pavement of road image of Zoom camera shooting is problem road surface, flight control system adjustment
Unmanned plane enters floating state, and the lens focus of Zoom camera in road detection system is tuned up, and Zoom camera carries out certainly
Dynamic focusing, obtains the high-definition picture of road, Road Detection module is by analyzing the high-definition picture problem of implementation road surface
Detailed detection, Zoom camera is recalled to original state ended questions road surface and is detected in detail；
Finally, after waiting for that vehicle leaves the detection in detail of road surface to be detected or problem road surface, flight control system adjust unmanned plane after
Continuous flight.
4. Road Detection unmanned plane described in accordance with the claim 1, which is characterized in that the unmanned plane further includes wireless data sending
Module or USB interface, the wireless data transmission module include aerial module and earth module, and the aerial module is fixed on
It in rack, and is connect with flight control system, the PC machine connection in the earth module and earth station system, the USB interface
It can match and connect with the PC machine in earth station system.
5. a kind of Road Detection unmanned plane automatic cruising method, includes the following steps：
Step 1, default course line is imported in unmanned plane；
Step 2, start Road Detection unmanned plane, setting unmanned plane is automatic offline mode, and unmanned plane is set according in flight control system
Fixed course data flies automatically, and obtains road route with respect to unmanned plane vertical direction by vision system in flight course
Drift angle, adjustment flight attitude carry out course line correction；The road of Zoom camera shooting is detected by road detection system simultaneously
Pavement image, and problem pavement of road is detected in detail, by the information of road surface and location information on detailed test problems road surface
It preserves in a storage module, all pavement of road images and its corresponding location information shot during Road Detection also preserve
In a storage module；
Step 3, after Road Detection, unmanned plane makes a return voyage；
In the step 2 drift angle of the road route with respect to unmanned plane vertical direction is obtained using following formula：
Wherein,Drift angle for road route with respect to unmanned plane vertical direction, driIn the every frame image obtained for wide angle cameras
The right side of lateral distance between road-center position and image center location, road-center position heart position in the picture is
Just, the left side of road-center position heart position in the picture is negative；For the lateral visual angle of wide angle cameras；wiFor wide-angle imaging
Transverse width of the machine per frame image；ψ is the roll angle of unmanned plane, is tilted to the right as just, it is negative to tilt to the left.
6. Road Detection unmanned plane automatic cruising method as claimed in claim 5, which is characterized in that adjusted in the step 2
Flight attitude carries out course line correction：
If the deviation in unmanned plane practical flight position and default course line is less than threshold value D, ifThen adjust unmanned plane to
Right flight, ifUnmanned plane is then adjusted to fly to the left；
If the deviation in unmanned plane practical flight position and default course line is greater than or equal to threshold value D, adjustment unmanned plane is according to first
Begin the airline operation set；
Wherein, unmanned plane practical flight position and the calculation formula of default course-line deviation L are：
Wherein, (x0,y0) be unmanned plane practical flight position latitude and longitude coordinates；slatThe length value represented for unit latitude；slon
The length value represented for unit longitude；A, B, C are by the current position coordinates (x in initial setting course line1slat,y1slon) and under
One position coordinates (x2slat,y2slon) determine linear equation Ax+By+C=0 coefficient.
7. Road Detection unmanned plane automatic cruising method according to claim 5, which is characterized in that lead in the step 2
The pavement of road image of road detection system detection Zoom camera shooting is crossed, and carry out detection in detail to problem pavement of road to be
Refer to：
Step 21, flight control system adjusts the transverse direction of Zoom camera in road detection system according to the result of detection of vision system
Shooting angle shoots pavement of road image, and the calculation formula of the wherein lateral shooting angle of Zoom camera is：Wherein, driRoad-center position and image center location in the every frame image obtained for wide angle cameras
Between lateral distance, the right side of road-center position heart position in the picture is just road-center position heart position in the picture
The left side set is negative；For the lateral visual angle of wide angle cameras；wiIt is the transverse width of the every frame image of wide angle cameras；
Step 22, if road detection system judges that the pavement of road image of Zoom camera shooting is that vehicle covers road surface,
Flight control system adjustment unmanned plane enters floating state；
If road detection system judges that the pavement of road image of Zoom camera shooting is problem road surface, flight control system adjustment
Unmanned plane enters floating state, and the lens focus of Zoom camera in road detection system is tuned up, and Zoom camera carries out certainly
Dynamic focusing, obtains the high-definition picture of road, Road Detection module is by analyzing the high-definition picture problem of implementation road surface
Detailed detection, Zoom camera is recalled to original state ended questions road surface and is detected in detail；
Step 23, after waiting for that vehicle leaves the detection in detail of road surface to be detected or problem road surface, flight control system adjusts unmanned plane
Continue to fly.
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| CN107117313B (en) * | 2017-05-24 | 2019-03-12 | 东南大学 | A kind of unmanned plane road detection system based on BIM |
| DE102017005087A1 (en) | 2017-05-29 | 2018-11-29 | Preh Car Connect Gmbh | Providing a route for an unmanned aerial vehicle by means of a navigation device |
| CN107092268A (en) * | 2017-06-01 | 2017-08-25 | 西北工业大学 | It is a kind of that cruise control system is remotely pinpointed based on the GPRS 4G unmanned planes communicated |
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| CN108417041A (en) * | 2018-05-15 | 2018-08-17 | 江苏大学 | A kind of backroad monitoring system and method based on quadrotor and Cloud Server |
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| CN109610281B (en) * | 2018-12-19 | 2020-12-29 | 山东交通学院 | Road safety pavement repair information system and method |
| CN109978913A (en) * | 2019-03-01 | 2019-07-05 | 北京航空航天大学 | A kind of unmanned machine head automatically tracks the method and system in railway region |
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| CN112162565B (en) * | 2020-08-21 | 2023-05-30 | 云南电网有限责任公司昆明供电局 | Uninterrupted self-main-pole tower inspection method based on multi-machine collaborative operation |
| CN112285119A (en) * | 2020-10-30 | 2021-01-29 | 南通大学 | Oil-gas pipeline crack detection method based on unmanned locomotive cooperation |
| CN113359799A (en) * | 2021-06-25 | 2021-09-07 | 广西翼界科技有限公司 | Remote directional monitoring system based on unmanned aerial vehicle |
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