CN109814600A - A kind of unmanned plane cable tunnel inspection flying method - Google Patents
A kind of unmanned plane cable tunnel inspection flying method Download PDFInfo
- Publication number
- CN109814600A CN109814600A CN201910185232.1A CN201910185232A CN109814600A CN 109814600 A CN109814600 A CN 109814600A CN 201910185232 A CN201910185232 A CN 201910185232A CN 109814600 A CN109814600 A CN 109814600A
- Authority
- CN
- China
- Prior art keywords
- image
- unmanned plane
- cable tunnel
- flight
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of unmanned plane cable tunnel inspection flying methods, including following line flight, it is described that follow line flight include: selection and the apparent highlight color of cable tunnel ambient enviroment contrast, between the Origin And Destination for needing inspection tunnel can the center of flight range be laid with the guide line of this color.Then, front realtime graphic is obtained using camera, and carries out area-of-interest cutting, improve the real-time of system.Color extraction is carried out again, and carries out binaryzation, and morphologic filtering is carried out to the image after binaryzation, noise is removed for the extraction of guide line, finally scan binaryzation after image, and use least square method fitting a straight line, thus acquired unmanned plane lower a moment fly pose.Inspection flying method in unmanned plane cable tunnel of the present invention, without being laid with track, it is only necessary to the guide line of a highlight color be set, so that routing inspection cost is low, and be avoided that the problem of equipment is placed in the tunnel environment of dark humidity for a long time and is easily damaged.
Description
Technical field
The present invention relates to unmanned plane inspection technical fields, in particular to a kind of to use unmanned plane in tunnel when inspection cable
Barrier-avoiding method.
Background technique
Cable tunnel refers to corridor or tunnel type structures for accommodating the cable being largely laid on cable bearer, electricity
Cable tunnel is in addition to allowing tunnel that can preferably protect cable, additionally it is possible to keep people all very convenient to the inspection and maintenance of cable.It is close several
Year, the large- and-medium size cities cable tunnel in China quickly grows, and to become in a manner of main cable laying, but cable tunnel patrols
Work is examined mainly or by the way of manual inspection.Since narrow space, darkness and presence are greatly safe in cable tunnel
Hidden danger, this undoubtedly increases difficulty to the work of cable inspection staff.
To reduce inspection work difficulty, the auxiliary inspection device of some similar machine people starts to occur.Such as application No. is
CN201711260702.3, the entitled a kind of detection device and method of cable tunnel cable integrity, application No. is
CN201010611296.2, entitled cable tunnel inspection robot, application No. is CN201810701507.8, invention names
Referred to as a kind of cable tunnel intelligent checking system, application No. is CN201110280933.7, entitled crawler type electricity
Cable tunnel crusing robot is a kind of crawler type crusing robot.These equipment can help people to mitigate inspection to a certain extent
Working strength, but robot carries out inspection and there is installation O&M cost height, detection device is in the dark moist ring in tunnel for a long time
Under border, equipment is easily damaged；And in the case where the emergency situations such as fire occur, existing cable tunnel crusing robot cannot work.
In addition, application No. is CN201810990106.9, a kind of entitled " intelligent patrol detection unmanned plane of cable tunnel
The patent of system " proposes a kind of multi-rotor unmanned aerial vehicle cruising inspection system building plan, but does not disclose how to realize automatic
The concrete scheme of inspection, and do not account for how realizing cable inspection in the event of fire.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of unmanned plane cable tunnel inspection flying methods, to solve nobody
The technical problem of autonomous flight and avoidance of the machine under cable tunnel small space and complex environment, and solve in cable tunnel
There are the technology hardly possiblies that unmanned plane autonomous flight in tunnel how is realized under a large amount of smoke conditions in appearance fire condition, tunnel
Topic.
Inspection flying method in unmanned plane cable tunnel of the present invention, including line flight is followed, the line that follows flies including following step
It is rapid:
1) guide line is arranged in the intermediate of pavement in the middle part of cable tunnel, and the color of the guide line is and cable tunnel week
The apparent highlight color of collarette border contrast；
2) unmanned plane acquires the pavement image in flight front by camera, and to the image zooming-out region of interest of acquisition
Domain；
3) then the region of interest area image of extraction is converted it into HSV color space, then root with the storage of RGB model
Guide line color region pixel is set to 255 by the trend that guide line is extracted according to the color characteristic of guide line, other regions are set to
0, to realize image binaryzation；
4) denoising is carried out to the binary image that step 3) obtains；
5) using the transverse direction of the binary image after removing dryness as x-axis, longitudinal centre line is as y-axis, and to two after removing dryness
Value image, using by the way of ten row run-downs, is gone respectively to what is scanned again from the row or so since the first row
Pixel coordinate that both direction scanning element value is 255 is simultaneously recorded, and is sat to two pixels at most side at left and right sides of the row
Mark averages to obtain intermediate point coordinate, then straight with least square method fitting is carried out to all intermediate point coordinates extracted
Line acquires the point slope form i.e. y=kx+b of straight line, and the slope k by calculating straight line obtains angle of the guide line relative to y-axis,
Because on the y axis, therefore guide line relative to the angle of y-axis is the yaw angle of unmanned plane subsequent time, and passes through at unmanned plane
The center coordinate for calculating straight line obtains unmanned plane relative to guidance in the coordinate difference of x-axis direction with coordinate at image center
The left and right offset distance of line, last flight controller control under unmanned plane for the moment according to the offset distance of yaw angle and left and right directions
The pose at quarter.
Further, the unmanned plane cable tunnel inspection flying method further includes using the smog being set on unmanned plane
Smog in sensor detection cable tunnel, it is collected to step 2) camera when detecting has smog in cable tunnel
Pavement image first carries out smoke treated with Retinex algorithm, and sharp according to going the bright darkness of image after smoke treated to carry out
Change processing, then carries out region of interesting extraction again.
Further, further include avoidance flight, obstacle detouring flight the following steps are included:
A) flight preceding object is acquired by the way that the ultrasonic sensor of its front end of unmanned plane, top and left and right is arranged in
Object information, and mean filter is carried out to collected data, then find out the average value of each ultrasonic sensor detection data, according to
Whether the average value disturbance in judgement object is in the safe distance of flight；And the monocular-camera by the way that unmanned plane front end is arranged in is adopted
Collect the image of barrier；
B) to the barrier in safe distance, the comentropy of the obstructions chart picture of monocular-camera acquisition, figure are detected
The unitary gray level entropy of picture indicates the information content that the aggregation characteristic of intensity profile in image is included, and entropy is small, wraps in representative image
The information content contained is small, then it is assumed that image grayscale is more uniform, and barrier is not included in image；Conversely, grey scale change is big in image, then
Think there is barrier in image；Pi is enabled to indicate that gray value is ratio shared by the pixel of i in image, then defines the one of gray level image
First gray level entropy are as follows:
The unitary gray level entropy of image is compared with the threshold value of setting, if the unitary gray level entropy of image is less than threshold value,
Then determine that barrier is cable tunnel wall；If image information entropy is greater than threshold value, then it is assumed that be other barriers；The threshold value is logical
Live multiple groups experimental calculation is crossed to obtain；
If disturbance in judgement object is wall, the pose of unmanned plane is adjusted according to left and right ultrasonic sensor detection data
Realize obstacle detouring；
If disturbance in judgement object is other barriers, obstacle detouring is realized by up-down mode, and rise again after clearing the jumps
Original height is dropped to continue to follow line flight.
Further, the maximum field of view angle of camera is 60 degree in the step 2), and the focal length f of camera is 3.7 × 10-3M,
The pixel size μ of camera is 3.0 × 10-6The vertical range on rice, phase camera and pavement is 1 meter, the maximum measurement of camera
Distance is 5 meters,
The then length L of the area-of-interest in vertical direction are as follows:
L=30.60 × μ-(1/5) * f
Because pinhole camera model at picture for stand upside down picture, then area-of-interest accounts for the ratio w of whole image are as follows:
W=L/ (720* μ) ≈ 0.20
In vertical direction, the region from image base to line number for 240 is cut as area-of-interest, by other parts
Give up as irrelevant portions；Retain in the horizontal direction using whole columns as area-of-interest.
Beneficial effects of the present invention:
1, inspection flying method in unmanned plane cable tunnel of the present invention, without being laid with track, it is only necessary to be arranged one and highlight
The guide line of color so that routing inspection cost is low, and is avoided that equipment is placed in the tunnel environment of dark humidity for a long time and is easy
The problem of damage.
2, inspection flying method in unmanned plane cable tunnel of the present invention, in addition to alloing unmanned plane under tunnel normal condition
Inspection can also make unmanned plane carry out inspection when being full of smog in fire tunnel early period, improve unmanned plane and follow line
Reliability, system suitability are good.
3, inspection flying method in unmanned plane cable tunnel of the present invention, devises on unmanned plane under cable tunnel scene
Obstacle detector, the information of barrier is detected in such a way that vision is combined with ultrasonic wave, and propose corresponding
Robot dodge strategy makes unmanned plane have certain obstacle avoidance ability, further improves system suitability.
Detailed description of the invention
Fig. 1 is that unmanned plane in cable tunnel follows line flight schematic diagram；
Fig. 2 is image preprocessing flow chart of the unmanned plane when following line flight；
Fig. 3 is that area-of-interest calculates schematic diagram；
Fig. 4 is yaw angle and left and right offset distance schematic diagram, in figure, and: ɑ is yaw angle, β be image center to fitting directly
The distance of line central point；
Fig. 5 is Retinex theory schematic diagram；
Fig. 6 is obstacle avoidance flow chart.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
A kind of unmanned plane cable tunnel inspection flying method of the present embodiment, including follow line flight, it is described follow line flight include
Following steps:
1) guide line is arranged in the intermediate of pavement in the middle part of cable tunnel, and the color of the guide line is and cable tunnel week
The apparent highlight color of collarette border contrast.Cable tunnel inner width is 2400mm under normal conditions, and tunnel both sides construct
Cable frame is equipped with several cable channels, and tunnel intermediate floor part is pavement, and width is usually 1000mm, for
Walk when manual inspection, thus unmanned plane can flight range only have 1000mm.This step can be among flight range unmanned plane
It is laid with highlighted guide line in advance, it is therefore intended that instruct the flight attitude of unmanned plane subsequent time.
2) unmanned plane acquires the pavement image in flight front by camera, and to the image zooming-out region of interest of acquisition
Domain.As shown in figure 3, the maximum field of view angle of the camera employed in this step is 60 degree, the focal length f of camera is 3.7 × 10- 3M, the pixel size μ of camera are 3.0 × 10-6Rice；The vertical range on phase camera and pavement is 1 meter, and the maximum of camera is surveyed
Span can then calculate angle ∠ β from being 5 meters:
∠ α=∠ β=arctan (1/5)
The then length L of the area-of-interest in vertical direction are as follows:
L=30.60 × μ-(1/5) * f
Because pinhole camera model at picture for stand upside down picture, then area-of-interest accounts for the ratio w of whole image are as follows:
W=L/ (720* μ) ≈ 0.20
In vertical direction, the region from image base to line number for 240 is cut as area-of-interest, by other parts
Give up as irrelevant portions；Retain in the horizontal direction using whole columns as area-of-interest.
Certainly in specific implementation, the camera of other parameters model, but area-of-interest in this step also may be selected
Extracting method is equally applicable.
3) then the region of interest area image of extraction is converted it into HSV color space, then root with the storage of RGB model
Guide line color region pixel is set to 255 by the trend that guide line is extracted according to the color characteristic of guide line, other regions are set to
0, to realize image binaryzation.Compared to RGB model, hsv color space is more in line with the visual experience and color body of the mankind
It tests.
4) denoising is carried out to the binary image that step 3) obtains.Although having extracted guide line by step 3),
But since there are noises, it is therefore desirable to remove noise by suitable denoising method.For the small black holes in binary image
And tiny whippletree, noise is eliminated using opening operation, closed operation respectively in the present embodiment.
5) using the transverse direction of the binary image after removing dryness as x-axis, longitudinal centre line is as y-axis, and to two after removing dryness
Value image, using by the way of ten row run-downs, is gone respectively to what is scanned again from the row or so since the first row
Pixel coordinate that both direction scanning element value is 255 is simultaneously recorded, and is sat to two pixels at most side at left and right sides of the row
Mark averages to obtain intermediate point coordinate, then straight with least square method fitting is carried out to all intermediate point coordinates extracted
Line acquires the point slope form i.e. y=kx+b of straight line, and the slope k by calculating straight line obtains angle of the guide line relative to y-axis,
Because on the y axis, therefore guide line relative to the angle of y-axis is the yaw angle of unmanned plane subsequent time, and passes through at unmanned plane
The center coordinate for calculating straight line obtains unmanned plane relative to guidance in the coordinate difference of x-axis direction with coordinate at image center
The left and right offset distance of line, last flight controller control under unmanned plane for the moment according to the offset distance of yaw angle and left and right directions
The pose at quarter.
Inspection flying method in unmanned plane cable tunnel in the present embodiment, without being laid with track in tunnel, it is only necessary to
The guide line of one highlight color is set in tunnel, so that routing inspection cost is low, and is avoided that equipment is placed on dark humidity for a long time
Tunnel environment in and the problem of be easily damaged.
The unmanned plane cable tunnel inspection flying method further includes using to be set to as a further modification of the present embodiment,
The smog in smoke sensor device detection cable tunnel on unmanned plane, when detecting has smog in cable tunnel, to step 2)
The collected pavement image of camera first carries out smoke treated with Retinex algorithm, and according to removing the figure after smoke treated
As bright darkness is sharpened processing, region of interesting extraction is then carried out again.
Cable occurs before fire all along with the damage of cable insulation, when fault point temperature height to a certain extent, will
It gives out a foul smell, can then smolder, if handling not in time, then cable starts to burn, fire-fighting work at this time would become hard to carry out.Therefore
It just sends unmanned plane inspection to pass fire in tunnel situation back in fire early period of origination, then being very helpful for fire extinguishing, can subtract
Few fire bring harm.
This improvement carries out smoke treated using Retinex algorithm, and is sharpened according to the bright darkness of image after defogging
Processing, available picture quality better image, so as to improve the reliability that unmanned plane follows line, so that unmanned plane is not only
Can the inspection under tunnel normal condition, can also make unmanned plane in fire tunnel early period be full of smog when patrolled
Inspection, system suitability are good.
As the further improvement to above embodiments, the unmanned plane cable tunnel inspection flying method further includes keeping away
Barrier flight.Because nobody setting flying height is in 1m or so, therefore the barrier in tunnel is mainly to be arranged on pavement
Obstruction；But in tunnel sharp turn, cable tunnel wall may also become obstruction.The obstacle detouring flight includes following step
It is rapid:
A) flight preceding object is acquired by the way that the ultrasonic sensor of its front end of unmanned plane, top and left and right is arranged in
Object information, and mean filter is carried out to collected data, then find out the average value of each ultrasonic sensor detection data, according to
Whether the average value disturbance in judgement object is in the safe distance of flight；And the monocular-camera by the way that unmanned plane front end is arranged in is adopted
Collect the image of barrier.
By calculating ultrasonic wave aerial two-way time when ultrasonic distance measurement, and the speed of known ultrasonic wave is about
340m/s, so that it may be calculated by formula s=(v*t)/2 from the distance between object.It is missed since sensor measurement data exists
Difference, therefore can be by using formula to the n group data of measurement:Carry out mean filter, x in formulaiFor ultrasonic sensor
Range accuracy can be improved in detected value.
B) to the barrier in safe distance, the comentropy of the obstructions chart picture of monocular-camera acquisition, figure are detected
The unitary gray level entropy of picture indicates the information content that the aggregation characteristic of intensity profile in image is included, and entropy is small, wraps in representative image
The information content contained is small, then it is assumed that image grayscale is more uniform, and barrier is not included in image；Conversely, grey scale change is big in image, then
Think there is barrier in image；Pi is enabled to indicate that gray value is ratio shared by the pixel of i in image, then defines the one of gray level image
First gray level entropy are as follows:
The unitary gray level entropy of image is compared with the threshold value of setting, if the unitary gray level entropy of image is less than threshold value,
Then determine that barrier is cable tunnel wall；If image information entropy is greater than threshold value, then it is assumed that be other barriers；The threshold value is logical
Live multiple groups experimental calculation is crossed to obtain；
If disturbance in judgement object is wall, the pose of unmanned plane is adjusted according to left and right ultrasonic sensor detection data
Realize obstacle detouring.The ultrasonic sensor being mounted on the left and right direction of unmanned plane is primarily to reduce unmanned plane collision cable tunnel
Road inner wall makes unmanned plane fly always in the center in tunnel according to the data that it is measured；If being biased to a wherein side, adjust
Whole UAV position and orientation makes it keep center.
If disturbance in judgement object is other barriers, obstacle detouring is realized by up-down mode, and rise again after clearing the jumps
Original height is dropped to continue to follow line flight.The ultrasonic pen sensor main function being mounted on above unmanned plane is adopted in unmanned plane
It takes the mode avoidance of lifting to detect the distance design of tunnel upper in the process, unmanned plane is avoided to touch above cable tunnel
It hits.
This improvement unmanned plane cable tunnel inspection flying method, devises on unmanned plane under cable tunnel scene
Obstacle detector, and corresponding Robot dodge strategy is proposed, make unmanned plane that there is certain obstacle avoidance ability, further improves
System suitability.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (4)
1. a kind of unmanned plane cable tunnel inspection flying method, it is characterised in that: including follow line flight, it is described follow line flight include
Following steps:
1) the intermediate of pavement is arranged guide line in the middle part of cable tunnel, the color of the guidance conducting wire be with around cable tunnel
The apparent highlight color of environmental Comparison degree；
2) unmanned plane acquires the pavement image in flight front by camera, and to the image zooming-out area-of-interest of acquisition；
3) then the region of interest area image of extraction is converted it into HSV color space, further according to drawing with the storage of RGB model
The color characteristic of conducting wire extracts the trend of guide line, and guide line color region pixel is set to 255, other regions are set to 0, from
And realize image binaryzation；
4) denoising is carried out to the binary image that step 3) obtains；
5) using the transverse direction of the binary image after removing dryness as x-axis, longitudinal centre line is as y-axis, and to the binaryzation after removing dryness
Image, using by the way of ten row run-downs, is gone respectively to what is scanned again from the row or so two since the first row
Pixel coordinate that direction scanning element value is 255 is simultaneously recorded, and is asked two pixel coordinates at most side at left and right sides of the row
Average value obtains intermediate point coordinate, is then asked with least square method fitting a straight line is carried out all intermediate point coordinates extracted
Point slope form, that is, the y=kx+b for obtaining straight line, the slope k by calculating straight line obtains angle of the guide line relative to y-axis, because of nobody
At machine on the y axis, thus guide line relative to the angle of y-axis be unmanned plane subsequent time yaw angle, and it is straight by calculating
Coordinate obtains a left side of the unmanned plane relative to guide line in the coordinate difference of x-axis direction at the center coordinate and image center of line
Right offset distance, last flight controller control the position of unmanned plane subsequent time according to the offset distance of yaw angle and left and right directions
Appearance.
2. inspection flying method in unmanned plane cable tunnel according to claim 1, it is characterised in that: further include using setting
Smog in the smoke sensor device detection cable tunnel on unmanned plane, when detecting has smog in cable tunnel, to step
2) the collected pavement image of camera first carries out smoke treated with Retinex algorithm, and according to smoke treated is gone after
The bright darkness of image is sharpened processing, then carries out region of interesting extraction again.
3. inspection flying method in unmanned plane cable tunnel according to claim 1, it is characterised in that: further include that avoidance flies
Row, obstacle detouring flight the following steps are included:
A) flight front obstacle letter is acquired by the way that the ultrasonic sensor of its front end of unmanned plane, top and left and right is arranged in
Breath, and mean filter is carried out to collected data, then find out the average value of each ultrasonic sensor detection data, it is flat according to this
Whether mean value disturbance in judgement object is in the safe distance of flight；And the acquisition barrier of the monocular-camera by the way that unmanned plane front end is arranged in
Hinder the image of object；
B) to the barrier in safe distance, the comentropy of the obstructions chart picture of monocular-camera acquisition is detected, image
Unitary gray level entropy indicates the information content that the aggregation characteristic of intensity profile in image is included, and entropy is small, includes in representative image
Information content is small, then it is assumed that image grayscale is more uniform, and barrier is not included in image；Conversely, grey scale change is big in image, then it is assumed that
There is barrier in image；It enables Pi indicate that gray value is ratio shared by the pixel of i in image, then defines the unitary ash of gray level image
Spend entropy are as follows:
The unitary gray level entropy of image is compared with the threshold value of setting, if the unitary gray level entropy of image is less than threshold value, is sentenced
Determining barrier is cable tunnel wall；If image information entropy is greater than threshold value, then it is assumed that be other barriers；The threshold value passes through existing
Field multiple groups experimental calculation obtains；
If disturbance in judgement object is wall, the pose that unmanned plane is adjusted according to left and right ultrasonic sensor detection data is realized
Obstacle detouring；
If disturbance in judgement object is other barriers, obstacle detouring is realized by up-down mode, and be elevated to again after clearing the jumps
Height originally continues to follow line flight.
4. inspection flying method in unmanned plane cable tunnel according to claim 1, it is characterised in that: taken the photograph in the step 2)
As the maximum field of view angle of head is 60 degree, the focal length f of camera is 3.7 × 10-3M, the pixel size μ of camera are 3.0 × 10-6Rice,
The vertical range on phase camera and pavement is 1 meter, and the maximum measurement distance of camera is 5 meters,
The then length L of the area-of-interest in vertical direction are as follows:
L=30.60 × μ-(1/5) * f
Because pinhole camera model at picture for stand upside down picture, then area-of-interest accounts for the ratio w of whole image are as follows:
W=L/ (720* μ) ≈ 0.20
In vertical direction, cut the region from image base to line number for 240 as area-of-interest, using other parts as
Irrelevant portions are given up；Retain in the horizontal direction using whole columns as area-of-interest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185232.1A CN109814600A (en) | 2019-03-12 | 2019-03-12 | A kind of unmanned plane cable tunnel inspection flying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185232.1A CN109814600A (en) | 2019-03-12 | 2019-03-12 | A kind of unmanned plane cable tunnel inspection flying method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109814600A true CN109814600A (en) | 2019-05-28 |
Family
ID=66608791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910185232.1A Pending CN109814600A (en) | 2019-03-12 | 2019-03-12 | A kind of unmanned plane cable tunnel inspection flying method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109814600A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262546A (en) * | 2019-06-18 | 2019-09-20 | 武汉大学 | A kind of tunnel intelligent unmanned plane cruising inspection system and method |
| CN110796654A (en) * | 2019-10-31 | 2020-02-14 | 上海国际港务（集团）股份有限公司宜东集装箱码头分公司 | Guide wire detection method, device, equipment, tyre crane and medium |
| CN111824000A (en) * | 2020-07-29 | 2020-10-27 | 嘉兴学院 | Using method of unmanned aerial vehicle mobile platform for underground pipe gallery positioning |
| CN112634287A (en) * | 2020-12-25 | 2021-04-09 | 电子科技大学 | Heart magnetic resonance image segmentation method based on interlayer offset correction |
| CN113409642A (en) * | 2021-06-28 | 2021-09-17 | 山东科技大学 | Small-size fire smoke flow simulation experiment and numerical simulation combined system |
| CN113778133A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Unmanned aerial vehicle for coal mine environment |
| CN113791643A (en) * | 2021-10-15 | 2021-12-14 | 杭州云之盟科技有限公司 | Course angle correction method and device for indoor inspection multi-rotor unmanned aerial vehicle and storage medium |
| CN113807348A (en) * | 2021-08-24 | 2021-12-17 | 许继集团有限公司 | High-voltage cable target identification and positioning method and device |
| CN113866551A (en) * | 2021-08-04 | 2021-12-31 | 国网浙江慈溪市供电有限公司 | Portable multifunctional cable fault detection device and cable fault detection method |
| CN115938008A (en) * | 2022-12-28 | 2023-04-07 | 江苏省电力试验研究院有限公司 | Electric power equipment inspection system and inspection method based on acoustic image recognition |
| CN116027798A (en) * | 2022-09-30 | 2023-04-28 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144770A (en) * | 2013-03-19 | 2013-06-12 | 南京航空航天大学 | Full-automatic indoor environment control, obstacle avoidance and navigation type micro aerial vehicle |
| CN105182971A (en) * | 2015-08-21 | 2015-12-23 | 河海大学常州校区 | Obstacle avoidance method for service robot in indoor environment |
| CN106406311A (en) * | 2016-10-14 | 2017-02-15 | 西安电子科技大学 | Robot walking obstacle avoidance method based on information fusion and environmental perception |
| CN107301646A (en) * | 2017-06-27 | 2017-10-27 | 深圳市云洲创新科技有限公司 | Unmanned boat intelligent barrier avoiding method and apparatus based on monocular vision |
| CN108132675A (en) * | 2017-11-23 | 2018-06-08 | 东南大学 | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory |
| EP3388856A1 (en) * | 2015-12-10 | 2018-10-17 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle, and flight state supervising method and monitoring system thereof |
-
2019
- 2019-03-12 CN CN201910185232.1A patent/CN109814600A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144770A (en) * | 2013-03-19 | 2013-06-12 | 南京航空航天大学 | Full-automatic indoor environment control, obstacle avoidance and navigation type micro aerial vehicle |
| CN105182971A (en) * | 2015-08-21 | 2015-12-23 | 河海大学常州校区 | Obstacle avoidance method for service robot in indoor environment |
| EP3388856A1 (en) * | 2015-12-10 | 2018-10-17 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle, and flight state supervising method and monitoring system thereof |
| CN106406311A (en) * | 2016-10-14 | 2017-02-15 | 西安电子科技大学 | Robot walking obstacle avoidance method based on information fusion and environmental perception |
| CN107301646A (en) * | 2017-06-27 | 2017-10-27 | 深圳市云洲创新科技有限公司 | Unmanned boat intelligent barrier avoiding method and apparatus based on monocular vision |
| CN108132675A (en) * | 2017-11-23 | 2018-06-08 | 东南大学 | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory |
Non-Patent Citations (1)
| Title |
|---|
| 余必举: "四轴飞行器单目视觉室内导航的研究与实现", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262546A (en) * | 2019-06-18 | 2019-09-20 | 武汉大学 | A kind of tunnel intelligent unmanned plane cruising inspection system and method |
| CN110262546B (en) * | 2019-06-18 | 2021-07-20 | 武汉大学 | Tunnel intelligent unmanned aerial vehicle inspection method |
| CN110796654A (en) * | 2019-10-31 | 2020-02-14 | 上海国际港务（集团）股份有限公司宜东集装箱码头分公司 | Guide wire detection method, device, equipment, tyre crane and medium |
| CN111824000A (en) * | 2020-07-29 | 2020-10-27 | 嘉兴学院 | Using method of unmanned aerial vehicle mobile platform for underground pipe gallery positioning |
| CN112634287A (en) * | 2020-12-25 | 2021-04-09 | 电子科技大学 | Heart magnetic resonance image segmentation method based on interlayer offset correction |
| CN113409642A (en) * | 2021-06-28 | 2021-09-17 | 山东科技大学 | Small-size fire smoke flow simulation experiment and numerical simulation combined system |
| CN113866551A (en) * | 2021-08-04 | 2021-12-31 | 国网浙江慈溪市供电有限公司 | Portable multifunctional cable fault detection device and cable fault detection method |
| CN113866551B (en) * | 2021-08-04 | 2023-12-15 | 国网浙江慈溪市供电有限公司 | Portable multifunctional cable fault detection device and cable fault detection method |
| CN113778133A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Unmanned aerial vehicle for coal mine environment |
| CN113807348A (en) * | 2021-08-24 | 2021-12-17 | 许继集团有限公司 | High-voltage cable target identification and positioning method and device |
| CN113791643A (en) * | 2021-10-15 | 2021-12-14 | 杭州云之盟科技有限公司 | Course angle correction method and device for indoor inspection multi-rotor unmanned aerial vehicle and storage medium |
| CN116027798A (en) * | 2022-09-30 | 2023-04-28 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
| CN116027798B (en) * | 2022-09-30 | 2023-11-17 | 三峡大学 | Unmanned aerial vehicle power inspection system and method based on image correction |
| CN115938008A (en) * | 2022-12-28 | 2023-04-07 | 江苏省电力试验研究院有限公司 | Electric power equipment inspection system and inspection method based on acoustic image recognition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109814600A (en) | A kind of unmanned plane cable tunnel inspection flying method | |
| CN106203265B (en) | A kind of Construction Fugitive Dust Pollution source monitors automatically and coverage forecasting system and method | |
| CN102175613B (en) | Image-brightness-characteristic-based pan/tilt/zoom (PTZ) video visibility detection method | |
| CN108230344B (en) | Automatic identification method for tunnel water leakage diseases | |
| CN110862033B (en) | Intelligent early warning detection method applied to inclined shaft winch of coal mine | |
| CN112491982A (en) | Refined sensing method based on cloud edge cooperative power transmission line | |
| RU2013142167A (en) | OBSERVATION SYSTEM AND METHOD FOR DETECTING A BLOCKING OR DAMAGE TO AN AERODROME BY EXTERNAL OBJECTS | |
| AU2019222803A1 (en) | Volume measurement apparatus and method | |
| CN106808482B (en) | A kind of crusing robot multisensor syste and method for inspecting | |
| CN100520362C (en) | Method for detecting forest fire fog based on colorful CCD image analysis | |
| RU2010107337A (en) | WAY OF OBSERVATION FOR TAKEOFF AND LANDING SYSTEM AND SYSTEM FOR IMPLEMENTATION OF THE METHOD | |
| CN107981790A (en) | Room area division methods and sweeping robot | |
| CN106710128A (en) | Fire alarm early-warning unmanned aerial vehicle | |
| CN104821056A (en) | Intelligent guarding method based on radar and video integration | |
| CN111157530B (en) | Unmanned aerial vehicle-based safety detection method for power transmission line | |
| CN104063863B (en) | The lower facedown binocular vision system and image processing method monitored for river course | |
| CN111753780B (en) | Transformer substation violation detection system and violation detection method | |
| CN105718964A (en) | Transmission line vibration damper visual detection method | |
| CN110703760A (en) | Newly-increased suspicious object detection method for security inspection robot | |
| CN109614864A (en) | A kind of ground visual angle multi-model undercarriage folding and unfolding condition detection method | |
| Li et al. | The future application of transmission line automatic monitoring and deep learning technology based on vision | |
| CN112329584A (en) | Method, system and equipment for automatically identifying foreign matters in power grid based on machine vision | |
| TW201703504A (en) | Monitoring camera | |
| CN106980810A (en) | A kind of Overheight Vehicles proximity test method incremental based on sensitizing range image outline | |
| CN108563986B (en) | Method and system for judging posture of telegraph pole in jolt area based on long-distance shooting image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190528 |
|
| RJ01 | Rejection of invention patent application after publication |