CN110162076A - A kind of contact net fully-automatic intelligent cruising inspection system and method for inspecting based on unmanned plane - Google Patents
A kind of contact net fully-automatic intelligent cruising inspection system and method for inspecting based on unmanned plane Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The present invention provides a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane, it is related to contact net inspection device technical field, it includes unmanned plane and the working machine that connect with UAV Communication, includes main control chip in unmanned plane and is electrically connected in the winged control module on main control chip, GPS module, image capture module, data transmission module；Working machine includes unmanned plane during flying path setup module and image processing module.Unmanned plane controls winged control module according to the location information of GPS module Real-time Feedback and flies according to desired trajectory, and the image information of contact net is shot by image capture module on the way and is stored on the memory being arranged into image capture module, after unmanned plane makes a return voyage, it is wirelessly communicated by data transmission module and working machine and the image information of acquisition is transferred in working machine, inspection result is obtained by the analytical calculation of working machine.It solves the problems, such as incomplete by manual inspection contact net low efficiency, inspection in the prior art.
Description
Technical field
The present invention relates to contact net inspection device technical fields, complete certainly more particularly to a kind of contact net based on unmanned plane
Dynamic intelligent inspection system.
Background technique
In the railway system of China, it is dynamic to become main traction because of the advantages of its power is big, clean energy for electric propulsion
Power.Important component of the contact net as electric propulsion, it plays the vital task to electric locomotive conveying electric energy, Er Qieyao
Guarantee the continuity and reliability of conveying.Contact net is by contact suspension, supports device, positioning device and pillar and basis four
Part collectively forms, be transported to electric energy on train by contact net and pantograph in operation, guarantees to arrange with this
The basic electric energy of vehicle is supplied.Catenary erection in Along Railway, without spare, it is big by effect of natural conditions, it is easy to break down.
Therefore, how real-time monitoring is carried out to the state of contact net, the operating status for grasping contact net is just particularly important.
China contact net inspection technology is mostly to manually visualize inspection at present, and time planning is not flexible, and manual inspection
Time-consuming, and routing inspection efficiency is low, manual inspection inspection mostly below contact net, and there are certain blind areas, can not comprehensive inspection
Entire contact net system.
Summary of the invention
For the above problem in the prior art, the present invention provides a kind of contact net fully-automatic intelligent based on unmanned plane
Cruising inspection system solves the problems, such as incomplete by manual inspection contact net low efficiency, inspection in the prior art.
In order to achieve the above object of the invention, The technical solution adopted by the invention is as follows:
A kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane is provided comprising:
To along contact net according to desired guiding trajectory fly and multiple angle acquisition contact net pictorial informations and store nothing
It is man-machine；And
For receiving the pictorial information of the acquisition of the unmanned plane after making a return voyage and being analyzed pictorial information, inspection is calculated
As a result working machine.
Further, unmanned plane includes:
GPS module passes through master control for warp, Position Latitude information locating for unmanned plane to be fed back to main control chip in real time
Chip controls, which fly control module, makes unmanned plane fly always along preset flight path；
Fly control module, for controlling start and stop, heading and the flying speed of unmanned plane；
Image capture module, for acquiring unmanned plane during flying contact net image information on the way and storing；
Data transmission module, for receiving the unmanned plane during flying routing information of working machine setting and by Image Acquisition
The image information of module acquisition is transferred in working machine；
Main control chip, for receiving and storing the flight path information transmitted from working machine, and real-time judge GPS module is anti-
The location information of feedback and the matching degree of flight path, and according to the movement of the matching degree real-time control flight module；For receiving
Vertical elevation information control flight module locating for the unmanned plane of image capture module feedback makes unmanned plane enter optimum image to adopt
Collect in altitude range；
Main control chip is electrically connected with GPS module, winged control module, image capture module and data transmission module respectively.
Further, image capture module includes:
Camera lens, for acquiring image information；
Cmos image sensor converts digital data transmission to Image Acquisition control for the image analoging signal that camera lens acquires
Coremaking on piece；
Altitude sensor, altitude info ination locating for real-time detection simultaneously transfer information to Image Acquisition control core
On piece；
Image Acquisition controls chip, receives the image information of cmos image sensor transmission and storage, and judge height above sea level
Height sensor transmission location information whether preset optimized image acquisition altitude range in, if, control camera lens into
Row Image Acquisition makes main control chip control fly the flight that control module changes unmanned plane if not existing to main control chip transmission information
Highly.
Further, Image Acquisition control chip is microprocessor STM8S207S6.
Further, the model MT9M001 of cmos image sensor.
Further, it is electrically connected with memory on Image Acquisition control chip, camera lens is fixed on electric platform, electronic cloud
Platform is electrically connected on Image Acquisition control chip.
Further, working machine includes:
Unmanned plane is arranged according to the location of contact net section to be inspected information in unmanned plane during flying path setup module
Flight path；
Usb host module, control program transportation for obtaining unmanned plane during flying path setup module to unmanned owner
It controls on chip；
Wireless communication module for wirelessly communicating after unmanned plane makes a return voyage with the data transmission module on unmanned plane, and leads to
Cross wireless communication transmissions image information；
Image processing module identifies new received image to first pass through the image data set of contact net failure picture training in advance
It whether there is failure in information, and will obtain inspection result in the form of text.
Method using the above-mentioned contact net fully-automatic intelligent cruising inspection system inspection contact net based on unmanned plane includes:
Configure image processing module；
The flight path of unmanned plane is set by unmanned plane during flying path setup module, and the flight path is passed through into USB
It is transferred on the main control chip of unmanned plane, main control chip controls winged control by the location information that real-time reception GPS module is fed back
Module is flown along preset path；
Altitude sensor real-time detection unmanned plane wait enter contact net image acquisition region, in image capture module
Flying height, and by the flying height be transferred to Image Acquisition control chip in,
If flying height is more than or less than preset altitude range, height difference signal is fed back into main control chip, is passed through
Main control chip control, which flies control module, to be reduced unmanned plane by flying height or increases flying height；
If flying height in preset altitude range value, controls cmos image sensor acquisition image information, and
The location information at acquired image fed back in conjunction with GPS module is stored；
After unmanned plane completes the flight of preset path, is wirelessly communicated, will newly be adopted by data transmission module and working machine
The image information of collection is transferred in working machine, first passes through the image of contact net failure picture training in advance by image processing module
Data set identify newly whether there is failure in received image information, and will be obtained in the form of text with the presence or absence of failure and
More specific location information locating for failure.
Further, the method for configuring image processing module includes:
The fault picture of acquisition contact net makes image procossing by the data set of fault picture training image processing module
Fault picture is recognized in module and there is the ability that fault picture can be found in the image newly imported；
The store path of image processing module is set.
Further, the method for the flight path of unmanned plane during flying path setup module setting unmanned plane includes:
Number-of-fragments are carried out to contact net to be inspected, warp, Position Latitude information according to locating for the number and correspondent section
Generate polling path.
The invention has the benefit that being flown by unmanned plane along contact net acquires the realtime graphic of contact net, and
After making a return voyage by the image wireless transmission of acquisition into working machine, inspection is obtained by the automatic analysis that works as a result, automation, intelligence
Degree height can be changed, it is high-efficient；By the flight path of the setting flexible setting unmanned plane to unmanned plane path, enable unmanned plane
Increase the comprehensive of contact net image information collecting by multi-direction shooting image, the inspection result obtained is more accurate, can
It leans on；The image acquisition process of unmanned plane is not contacted with contact net, is not influenced on the operation of train, has ensured the peace of train operation
Quan Xing.
Unmanned plane flies control module by the location information real-time control of GPS module Real-time Feedback, adjusts the flight of unmanned plane
Direction makes unmanned plane fly automatically along preset path always, does not need the flight of manual operation unmanned plane, makes unmanned plane certainly
Dynamicization degree is higher, not only saves manpower and flight is more stable, reliable；Unmanned plane is along automatic complete in contact net flight course
At the acquisition of contact net image, the image information of acquisition is stored, and is communicated again with working machine after making a return voyage, makes working machine
It does not need to remain with unmanned plane and communicate, reduce the requirement to signal strength, the distance for making unmanned plane single cruise is longer.
Detailed description of the invention
Fig. 1 is the contact net fully-automatic intelligent cruising inspection system component logical relation schematic diagram based on unmanned plane.
Fig. 2 is the operation principle schematic diagram of the contact net fully-automatic intelligent cruising inspection system based on unmanned plane.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Figure 1 and Figure 2, should contact net fully-automatic intelligent cruising inspection system based on unmanned plane include unmanned plane and with nothing
The working machine of man-machine communication connection.Working machine is an X86 power PC, mainly comprising unmanned plane during flying path setup module and
Image processing module, unmanned plane during flying path setup module include the main control chip SDK in development project autonomous flight path and incite somebody to action
Usb host module of the control burning program that main control chip SDK is obtained into main control chip.USB is a kind of host-guest architecture, data
Exchange can only occur between host and equipment, connects usb host module by data line and is arranged in outside the USB on unmanned plane
If module connects, on the control burning program to the main control chip of unmanned plane that main control chip SDK is developed.
Image processing module includes image analysis software and the communication chip with data transmission module wireless communication, this is wireless
Communication chip is 2.4G ISM communication chip.Unmanned plane is led to working machine by the wireless network of 2.4G frequency range after making a return voyage
Letter, collected new image information is transmitted in working machine.
It include main control chip and being electrically connected in winged control module, GPS module, image on main control chip in unmanned plane
Acquisition module, data transmission module.Main control chip is controlled according to the location information of GPS module Real-time Feedback flies control module according to pre-
Fixed track flight.Flying control module includes the multiple rotors being set on unmanned aerial vehicle body in multiple directions, is all provided on each rotor
It is equipped with the motor of driving rotor wing rotation, motor is electrically connected on motor controller, and motor controller is electrically connected on main control chip,
Battery is also electrically connected on motor.
Flying control module further includes MS-5611 altimeter, the six axis MPU6000 for integrating three-axis gyroscope and three axis accelerometer
Sensor, HMC5883 magnetometer and using ATMEGA2560 micro-control unit as the winged control plate of core, the system is for adjusting nobody
The flight attitude of machine corrects flight deviation.
Main control chip preferentially uses the valiant dragon Flight platform of high pass, and valiant dragon Flight is one piece of 58x40mm development board, includes
One valiant dragon 801SoC (being made of the core that four dominant frequency are 2.26GHz), supports GPS, 4K video capture, has powerful company
Connecing property and advanced unmanned plane software and developing instrument, binary channels Wi-Fi and bluetooth module support real-time flight control system
System possesses Global Navigation Satellite System (GNSS) receiver, supports the processing of 4K video, supports rapid nitriding.
Image capture module is that Image Acquisition controls chip, camera lens, holder, cmos image sensor, height above sea level sensing
One entirety of the associated electronic devices such as device and memory and transmission medium composition.Image Acquisition controls the preferred model 8 of chip
Bit microprocessor STM8S207S6, its speed of service is fast, and highest can achieve 24M, and internal resource is abundant, possesses the system of 32KB
Interior programmable Flash, the internal RAM of 2KB, the EEPROM of l024B, 2 programmable serial UART interfaces, a maximum speed
Up to the Hardware I2C interface of 400bit/s, hardware SPI of the maximum speed that can be worked in master slave mode up to 10bit/s
Interface etc., and its developing instrument is simple, it is easy to use.
The preferred model MT9M001 of cmos image sensor, the preferred model MS5611/5607 of altitude sensor,
Memory is preferably Micro SD card, and maximum supports 128GB capacity.Holder is electric platform, and electric platform is for installing, fixing
With support camera lens, and the direction of camera lens is adjusted by Electronic control, electric platform controls chip controls by Image Acquisition.Mirror
Head and cmos image sensor are responsible for the acquisition of image, and the image data of acquisition is read in real time by Image Acquisition control chip.By
There was only 2K in the internal RAM of Image Acquisition control chip, not next frame image is deposited, so having selected Micro SD card as image
Memory, Image Acquisition control chip enter the image data unloading of reading in memory.
Image capture module shoots the image information of contact net and storage on the memory into image capture module on the way,
Specifically include the automatic shooting dropper of contact net, contact line, carrier cable, pillar, bracket, pull rod these contact net component parts.
The style of shooting and acquisition parameters of image capture module is added in main control chip control program in advance.
The preferred model SKG12A SKG12BL of GPS module, is integrated with RF radio frequency chip, baseband chip and core CPU,
And add associated peripheral circuits and an integrated circuit forming.With high sensitivity, low-power consumption, miniaturization, its high tracking
Sensitivity expands the covering surface of its positioning significantly, in the place that common GPS receiver module cannot position, such as narrow city day
Jungle environment under sky, intensive, the GPS module of SKG12ASKG12BL model can high accuracy positioning, be highly suitable in mobile
Unmanned plane in.
Data transmission module includes USB peripheral module and 2.4G ISM communication chip.USB peripheral module is used for and working machine
On usb host module connection after burning control program；The preferred model SI4432-B1-FM of 2.4G ISM communication chip.
A method of using the inspection contact net of the above-mentioned contact net fully-automatic intelligent cruising inspection system based on unmanned plane,
Include:
Image processing module is configured, the fault picture of contact net is acquired, passes through fault picture training image processing module
Data set makes to recognize fault picture in image processing module and has the energy that can find fault picture in the image newly imported
Power, training image processing module are using the visual detector based on Tensor Flow frame；Depositing for image processing module is set
Store up path；
The flight path of unmanned plane is set by unmanned plane during flying path setup module, and the method that flight path is arranged includes
Number-of-fragments are carried out to contact net to be inspected, warp, Position Latitude information according to locating for the number and correspondent section generate inspection
Path, and be burnt on main control chip in a manner of controlling program by USB；
Unmanned plane is flown by the location information that real-time reception GPS module is fed back to control winged control module along preset path
Row；
The flying height of altitude sensor real-time detection unmanned plane in image capture module, and by the flying height
It is transferred in Image Acquisition control chip,
If flying height is more than or less than preset altitude range, height difference signal is fed back into main control chip, is passed through
Main control chip control, which flies control module, to be reduced unmanned plane by flying height or increases flying height；
If flying height in preset altitude range value, controls cmos image sensor acquisition image information, and
The location information at acquired image fed back in conjunction with GPS module is stored；
After unmanned plane completes the flight of preset path, is wirelessly communicated, will newly be adopted by data transmission module and working machine
The image information of collection is transferred in working machine, first passes through the image of contact net failure picture training in advance by image processing module
Data set identify newly whether there is failure in received image information, and will be obtained in the form of text with the presence or absence of failure and
More specific location information locating for failure.
Claims (10)
1. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane characterized by comprising
To along contact net according to desired guiding trajectory fly and multiple angle acquisition contact net pictorial informations and store unmanned plane；
And
For receiving the pictorial information of the acquisition of the unmanned plane after making a return voyage and being analyzed pictorial information, inspection result is calculated
Working machine.
2. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane according to claim 1, which is characterized in that
The unmanned plane includes:
GPS module passes through main control chip for warp, Position Latitude information locating for unmanned plane to be fed back to main control chip in real time
Control, which flies control module, makes unmanned plane fly always along preset flight path；
Fly control module, for controlling start and stop, heading and the flying speed of unmanned plane；
Image capture module, for acquiring unmanned plane during flying contact net image information on the way and storing；
Data transmission module, for receiving the unmanned plane during flying routing information of working machine setting and by image capture module
The image information of acquisition is transferred in working machine；
Main control chip, for receive and store from working machine transmit flight path information, and real-time judge GPS module feedback
The matching degree of location information and flight path, and according to the movement of the matching degree real-time control flight module；For receiving image
Vertical elevation information control flight module locating for the unmanned plane of acquisition module feedback makes unmanned plane enter optimum image acquisition high
It spends in range；
The main control chip is electrically connected with GPS module, winged control module, image capture module and data transmission module respectively.
3. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane according to claim 2, which is characterized in that
Described image acquisition module includes:
Camera lens, for acquiring image information；
Cmos image sensor converts digital data transmission for the image analoging signal that camera lens acquires and controls core to Image Acquisition
On piece；
Altitude sensor, altitude info ination locating for real-time detection simultaneously transfer information to Image Acquisition control chip
On；
Image Acquisition controls chip, receives the image information of cmos image sensor transmission and storage, and judge height above sea level
Whether the location information of sensor transmissions is in preset optimized image acquisition altitude range, if controlling camera lens and carrying out figure
As acquisition, if not existing, main control chip control is set to fly the flying height that control module changes unmanned plane to main control chip transmission information.
4. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane according to claim 3, which is characterized in that
Described image acquisition control chip is microprocessor STM8S207S6.
5. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane according to claim 3, which is characterized in that
The model MT9M001 of the cmos image sensor.
6. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane according to claim 3, which is characterized in that
Memory is electrically connected on described image acquisition control chip, the camera lens is fixed on electric platform, the electric platform electricity
It is connected on Image Acquisition control chip.
7. a kind of contact net fully-automatic intelligent cruising inspection system based on unmanned plane according to claim 1, which is characterized in that
The working machine includes:
Flying for unmanned plane is arranged according to the location of contact net section to be inspected information in unmanned plane during flying path setup module
Walking along the street diameter；
Usb host module, control program transportation for obtaining unmanned plane during flying path setup module to unmanned plane master control core
On piece；
Wireless communication module for wirelessly communicating after unmanned plane makes a return voyage with the data transmission module on unmanned plane, and passes through nothing
Line communications image information；
Image processing module identifies new received image information to first pass through the image data set of contact net failure picture training in advance
In whether there is failure, and inspection result will be obtained in the form of text.
8. a kind of utilize any contact net fully-automatic intelligent cruising inspection system inspection based on unmanned plane of claim 1~7
The method of contact net characterized by comprising
Configure image processing module；
The flight path of unmanned plane is set by unmanned plane during flying path setup module, and the flight path is passed by USB
On the defeated main control chip to unmanned plane, main control chip flies control mould by the location information that real-time reception GPS module is fed back to control
Block flies along preset path；
Wait enter contact net image acquisition region, altitude sensor real-time detection unmanned plane in image capture module flies
Row height, and the flying height is transferred in Image Acquisition control chip；
If flying height is more than or less than preset altitude range, height difference signal is fed back into main control chip, passes through master control
Chip controls, which fly control module, to be reduced unmanned plane by flying height or increases flying height；
If flying height in preset altitude range value, controls cmos image sensor acquisition image information, and combines
Location information at the acquired image of GPS module feedback is stored；
After unmanned plane completes the flight of preset path, wirelessly communicated by data transmission module and working machine, it will be freshly harvested
Image information is transferred in working machine, first passes through the image data of contact net failure picture training in advance by image processing module
Collection, which identifies in new received image information, whether there is failure, and will be obtained in the form of text with the presence or absence of failure and failure
Locating more specific location information.
9. the inspection contact net according to claim 8 using the contact net fully-automatic intelligent cruising inspection system based on unmanned plane
Method, which is characterized in that the method for configuring image processing module includes:
The fault picture for acquiring contact net, by the data set of fault picture training image processing module, and is arranged image procossing
The store path of module.
10. the inspection according to claim 8 using the contact net fully-automatic intelligent cruising inspection system based on unmanned plane contacts
The method of net, which is characterized in that the method for the flight path of unmanned plane during flying path setup module setting unmanned plane includes treating
The contact net of inspection carries out number-of-fragments, and warp, Position Latitude information according to locating for number and correspondent section generate polling path.
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| CN113628499A (en) * | 2021-09-02 | 2021-11-09 | 浙江图盛输变电工程有限公司温州科技分公司 | Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and inspection |
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