CN110703809A - Unmanned aerial vehicle subway tunnel fixed-point inspection method based on wireless sensor network - Google Patents
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Abstract
The invention relates to an unmanned aerial vehicle subway tunnel fixed point inspection method based on a wireless sensor network, which comprises the following steps of S1: the unmanned aerial vehicle utilizes a wireless sensing network communication module to communicate with any sensor node in the tunnel, and fixed-point routing inspection position information is obtained; step S2: the processor unit processes the acquired fixed point polling position information; step S3: the unmanned aerial vehicle selects 4 sensor nodes with the minimum absolute value of received signal strength indicator RSSI, calculates the distance between the unmanned aerial vehicle and the selected sensor nodes, and calculates the current position of the unmanned aerial vehicle according to the positions of the selected sensor nodes; step S4: taking target position information in the fixed point inspection position information as a target position, planning a flight path according to the current position and the tunnel space model, and flying to the fixed point inspection position; step S5: and after the target position is reached, calling a pan-tilt camera, and shooting according to the requirement of fixed-point routing inspection position information. Compared with the prior art, the invention has the advantages of convenient and fast autonomous positioning, work efficiency improvement, wider information recording coverage range and the like.
Description
Technical Field
The invention relates to a subway tunnel inspection method, in particular to an unmanned aerial vehicle subway tunnel fixed-point inspection method based on a wireless sensor network.
Background
Four rotor unmanned aerial vehicle as many rotor unmanned aerial vehicle's one kind, have characteristics such as control is nimble, VTOL, fixed point are hovered, are progressively increased in the application in fields such as taking photo by plane, agricultural irrigation, express delivery transportation and capital construction facility are patrolled and examined. The subway tunnel inspection is a basic guarantee for safe operation of urban rail transit, and has great significance for automatic subway tunnel inspection due to complex tunnel environment, time and labor waste of manpower inspection and low efficiency.
The subway tunnel monitoring system based on the wireless sensor network monitors the subway tunnel condition by utilizing a large number of wireless sensor nodes with low power consumption and low cost, and realizes the automatic monitoring of the subway tunnel very well. This type of subway tunnel monitoring system has replaced the personnel of patrolling and examining most work, but still need the personnel of patrolling and examining regularly to shoot the calamity condition, whether there is the potential safety hazard in the inspection sensor node.
The subway tunnel based on unmanned aerial vehicle that has now patrols and examines basically all directly utilizes unmanned aerial vehicle to carry out the subway tunnel and patrols and examines, but because unmanned aerial vehicle duration is limited, and subway tunnel environment is complicated, causes or monitoring range is little, or only does not have the tunnel of analysis and shoots. In order to overcome the difficulty, the invention provides an unmanned aerial vehicle subway tunnel fixed-point inspection system and method based on a wireless sensor network.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an unmanned aerial vehicle subway tunnel fixed-point inspection method based on a wireless sensor network.
The purpose of the invention can be realized by the following technical scheme:
an unmanned aerial vehicle subway tunnel fixed point inspection method based on a wireless sensor network comprises the following steps:
step S1: after the unmanned aerial vehicle enters the subway tunnel, the unmanned aerial vehicle communicates with any sensor node in the tunnel by using a wireless sensing network communication module in a ZigBee communication mode to obtain fixed-point patrol inspection position information;
step S2: the processor unit of the unmanned aerial vehicle processes the acquired fixed point polling position information;
step S3: the unmanned aerial vehicle communicates with nearby sensor nodes, 4 sensor nodes with the minimum RSSI absolute value are selected, the distance between the unmanned aerial vehicle and the selected sensor nodes is calculated, and the current position of the unmanned aerial vehicle is calculated according to the positions of the selected sensor nodes;
step S4: the unmanned aerial vehicle takes target position information in the fixed point inspection position information as a target position, plans a flight path according to the current position and the tunnel space model, and flies to the fixed point inspection position;
step S5: and after the unmanned aerial vehicle reaches the target position, calling a pan-tilt camera, and shooting according to the requirement of fixed-point routing inspection position information.
The fixed point patrol inspection position information comprises disaster position information and node position information, the disaster image is used for disaster monitoring, the node image is used for monitoring the state of a sensor node, whether the operation of the recording node is normal or not and whether the installation is firm or not, and the disaster position information and the node position information correspond to a disaster shooting mode and a node shooting mode of an unmanned aerial vehicle.
The disaster shooting mode is that unmanned aerial vehicle has adjusted the position, rotates cloud platform camera, uses the video recording function from last to shooting tunnel left side condition down, annotates tunnel ring number and time information, then rotates 180 degrees, uses the video recording function from last to shooting tunnel right side condition down, annotates tunnel ring number and time information.
The node shooting mode is that the unmanned aerial vehicle adjusts the position, rotates the cloud platform camera, uses the function of shooing to shoot the node photo, notes tunnel ring number and time information.
The distance calculation formula of the unmanned aerial vehicle and the sensor node is as follows:
wherein, d is the distance of unmanned aerial vehicle and sensor node, and RSSI is signal reception signal strength indication, and A is the signal strength when unmanned aerial vehicle and sensor node distance are 1 meter, defaults to 38 in the tunnel environment, and n is the environmental attenuation factor, defaults to 2.5 in the tunnel environment.
The distance between the unmanned aerial vehicle and the selected 4 sensor nodes is specifically represented as (x)a,ya,za)、(xb,yb,zb)、(xc,yc,zc) And (x)d,yd,zd)。
The calculation formula of the current position of the unmanned aerial vehicle is specifically as follows:
wherein, deltaa、δbAnd deltacIs a coordinate node of the current position of the unmanned aerial vehicle.
The target position information is a tunnel ring number, and the flight path is specifically the central position of the tunnel space corresponding to the target position tunnel ring number from the tunnel space of the tunnel ring number corresponding to the current position where the unmanned aerial vehicle flies.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the unmanned aerial vehicle positioning method, the unmanned aerial vehicle autonomously searches for 4 sensor nodes with the minimum RSSI absolute value nearby, the current position is calculated through the position information of the nodes, compared with manual positioning, the positioning is quicker and the efficiency is higher, according to the space positioning general knowledge, at least 3 reference stations and the distance between the reference stations are needed, the space positioning can be realized, and in order to improve the positioning accuracy, 4 sensor nodes are selected for positioning the unmanned aerial vehicle.
2. According to the invention, disaster early warning information and node monitoring information are shot separately, the disaster information is shot by using a video recording function, the range coverage is wider, the fault can be judged and early warned by workers according to the video content, the sensing node is shot by using a shooting function, the time consumption is less, and the conditions of a plurality of nodes can be recorded by one-time routing inspection.
3. The invention marks the pictures and videos shot by the unmanned aerial vehicle through the tunnel ring number, is convenient for the workers to record and inquire, and simultaneously utilizes the tunnel ring number to formulate the flight path, thereby being simple and direct and reducing the operation intensity.
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FIG. 1 is a schematic flow diagram of the fixed point inspection of the present invention;
fig. 2 is a schematic structural diagram of the components of the unmanned aerial vehicle of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, an unmanned aerial vehicle subway tunnel fixed point inspection method based on a wireless sensor network includes:
step S1: after the unmanned aerial vehicle enters the subway tunnel, the unmanned aerial vehicle communicates with any sensor node in the tunnel by using a wireless sensing network communication module in a ZigBee communication mode to obtain fixed-point patrol inspection position information;
the subway tunnel wireless sensing network utilizes the sensor nodes to realize tunnel monitoring, informs the unmanned aerial vehicle of disaster positions and node positions, and completes unmanned aerial vehicle fixed-point inspection. Because the tunnel overlength, and unmanned aerial vehicle flight time is limited, the event adopts the fixed point to patrol and examine, acquires calamity image and node image fast, and calamity image is used for calamity monitoring, and the node image is used for sensor node state monitoring, and whether the record node operation is normal, whether the installation is firm.
Step S2: the processor unit of the unmanned aerial vehicle processes the acquired fixed point polling position information;
the fixed point routing inspection position information is divided into disaster position information and node position information, is represented by a tunnel ring number, and is added with information type symbols Ds and Nd respectively.
Step S3: the unmanned aerial vehicle communicates with nearby sensor nodes, 4 sensor nodes with the minimum RSSI absolute value are selected, the distance between the unmanned aerial vehicle and the selected sensor nodes is calculated, and the current position of the unmanned aerial vehicle is calculated according to the positions of the selected sensor nodes;
the distance calculation formula of the unmanned aerial vehicle and the sensor node is as follows:
wherein d is the distance between the unmanned aerial vehicle and the sensor node, RSSI is a signal received signal strength indicator, A is the signal strength when the distance between the unmanned aerial vehicle and the sensor node is 1 meter, the default setting is 38 in the tunnel environment, n is an environment attenuation factor, and the default setting is 2.5 in the tunnel environment;
the distances between the drone and the selected 4 sensor nodes are specifically denoted as (x)a,ya,za)、(xb,yb,zb)、(xc,yc,zc) And (x)d,yd,zd) From this, it specifically is to calculate unmanned aerial vehicle current position:
wherein, deltaa、δbAnd deltacIs a coordinate node of the current position of the unmanned aerial vehicle.
Step S4: the unmanned aerial vehicle takes target position information in the fixed point inspection position information as a target position, plans a flight path according to the current position and the tunnel space model, and flies to the fixed point inspection position;
the target position information is a tunnel ring number, and the flight path is specifically that the unmanned aerial vehicle flies to the central position of the tunnel space corresponding to the target position tunnel ring number from the tunnel space corresponding to the tunnel ring number corresponding to the current position.
Step S5: after the unmanned aerial vehicle reaches the target position, a pan-tilt camera is called, shooting is carried out according to the requirement of fixed-point inspection position information, and the disaster position information and the node position information correspond to a disaster shooting mode and a node shooting mode of the unmanned aerial vehicle;
the disaster shooting mode is that the unmanned aerial vehicle adjusts the position, rotates a pan-tilt camera, shoots the left condition of the tunnel from top to bottom by using a video recording function, adds the ring number and the time information of the tunnel, then rotates by 180 degrees, shoots the right condition of the tunnel from top to bottom by using the video recording function, and adds the ring number and the time information of the tunnel; the node shooting mode refers to that the unmanned aerial vehicle adjusts the position, rotates the cloud platform camera, uses the function of shooing to shoot the node photo, annotates tunnel ring number and time information.
As fig. 2, the unmanned aerial vehicle includes wireless sensor network communication module, four rotor unmanned aerial vehicle main parts, optical zoom pan-tilt camera, searchlight. The main body of the quad-rotor unmanned aerial vehicle is a small unmanned aerial vehicle, the size of the main body of the quad-rotor unmanned aerial vehicle is 100mm 640mm, the flight time is 30-50min, the maximum mileage is 20km, and the flight is controlled by a flight control system. Wireless sensor network communication module passes through RS232 and is connected through with four rotor unmanned aerial vehicle main parts, and application zigBee communication mode realizes unmanned aerial vehicle and subway tunnel monitoring system's real-time communication. The optical zoom pan-tilt camera comprises a triaxial pan-tilt, has 30 times of optical zoom, mechanical triaxial image stabilization and 0.01-degree image stabilization precision, and is installed at the bottom of the four-rotor unmanned aerial vehicle. The searchlight is high brightness LED light source, has the sudden strain of a muscle mode, settles in two places, and one is unmanned aerial vehicle dead ahead, fixed and four rotor unmanned aerial vehicle main part fuselages, and another department zooms cloud platform camera lens top for optics, follows optics and zooms cloud platform camera synchronous motion.
Claims (8)
1. An unmanned aerial vehicle subway tunnel fixed point inspection method based on a wireless sensor network is characterized by comprising the following steps:
step S1: after the unmanned aerial vehicle enters the subway tunnel, the unmanned aerial vehicle communicates with any sensor node in the tunnel by using a wireless sensing network communication module in a ZigBee communication mode to obtain fixed-point patrol inspection position information;
step S2: the processor unit of the unmanned aerial vehicle processes the acquired fixed point polling position information;
step S3: the unmanned aerial vehicle communicates with nearby sensor nodes, 4 sensor nodes with the minimum RSSI absolute value are selected, the distance between the unmanned aerial vehicle and the selected sensor nodes is calculated, and the current position of the unmanned aerial vehicle is calculated according to the positions of the selected sensor nodes;
step S4: the unmanned aerial vehicle takes target position information in the fixed point inspection position information as a target position, plans a flight path according to the current position and the tunnel space model, and flies to the fixed point inspection position;
step S5: and after the unmanned aerial vehicle reaches the target position, calling a pan-tilt camera, and shooting according to the requirement of fixed-point routing inspection position information.
2. The unmanned aerial vehicle subway tunnel fixed point inspection method based on the wireless sensor network according to claim 1, wherein the fixed point inspection position information includes disaster position information and node position information, and the disaster position information and the node position information correspond to a disaster shooting mode and a node shooting mode of the unmanned aerial vehicle.
3. The unmanned aerial vehicle subway tunnel fixed-point inspection method based on the wireless sensor network of claim 2, wherein the disaster shooting mode is that the unmanned aerial vehicle adjusts the position, rotates a pan-tilt camera, shoots the left condition of the tunnel from top to bottom by using a video recording function, adds the tunnel ring number and the time information, then rotates 180 degrees, shoots the right condition of the tunnel from top to bottom by using the video recording function, and adds the tunnel ring number and the time information.
4. The unmanned aerial vehicle subway tunnel fixed-point inspection method based on the wireless sensor network according to claim 2, wherein the node shooting mode is that the unmanned aerial vehicle adjusts the position, rotates a pan-tilt camera, shoots a node photo by using a shooting function, and adds a tunnel ring number and time information.
5. The unmanned aerial vehicle subway tunnel fixed-point inspection method based on the wireless sensor network according to claim 1, wherein the distance calculation formula between the unmanned aerial vehicle and the sensor node is as follows:
wherein, d is the distance of unmanned aerial vehicle and sensor node, and RSSI is signal reception signal strength indication, and A is the signal strength when unmanned aerial vehicle and sensor node distance are 1 meter, defaults to 38 in the tunnel environment, and n is the environmental attenuation factor, defaults to 2.5 in the tunnel environment.
6. The unmanned aerial vehicle subway tunnel fixed-point inspection method based on wireless sensor network according to claim 5, wherein the distance between the unmanned aerial vehicle and the selected 4 sensor nodes is specifically represented as (x)a,ya,za)、(xb,yb,zb)、(xc,yc,zc) And (x)d,yd,zd)。
7. The unmanned aerial vehicle subway tunnel fixed-point inspection method based on the wireless sensor network according to claim 6, wherein the calculation formula of the current position of the unmanned aerial vehicle is specifically as follows:
wherein, deltaa、δbAnd deltacIs a coordinate node of the current position of the unmanned aerial vehicle.
8. The unmanned aerial vehicle subway tunnel fixed-point inspection method based on the wireless sensor network according to claim 1, wherein the target position information is a tunnel ring number, and the flight path is that the unmanned aerial vehicle flies from a tunnel space corresponding to the tunnel ring number of the current position to a center position of the tunnel space corresponding to the tunnel ring number of the target position.
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