CN112925334A - Intelligent inspection unmanned aerial vehicle landing system and method - Google Patents
Intelligent inspection unmanned aerial vehicle landing system and method Download PDFInfo
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Abstract
The invention discloses an intelligent inspection unmanned aerial vehicle landing system and method, relates to the technical field of power inspection, and solves the technical problems that the landing system has large errors and the precision is difficult to meet the landing requirement in the power inspection of an unmanned aerial vehicle. The landing system comprises a ground visual mark, a processing module, visible light navigation equipment, infrared navigation equipment and satellite navigation equipment; the ground visual mark is composed of a plurality of round and square combinations, black or white is filled in the round and the square, and a heating part is arranged; the satellite navigation equipment can pre-position the landing position of the unmanned aerial vehicle; the visible light navigation equipment can acquire a visible light image of the ground visual mark, and the infrared navigation equipment can acquire an infrared image of the ground visual mark; the processing module can process the visible light image and the infrared image. The invention can quickly and accurately identify the ground visual mark based on the image identification and satellite navigation technology, and realizes autonomous and accurate landing.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to an intelligent inspection unmanned aerial vehicle landing system and method.
Background
The electric power inspection refers to timely and accurate inspection and detection of the operation states of the electric power line and the accessory equipment and the surrounding environment conditions of the electric power line corridor, fault points are found through inspection, potential hidden dangers endangering electric power safety are conveniently and effectively eliminated, and safe and reliable operation of the electric transmission line is ensured. Patrolling and examining through the manual work, patrolling line personnel work load can be very big, intensity of labour is high, patrolling line time is long, patrols line efficiency also lower. Meanwhile, under the condition of complex weather terrain, manual inspection operation is very difficult and is greatly limited. Based on this, unmanned aerial vehicle electric power patrols and examines has appeared, patrols and examines through unmanned aerial vehicle and has safe and reliable, and high efficiency is nimble, and low cost's characteristic is gradually replacing the manual work and patrols and examines.
In the unmanned aerial vehicle inspection process, the positioning of the landing point of the unmanned aerial vehicle mainly depends on the GPS and PTK technology. The intelligence equipment of patrolling and examining passes through the GPS device, can roughly descend at the assigned position, nevertheless because it is big to receive the signal influence, final positioning error is just bigger, under the fabulous condition of signal, also can have the error of meter level. Through collocation PTK equipment, can be with positioning error control at centimetre level, but because the intelligence is patrolled and examined equipment and is required constantly to adjust self gesture when descending, still there is certain error. Furthermore, the positioning effect is also affected by obstacles and electromagnetic interference.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
during unmanned aerial vehicle carried out electric power and patrols and examines, there is great error in unmanned aerial vehicle's descending system, and the precision is difficult to satisfy the descending demand, has influenced unmanned aerial vehicle's normal descending.
Disclosure of Invention
The invention aims to provide an intelligent inspection unmanned aerial vehicle landing system and a landing method, and aims to solve the technical problems that in the prior art, when an unmanned aerial vehicle inspects power, the landing system of the unmanned aerial vehicle has large errors, the landing requirement is difficult to meet with the precision, and the normal landing of the unmanned aerial vehicle is influenced. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides an intelligent inspection unmanned aerial vehicle landing system which comprises a ground visual mark, a processing module, a visible light navigation device, an infrared navigation device and a satellite navigation device, wherein the ground visual mark is arranged on the ground visual mark; the ground visual mark is formed by combining a plurality of circles and squares, black or white is filled in the circles and the squares, and a heating part is arranged; the satellite navigation equipment can guide the inspection unmanned aerial vehicle to reach the position above the ground visual mark, and pre-positions the landing position of the unmanned aerial vehicle; the visible light navigation equipment can acquire a visible light image of the ground visual mark, and the infrared navigation equipment can acquire an infrared image of the ground visual mark; the processing module can process the visible light images and the infrared images and adjust the flight state of the unmanned aerial vehicle through flight parameters.
Preferably, the ground visual mark comprises a first circle, a second circle, a third circle, a first square, a second square and a third square from inside to outside, and the positions of the center points of the first circle, the second circle, the third circle, the first square, the second square and the third square are the same.
Preferably, the first circular filler is black, the first circular filler formed by the first and second circles is white, and the second circular filler formed by the second and third circles is black.
Preferably, the third circle is tangent to the first square, the first square outside the third circle forms a first area, and the first area is filled with white; the first square and the second square form a second area, and the second area is filled with white; the second square and the third square form a third area, and the third area is filled with black.
Preferably, the first circular area and/or the third area are provided as a heating portion.
Preferably, the heating part is an electrothermal film, and the temperature of the electrothermal film can be changed by adjusting the input power of the electrothermal film.
Preferably, unmanned aerial vehicle descending system is patrolled and examined to intelligence still includes rotation type laser range radar, rotation type laser range radar with processing module electric connection, through the comparison with first circular and distance between the ground under, can judge whether unmanned aerial vehicle is located directly over the ground vision sign.
Preferably, the satellite navigation device is a GPS receiver and/or a beidou locator.
The invention discloses a method for intelligently inspecting the landing of an unmanned aerial vehicle, which lands through the landing system of the unmanned aerial vehicle, and comprises the following steps:
s100: the unmanned aerial vehicle receives a landing instruction and landing position information sent by the ground control station, and heats the heating part by electrifying;
s200: the unmanned aerial vehicle flies above a landing field through the infrared navigation equipment or the satellite navigation equipment, descends at a fixed speed and acquires an image of a ground visual mark through the visible light navigation equipment;
s300: the processing module converts each frame image collected in S2 into a gray level image, and performs binarization processing to obtain a binarized image and remove noise;
s400: coding the binarized image without noise points to obtain an N x N-order binary matrix, and judging that the unmanned aerial vehicle enters right above the ground visual mark when the values of the first row, the last row, the first column and the last column of the binary matrix are all 1;
s500: the processing module finely adjusts the flight attitude of the unmanned aerial vehicle according to the 1-value distribution condition of the outer ring of the binary matrix;
s600: and the binary matrix processing module judges whether the binary matrix is a symmetric matrix, and when the binary matrix is the symmetric matrix, the flight attitude of the unmanned aerial vehicle is not adjusted any more, and the descending height is finished.
The implementation of one of the technical schemes of the invention has the following advantages or beneficial effects:
the invention can quickly and accurately identify the ground visual mark based on the image identification and satellite navigation technology, and completes the adjustment of flight parameters through the processing module, thereby realizing autonomous accurate landing, and the landing precision can reach centimeter level. The problem of intelligent unmanned aerial vehicle's accurate descending is patrolled and examined to intelligence is solved, the unmanned aerial vehicle descending scheme is patrolled and examined to the intelligence of providing low cost, has wide market prospect.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic block diagram of an embodiment of the intelligent inspection unmanned aerial vehicle landing system of the invention;
FIG. 2 is a schematic view of a visual marker of an embodiment of the intelligent inspection unmanned aerial vehicle landing system of the invention;
fig. 3 is a flow chart of an embodiment of the intelligent inspection unmanned aerial vehicle landing method.
In the figure: 1. a first circular shape; 2. a second circle; 3. a third circle; 4. a first square; 5. a second square; 6. a third square; 7. a first circular ring; 8. a second circular ring; 9. a first region; 10. a second region; 11. and a third region.
Detailed Description
In order that the objects, aspects and advantages of the present invention will become more apparent, various exemplary embodiments will be described below with reference to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary embodiments in which the invention may be practiced. The same numbers in different drawings identify the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. It is to be understood that they are merely examples of processes, methods, apparatus, etc. consistent with certain aspects of the present disclosure as detailed in the appended claims, and that other embodiments may be used or structural and functional modifications may be made to the embodiments set forth herein without departing from the scope and spirit of the present disclosure.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," and the like are used in the orientations and positional relationships illustrated in the accompanying drawings for the purpose of facilitating the description of the present invention and simplifying the description, and do not indicate or imply that the elements so referred to must have a particular orientation, be constructed in a particular orientation, and be operated. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "plurality" means two or more. The terms "coupled" and "connected" are to be construed broadly and may include fixed connections, removable connections, integral connections, mechanical connections, electrical connections, communicative connections, direct connections, indirect connections through an intermediary, communications between two elements, or an interaction between two elements. The term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to explain the technical solution of the present invention, the following description is made by way of specific examples, which only show the relevant portions of the embodiments of the present invention.
The first embodiment is as follows:
the invention provides an intelligent inspection unmanned aerial vehicle landing system, which comprises a ground visual sign, a processing module, a visible light navigation device, an infrared navigation device and a satellite navigation device, as shown in figure 1. The ground visual mark is composed of a plurality of round and square combinations, black or white is filled in the round and the square, and a heating part is arranged. Black or white is convenient for the visible light navigation equipment to carry out fast recognition after binarization processing to the image of gathering, and heating portion and infrared navigation equipment cooperation are convenient for realize quick location. Satellite navigation equipment can guide and patrol and examine unmanned aerial vehicle and reach the top that ground vision marks, carries out the prepositioning to unmanned aerial vehicle's descending position, though satellite navigation equipment's navigation precision can not reach the requirement of accurate descending, nevertheless can be with unmanned aerial vehicle location in the approximate position of ground vision mark top through corresponding coordinate parameter, the follow-up accurate location of being convenient for to can improve and patrol and examine unmanned aerial vehicle's descending efficiency. The visible light navigation equipment can acquire the visible light image of the ground visual mark, the visible light navigation equipment can perform accurate positioning through acquiring the visible light image of the ground visual mark, the infrared navigation equipment can acquire the infrared image of the ground visual mark, and the infrared navigation equipment can perform approximate positioning of the flight direction of the ground visual mark through acquiring the infrared image of the heating part. Meanwhile, the visible light navigation equipment and the infrared navigation equipment are matched with each other, so that night power inspection is facilitated. The processing module can process visible light images and infrared images, the image processing can be carried out by adopting the existing computer graphics technology, the visible light images are firstly converted into gray-scale images, then noise points are eliminated by corrosion and expansion algorithms, the gray-scale images are converted into binary images by self-adaptive threshold segmentation, and the contour information of the light images can be extracted. And the flight state of the unmanned aerial vehicle is adjusted through the flight parameters. Certainly, the landing system also comprises a communication module, and the ground control station can transmit corresponding control instructions to the processing module through the communication module, so that the remote control of the unmanned aerial vehicle is realized. The intelligent inspection unmanned aerial vehicle landing system can quickly and accurately identify the ground visual mark based on the image identification and satellite navigation technology, and completes the adjustment of flight parameters through the processing module, so that autonomous accurate landing is realized, and the landing accuracy can reach centimeter level. The problem of intelligent unmanned aerial vehicle's accurate descending is patrolled and examined to intelligence is solved, the unmanned aerial vehicle descending scheme is patrolled and examined to the intelligence of providing low cost, has wide market prospect.
As an alternative embodiment, as shown in fig. 2, the ground visual sign includes, from inside to outside, a first circle 1, a second circle 2, a third circle 3, a first square 4, a second square 5, and a third square 6, where a side length of the third square 6 is equivalent to a size of the unmanned aerial vehicle inspection tour. The positions of the central points of the first circle 1, the second circle 2 and the third circle 3 are the same as the positions of the central points of the first square 4, the second square 5 and the third square 6. The first circle 1 is filled with black (indicated by hatching in fig. 2), the first circle 7 formed by the first circle 1 and the second circle 2 is filled with white, and the second circle 8 formed by the second circle 2 and the third circle 3 is filled with black (indicated by hatching in fig. 2). The third circle 3 is tangent to the first square 4, the first square 4 outside the third circle 3 forms a first area 9, and the first area 9 is filled with white; the first square 4 and the second square 5 form a second area, and the second area is filled with white; the second squares 5, the third squares 6 form third areas 11, the third areas 11 being filled with black (marked with hatching in fig. 2). The ground visual mark is convenient to arrange by setting a circle and a square, is convenient to identify image characteristics, and fills black and white at intervals, thereby being convenient for visible light navigation equipment to carry out rapid identification and image binaryzation processing.
As optional implementation mode, first circular 1 and/or third region 11 set up to heating portion, and first circular 1 area is less, is convenient for patrol and examine unmanned aerial vehicle and aim at the landing near through infrared image, and third region 11 area is great, is convenient for patrol and examine unmanned aerial vehicle and pass through infrared image and discover ground visual sign in the department of keeping away. Heating portion during operation, the temperature is greater than ambient temperature (especially the temperature can obviously be greater than ambient temperature when using in summer season, has obvious temperature variation boundary, and the colour is obvious different in the infrared image that infrared navigation equipment acquireed, just can distinguish it fast with surrounding shape after carrying out the preliminary treatment to infrared image), uses the back with satellite navigation equipment cooperation, and the system of being convenient for descend seeks the approximate position that finds ground vision mark fast through infrared navigation equipment, is convenient for realize descending fast. The heating part is an electrothermal film which generates heat through PTC (semiconductor ceramic material), carbon fiber or the electrothermal film, the heating speed is high, and the surface temperature can reach 60 ℃. And the temperature of the electrothermal film can be changed by adjusting the input power of the electrothermal film. When the electric heating film is used in winter, the input power of the electric heating film can be slightly smaller, and in most inspection areas, the surface temperature of the electric heating film can reach 30 ℃ and can be distinguished from the environmental temperature; in summer, the input power needs to be increased, so that the surface temperature of the electrothermal film can be obviously higher than the ambient temperature. Through the input power adjustment, the input power can be correspondingly adjusted according to the height of the environmental temperature, so that the applicability of the system is improved, and the energy can be saved.
As optional embodiment, unmanned aerial vehicle descending system is patrolled and examined to intelligence still includes rotation type laser range radar, and rotation type laser range radar can measure the distance directly below, can also measure and have the distance between the acute angle contained angle ground through the rotation. Rotation type laser rangefinder radar and processing module electric connection, through processing module to the infrared image processing of ground vision sign, can acquire the high temperature region of ground vision sign, processing module makes rotation type laser rangefinder radar just to this high temperature region through the angle of adjustment rotation type laser rangefinder radar, measures the distance to this high temperature region promptly. Through comparing unmanned aerial vehicle (unmanned aerial vehicle's geometric centre position) and first circular 1 and the distance between the ground directly below (the geometric centre position for heating portion of specific reference point), be about to the distance of visual mark high temperature region and the distance between the ground directly below compare, indicate that unmanned aerial vehicle is located ground visual mark directly over when both numerical values are unanimous, when both numerical values are inconsistent, indicate that unmanned aerial vehicle is not still directly over ground visual mark, therefore, can judge through rotation type laser range radar whether unmanned aerial vehicle is located ground visual mark directly over. When the distance between the unmanned aerial vehicle and the ground visual mark is inconsistent, the coordinate parameter of the unmanned aerial vehicle can be determined according to the degree of the included angle between the two distances and the coordinate of the high-temperature area and a certain point in the infrared image, and the flight attitude of the unmanned aerial vehicle is adjusted to be positioned right above the ground visual mark. After unmanned aerial vehicle is located ground vision mark directly over, rotation type laser rangefinder radar can accurately acquire the altitude value between unmanned aerial vehicle and the ground, through adjusting unmanned aerial vehicle's flight parameter, is convenient for realize steady descending.
As optional implementation, satellite navigation equipment is GPS receiver and/or big dipper locator, and the positioning accuracy of GPS receiver or big dipper locator generally is about 10 meters, is convenient for carry out preliminary location to patrolling and examining unmanned aerial vehicle's descending, through the guide of GPS receiver or big dipper locator, patrols and examines unmanned aerial vehicle and fly to the top of ground visual sign, is convenient for realize follow-up accurate descending. The Beidou system has the advantages that the signal availability of a high-shielding area in a city is better, the first positioning time is faster, and when the GPS receiver and the Beidou positioner are installed simultaneously, namely when dual-mode navigation is performed, the Beidou positioner and the GPS receiver are matched for use, so that quick positioning is more conveniently realized, and only one satellite navigation device can be installed as required.
Example two:
as shown in fig. 3, the invention provides a method for intelligently inspecting the landing of an unmanned aerial vehicle, wherein the landing method is performed by the landing system of the unmanned aerial vehicle, and comprises the following steps:
s100: the unmanned aerial vehicle receives a landing instruction and landing position information sent by the ground control station, and heats the heating part by electrifying; the landing position information is the coordinate position of the ground visual mark, and the heating part is heated so that the infrared navigation equipment can position the landing position.
S200: the unmanned aerial vehicle flies above a landing field through infrared navigation equipment or satellite navigation equipment, descends at a fixed speed and acquires an image of a ground visual mark through visible light navigation equipment;
s300: the processing module converts each frame image collected in S2 into a gray level image, and performs binarization processing, wherein 0 corresponds to white and 1 corresponds to black, so as to obtain a binarized image and perform noise point removal; the ground visual mark is a continuous geometric pattern, and noise points are removed, so that errors generated by edges in the identification process can be avoided.
S400: and (3) coding the binarized image without the noise points to obtain an N x N-order binary matrix, wherein a specific N value is determined by pixels of the binarized image and corresponds to the binarized image generated by the third square 6, and when the values of the first row, the last row, the first column and the last column of the binary matrix are all 1, the image information of the third area 11 at the outermost side of the image is acquired, so that the situation that the unmanned aerial vehicle enters the position right above the ground visual mark can be judged.
S500: the processing module finely adjusts the flight attitude of the unmanned aerial vehicle according to the 1-value distribution condition of the outer ring of the binary matrix; black uniform symmetric distribution in the third region 11, and therefore the 1 value distribution condition of the binary matrix outer ring is also correspondingly uniform symmetric, and when the 1 value distribution of a certain direction is less, the position of the unmanned aerial vehicle can be finely adjusted to the direction.
S600: the processing module judges whether the NxN order matrix is a symmetric matrix or not, the processing module judges that the symmetric matrix is easy to realize, when the NxN order matrix is the symmetric matrix, namely the unmanned aerial vehicle is positioned right above the ground visual mark, the flying attitude of the unmanned aerial vehicle is not adjusted any more, and the descending height is finished.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. An intelligent inspection unmanned aerial vehicle landing system is characterized by comprising a ground visual mark, a processing module, visible light navigation equipment, infrared navigation equipment and satellite navigation equipment; the ground visual mark is formed by combining a plurality of circles and squares, black or white is filled in the circles and the squares, and a heating part is arranged; the satellite navigation equipment can guide the inspection unmanned aerial vehicle to reach the position above the ground visual mark, and pre-positions the landing position of the unmanned aerial vehicle; the visible light navigation equipment can acquire a visible light image of the ground visual mark, and the infrared navigation equipment can acquire an infrared image of the ground visual mark; the processing module can process the visible light images and the infrared images and adjust the flight state of the unmanned aerial vehicle through flight parameters.
2. The intelligent inspection unmanned aerial vehicle landing system according to claim 1, wherein the ground visual indicators include, from inside to outside, a first circle, a second circle, a third circle, a first square, a second square, and a third square, and the center points of the first circle, the second circle, the third circle, the first square, the second square, and the third square are located at the same position.
3. The intelligent inspection unmanned aerial vehicle landing system according to claim 2, wherein the first circular filler is black, the first circular filler formed by the first and second circles is white, and the second circular filler formed by the second and third circles is black.
4. The intelligent inspection drone landing system according to claim 3, wherein the third circle is tangent to the first square, the first square outside the third circle forming a first area, the first area being filled with white; the first square and the second square form a second area, and the second area is filled with white; the second square and the third square form a third area, and the third area is filled with black.
5. The intelligent inspection drone landing system according to claim 4, wherein the first circular and/or third area is provided as a heating portion.
6. The intelligent inspection unmanned aerial vehicle landing system according to claim 5, wherein the heating portion is an electrothermal film, and the temperature of the electrothermal film can be changed by adjusting the input power to the electrothermal film.
7. The intelligent inspection unmanned aerial vehicle landing system according to claim 2, wherein the intelligent inspection unmanned aerial vehicle landing system further comprises a rotary laser range radar, the rotary laser range radar is electrically connected with the processing module, and whether the unmanned aerial vehicle is located directly above the ground visual mark can be judged by comparing the distance between the first circle and the ground directly below the first circle.
8. The intelligent inspection drone landing system according to claim 1, wherein the satellite navigation device is a GPS receiver and/or a beidou locator.
9. An intelligent inspection unmanned aerial vehicle landing method, wherein the landing method is performed by the unmanned aerial vehicle landing system according to any one of claims 1 to 8, and comprises the following steps:
s100: the unmanned aerial vehicle receives a landing instruction and landing position information sent by the ground control station, and heats the heating part by electrifying;
s200: the unmanned aerial vehicle flies above a landing field through the infrared navigation equipment or the satellite navigation equipment, descends at a fixed speed and acquires an image of a ground visual mark through the visible light navigation equipment;
s300: the processing module converts each frame image collected in S2 into a gray level image, and performs binarization processing to obtain a binarized image and remove noise;
s400: coding the binarized image without noise points to obtain an N x N-order binary matrix, and judging that the unmanned aerial vehicle enters right above the ground visual mark when the values of the first row, the last row, the first column and the last column of the binary matrix are all 1;
s500: the processing module finely adjusts the flight attitude of the unmanned aerial vehicle according to the 1-value distribution condition of the outer ring of the binary matrix;
s600: and the binary matrix processing module judges whether the binary matrix is a symmetric matrix, and when the binary matrix is the symmetric matrix, the flight attitude of the unmanned aerial vehicle is not adjusted any more, and the descending height is finished.
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| CN113671979A (en) * | 2021-08-24 | 2021-11-19 | 国网黑龙江省电力有限公司哈尔滨供电公司 | Unmanned aerial vehicle reset fixing device and landing positioning method applying same |
| CN114115345A (en) * | 2021-11-19 | 2022-03-01 | 中国直升机设计研究所 | Visual landing guiding method and system for rotor unmanned aerial vehicle |
| CN114928392A (en) * | 2022-02-18 | 2022-08-19 | 国网浙江省电力有限公司湖州供电公司 | Unmanned aerial vehicle automatic inspection data real-time return method and system based on 5G |
| CN114967756A (en) * | 2022-07-07 | 2022-08-30 | 华能盐城大丰新能源发电有限责任公司 | Auxiliary landing method, system and device for offshore wind turbine inspection unmanned aerial vehicle and storage medium |
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