CN114967756A - Auxiliary landing method, system and device for offshore wind turbine inspection unmanned aerial vehicle and storage medium - Google Patents
Auxiliary landing method, system and device for offshore wind turbine inspection unmanned aerial vehicle and storage medium 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention discloses an auxiliary landing method, system and device for an offshore wind turbine inspection unmanned aerial vehicle and a storage medium, and belongs to the technical field of wind turbine inspection. Under the condition that the unmanned aerial vehicle is detected to be switched from the automatic control mode to the manual control mode, acquiring a point cloud image of the movable airport through a laser radar; obtaining a first initial position of the movable airport according to the point cloud image; acquiring an infrared image of a movable airport; obtaining a second initial position of the movable airport based on the infrared image; obtaining a target position of the movable airport based on the first initial position and the second initial position; and generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport. The technical problem of the marine weather condition is more complicated, and when meeting the heavy fog weather, the visual light camera recognition effect is poor, leads to the security that unmanned aerial vehicle descends to be low is solved.
Description
Technical Field
The invention belongs to the technical field of fan inspection, and particularly relates to an auxiliary landing method, system and device for an offshore fan inspection unmanned aerial vehicle and a storage medium.
Background
Offshore wind power is used as clean energy, the advantages of being close to power utilization load, stable in power generation, free of land resource occupation and the like are utilized, the technical development is rapid, and in recent years, the installed capacity of offshore wind power grid connection is continuously increased.
When the unmanned aerial vehicle is adopted to patrol and examine the offshore wind driven generator, the unmanned aerial vehicle needs to land on a mobile airport after finishing a current patrol and examine task, the mobile airport is usually identified by the prior art through collecting images by the optical camera, and then the unmanned aerial vehicle is controlled to return to the mobile airport.
However, the marine weather condition is more complicated, and especially in severe weather such as heavy fog, the visible light camera recognition effect is poor, resulting in low safety of unmanned aerial vehicle landing.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an auxiliary landing method, system, device and storage medium for an offshore wind turbine inspection unmanned aerial vehicle, which can effectively improve the safety of landing of the unmanned aerial vehicle in severe weather.
The invention is realized by the following technical scheme:
an auxiliary landing method for an offshore wind turbine inspection unmanned aerial vehicle comprises the following steps:
s1: when the unmanned aerial vehicle is detected to be switched from the automatic control mode to the manual control mode, acquiring a point cloud image of the movable airport;
s2: acquiring a first initial position of the mobile airport according to the point cloud image obtained in the step S1;
s3: acquiring an infrared image of the mobile airport;
s4: acquiring a second initial position of the movable airport according to the infrared image obtained in the step S3;
s5: obtaining a target position of the mobile airport based on the first initial position obtained at S2 and the second initial position obtained at S4;
s6: and generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport obtained in the step S5.
Preferably, S3 is specifically: the movable airport is provided with a heat source, and when an infrared image of the movable airport is obtained, a heat source starting signal is sent, and then the infrared image of a region containing the heat source of the movable airport is obtained; wherein the mobile airport executes the heat source activation signal to activate the heat source.
Further preferably, before the infrared image of the mobile airport is acquired, the method further comprises the steps of determining the quality grade of the point cloud image and judging that the quality grade of the point cloud image does not meet a standard grade.
Preferably, the target temperature of the heat source start is adjusted according to the quality grade of the point cloud image.
Preferably, the mobile airport is provided in a multi-corner shape.
The utility model provides an auxiliary landing system of unmanned aerial vehicle is patrolled and examined to offshore wind turbine, includes:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a point cloud image of a movable airport through a laser radar under the condition that the unmanned aerial vehicle is detected to be switched from an automatic control mode to a manual control mode;
the first obtaining unit is used for obtaining a first initial position of the movable airport according to the point cloud image;
the acquisition unit is used for acquiring an infrared image of the movable airport;
a second obtaining unit configured to obtain a second initial position of the movable airport based on the infrared image;
a third obtaining unit configured to obtain a target position of the mobile airport based on the first initial position and the second initial position;
and the generating unit is used for generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport.
Preferably, the method further comprises the following steps:
a transmitting module for transmitting a heat source activation signal, wherein the mobile airport executes the heat source activation signal to activate the heat source;
an acquisition module for acquiring the infrared image of a region of the mobile airport containing a heat source.
Further preferably, the method further comprises the following steps:
a determining module for determining a quality level of the point cloud image;
and the judging module is used for judging that the quality grade of the point cloud image does not accord with the standard grade.
The invention discloses computer equipment which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method for patrolling the auxiliary landing of the unmanned aerial vehicle by the offshore wind turbine.
The invention discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program is executed by a processor to realize the steps of the method for patrolling the auxiliary landing of the unmanned aerial vehicle by the offshore wind turbine.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the auxiliary landing method for the offshore wind turbine inspection unmanned aerial vehicle, the unmanned aerial vehicle cannot continuously perform inspection tasks and can only return to the home in severe weather, at this time, due to poor visibility in severe weather such as heavy fog, in order to ensure the safe return of the unmanned aerial vehicle, an inspector of the unmanned aerial vehicle can control the unmanned aerial vehicle through a remote controller of the unmanned aerial vehicle, namely, an automatic control mode is switched into a manual control mode, and under the condition that the inspection worker switches the control mode, a laser radar of the unmanned aerial vehicle is started to acquire a point cloud image of a movable airport. Then, an infrared image of the movable airport is acquired through an infrared camera of the unmanned aerial vehicle, a first initial position obtained by the point cloud image and a second initial position obtained by the infrared image are integrated to obtain a target position of the movable airport, and landing navigation information of the unmanned aerial vehicle is generated according to the target position of the movable airport. The target position of the movable airport is high in accuracy because the target position of the movable airport integrates the first initial position and the second initial position determined by the two methods. The invention solves the technical problems that the landing safety of the unmanned aerial vehicle is low due to the fact that the sea weather condition is complex, and the identification effect of the visible light camera is poor when severe weather such as fog occurs.
Further, a heat source, such as an electrified heating device, is arranged at the movable airport, and the electrified heating device is started remotely, so that the heat source sends an infrared signal outwards, and the infrared image of the area, containing the heat source, of the movable airport can be captured quickly by the unmanned aerial vehicle camera.
Further, if the point cloud image does not meet the standard grade, the point cloud image is fuzzy, and the target position accuracy of the movable airport is poor only by generating the point cloud image.
Furthermore, the target temperature of the starting of the heat source is adjusted according to the quality level of the point cloud image, and the quality level of the point cloud image represents the visibility of weather, so that if the quality level of the point cloud image is low, the quality of the point cloud image is poor, and the target temperature of the heat source is increased, so that the quality of the infrared image is improved, and the accuracy of target position identification is improved.
Further, the movable airport is provided in a multi-corner shape so that a target position of the movable airport is more easily recognized by a laser radar or an infrared camera.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a flow chart of a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a preferred embodiment of the present invention;
fig. 4 is a block diagram of the system of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and specific examples, which are given by way of illustration and not by way of limitation.
Example one
The invention provides an auxiliary landing method for an offshore wind turbine inspection unmanned aerial vehicle, which comprises the following steps of:
and step S11, under the condition that the unmanned aerial vehicle is detected to be switched from the automatic control mode to the manual control mode, acquiring a point cloud image of the movable airport through the laser radar.
Specifically, this scheme can be carried out the main part as the method of this scheme by unmanned aerial vehicle's controller or other equipment that have the data processing function, this scheme detects unmanned aerial vehicle's control mode constantly, if detect under unmanned aerial vehicle's control mode switches into manual condition from automatic mode, the point cloud image of portable airport is gathered to the lidar that starts unmanned aerial vehicle, above-mentioned portable airport can be the unmanned aerial vehicle airport on the land, can be for the airport that sets up on the ship, supply the unmanned aerial vehicle descending to charge, operations such as maintenance.
For example, be under extreme weather at sea, for example big fog, unmanned aerial vehicle can't continue to carry out the task of patrolling and examining this moment and can only return to the journey, this moment, because big fog weather visibility is poor, return to the journey in order to guarantee unmanned aerial vehicle safety, unmanned aerial vehicle's patrolling and examining personnel (flight hand) can control unmanned aerial vehicle through unmanned aerial vehicle's remote controller usually, be about to automatic control mode and switch into manual control mode, this scheme is then under the condition that personnel switched control mode is patrolled and examined in the discovery, then start unmanned aerial vehicle's laser radar and gather the some cloud image at portable airport.
And step S13, obtaining a first initial position of the movable airport according to the point cloud image.
And step S15, acquiring the infrared image of the mobile airport.
And step S17, obtaining a second initial position of the movable airport based on the infrared image.
Specifically, in the present scheme, a first initial position of the movable airport can be determined through recognition of the point cloud image, and then the infrared camera of the unmanned aerial vehicle is controlled to acquire an infrared image of the movable airport and recognize the infrared image to determine a second initial position of the airport.
Step S19, obtaining a target position of the mobile airport based on the first initial position and the second initial position.
Specifically, the first initial position is a first initial position identified based on a laser radar, and the second initial position is a second initial position identified through an infrared image. Because the target position takes the first initial position and the second initial position into consideration, the accuracy is high.
And step S21, generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport.
Specifically, in the scheme, under the condition that the target position of the movable airport is obtained, the descending navigation information can be generated according to the target position, and the navigation information is displayed on a remote controller of the unmanned aerial vehicle for navigation display.
According to the scheme, through the steps, under the condition that fog appears in the sea weather, the target position of the movable airport is obtained based on the laser radar and the infrared camera, then the flying hand is guided to control the unmanned aerial vehicle to accurately land to the movable airport, and therefore when the fog weather appears in the complicated sea weather condition, the visible light camera recognition effect is poor, and the technical problem that the safety of unmanned aerial vehicle landing is low is caused.
Optionally, a heat source is disposed in the mobile airport, wherein, with reference to fig. 2, the step S15 of acquiring an infrared image of the mobile airport includes:
step S151 of transmitting a heat source activation signal, wherein the movable airport executes the heat source activation signal to activate the heat source.
And step S152, acquiring the infrared image of the area containing the heat source of the movable airport.
Specifically, can remove the airport and set up the heat source, for example the ohmic heating device, but this scheme remote start circular telegram device that generates heat to make the heat source outwards send infrared signal, make things convenient for unmanned aerial vehicle camera to catch the regional infrared image that contains the heat source in portable airport fast.
Optionally, with reference to fig. 3, before acquiring the infrared image of the mobile airport in step S152, the method of the present application may further include:
step S1521, determining the quality level of the point cloud image.
Step S1522, judging that the quality grade of the point cloud image does not accord with the standard grade.
It should be noted here that the method may be implemented to determine the quality level of the point cloud image acquired by the laser radar, and if the quality level meets the standard level, the point cloud image is relatively clear, and the number of the point clouds is relatively large, but if the point cloud image does not meet the standard level, the target position of the mobile airport is relatively fuzzy, and only if the target position of the mobile airport is generated according to the point cloud image, the target position accuracy is poor, so the method in step S152 is implemented.
Optionally, the method of the present application may further include:
and adjusting the starting target temperature of the heat source according to the quality grade of the point cloud image.
Specifically, in this scheme, this scheme can come the target temperature that real-time adjustment heat source started according to some cloud quality grades, and it is required to explain here that the visibility of weather is being represented to the quality grade of some cloud image, consequently, if some cloud quality grades are lower, some cloud image quality is relatively poor, this scheme then improves the target temperature of heat source to improve the quality of infrared image. In this way, the accuracy of target position identification can be improved.
Optionally, the movable airport is configured in a multi-corner shape, so that a target position of the movable airport can be more easily recognized by a laser radar or an infrared camera.
Example two
The application also provides an unmanned aerial vehicle's supplementary landing device is patrolled and examined to offshore wind turbine, and the device can set up in unmanned aerial vehicle, also can be used for carrying out the method of above-mentioned embodiment one, as shown in fig. 4, the device can include:
and the acquisition unit 40 is used for acquiring the point cloud image of the movable airport through the laser radar under the condition that the unmanned aerial vehicle is detected to be switched from the automatic control mode to the manual control mode.
Specifically, this scheme detects unmanned aerial vehicle's control mode constantly, if the control mode that detects unmanned aerial vehicle switches into under the manual condition from automatic mode, starts unmanned aerial vehicle's laser radar and gathers the point cloud image at portable airport, above-mentioned portable airport can be for the unmanned aerial vehicle airport on the land, can be for the airport that sets up on the ship, supplies the unmanned aerial vehicle descending to charge, operation such as maintenance.
For example, be under extreme weather at sea, for example big fog, unmanned aerial vehicle can't continue to carry out the task of patrolling and examining this moment and can only return to the journey, this moment, because big fog weather visibility is poor, return to the journey in order to guarantee unmanned aerial vehicle safety, unmanned aerial vehicle's patrolling and examining personnel (flight hand) can control unmanned aerial vehicle through unmanned aerial vehicle's remote controller usually, be about to automatic control mode and switch into manual control mode, this scheme is then under the condition that personnel switched control mode is patrolled and examined in the discovery, then start unmanned aerial vehicle's laser radar and gather the some cloud image at portable airport.
A first obtaining unit 42, configured to obtain a first initial position of the mobile airport according to the point cloud image.
An acquisition unit 44 configured to acquire an infrared image of the mobile airport.
A second deriving unit 46 for deriving a second initial position of the movable airport based on the infrared image.
Specifically, in the present scheme, a first initial position of the movable airport can be determined through recognition of the point cloud image, and then the infrared camera of the unmanned aerial vehicle is controlled to acquire an infrared image of the movable airport and recognize the infrared image to determine a second initial position of the airport.
A third deriving unit 48 for deriving a target position of said mobile airport based on said first initial position and said second initial position.
Specifically, the first initial position is a first initial position identified based on a laser radar, and the second initial position is a second initial position identified through an infrared image. Because the first initial position and the second initial position are considered by the target position, the accuracy is high.
And the generating unit 50 is used for generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport.
Specifically, in the scheme, under the condition that the target position of the movable airport is obtained, the descending navigation information can be generated according to the target position, and the navigation information is displayed on a remote controller of the unmanned aerial vehicle for navigation display.
This scheme is through above-mentioned a plurality of units, under the condition of big fog appears in marine weather, obtains the target location in portable airport based on laser radar and infrared camera, then guide the accurate landing of flying hand control unmanned aerial vehicle to portable airport, therefore this scheme has solved the relatively complicated big fog weather that appears of marine weather condition when, and visible light camera recognition effect is poor, leads to the technical problem that the security that unmanned aerial vehicle descends is low.
Optionally, the obtaining unit includes: a transmitting module for transmitting a heat source activation signal, wherein the mobile airport executes the heat source activation signal to activate the heat source; an acquisition module for acquiring the infrared image of a region of the mobile airport containing a heat source.
Optionally, the apparatus further comprises: a determining module for determining a quality level of the point cloud image; and the judging module is used for judging that the quality grade of the point cloud image does not accord with the standard grade.
It will be understood that the specific features, operations, and details described herein above with respect to the method of the present invention may be similarly applied to the apparatus and system of the present invention, or vice versa. In addition, each step of the method of the present invention described above may be performed by a respective component or unit of the device or system of the present invention.
It should be understood that the various modules/units of the apparatus of the present invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. The modules/units may be embedded in the processor of the computer device in the form of hardware or firmware or independent of the processor, or may be stored in the memory of the computer device in the form of software for being called by the processor to execute the operations of the modules/units. Each of the modules/units may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
In one embodiment, an electronic device is provided that includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instruct the processor to perform the steps of the method of embodiment one of the present invention. The computer device may broadly be a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, a network interface, a communication interface, etc., connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device via a network. Which when executed by a processor performs the steps of the method of the invention.
The invention may be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of a method of a first embodiment of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.
It will be appreciated by those of ordinary skill in the art that the method steps of the present invention may be directed to associated hardware, such as a computer device or processor, for performing the steps of the present invention by a computer program, which may be stored in a non-transitory computer readable storage medium, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as there is no contradiction between such combinations.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an offshore wind turbine inspection unmanned aerial vehicle auxiliary landing method which is characterized by comprising the following steps:
s1: when the unmanned aerial vehicle is detected to be switched from the automatic control mode to the manual control mode, acquiring a point cloud image of a movable airport;
s2: acquiring a first initial position of the mobile airport according to the point cloud image obtained in the step S1;
s3: acquiring an infrared image of the mobile airport;
s4: acquiring a second initial position of the movable airport according to the infrared image obtained by the S3;
s5: obtaining a target position of the mobile airport based on the first initial position obtained at S2 and the second initial position obtained at S4;
s6: and generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport obtained in the step S5.
2. The auxiliary landing method for the offshore wind turbine inspection unmanned aerial vehicle according to claim 1, wherein S3 specifically comprises the following steps: the movable airport is provided with a heat source, and when an infrared image of the movable airport is obtained, a heat source starting signal is sent, and then the infrared image of a region containing the heat source of the movable airport is obtained; wherein the mobile airport executes the heat source activation signal to activate the heat source.
3. The offshore wind turbine inspection unmanned aerial vehicle auxiliary landing method according to claim 2, further comprising determining a quality level of the point cloud image before acquiring the infrared image of the mobile airport, and determining that the quality level of the point cloud image does not meet a standard level.
4. The offshore wind turbine inspection unmanned aerial vehicle auxiliary landing method according to claim 3, wherein the target temperature of the heat source start is adjusted according to the quality level of the point cloud image.
5. The offshore wind turbine inspection unmanned aerial vehicle assisted landing method of claim 1, wherein the mobile airport is configured in a multi-corner shape.
6. The utility model provides an auxiliary landing system of unmanned aerial vehicle is patrolled and examined to offshore wind turbine, its characterized in that includes:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a point cloud image of a movable airport through a laser radar under the condition that the unmanned aerial vehicle is detected to be switched from an automatic control mode to a manual control mode;
the first obtaining unit is used for obtaining a first initial position of the movable airport according to the point cloud image;
the acquisition unit is used for acquiring an infrared image of the movable airport;
a second obtaining unit configured to obtain a second initial position of the movable airport based on the infrared image;
a third obtaining unit configured to obtain a target position of the mobile airport based on the first initial position and the second initial position;
and the generating unit is used for generating landing navigation information of the unmanned aerial vehicle according to the target position of the movable airport.
7. The offshore wind turbine inspection unmanned aerial vehicle auxiliary landing system of claim 6, further comprising:
a transmitting module for transmitting a heat source activation signal, wherein the mobile airport executes the heat source activation signal to activate the heat source;
an acquisition module for acquiring the infrared image of a region of the mobile airport containing a heat source.
8. The offshore wind turbine inspection unmanned aerial vehicle auxiliary landing system of claim 7, further comprising:
the determining module is used for determining the quality grade of the point cloud image;
and the judging module is used for judging that the quality grade of the point cloud image does not accord with the standard grade.
9. Computer device, characterized in that it comprises a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of the offshore wind turbine inspection drone auxiliary landing method according to any one of claims 1 to 5 when executing said computer program.
10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, is adapted to carry out the steps of the method for offshore wind turbine inspection of unmanned aerial vehicle assisted landing according to any of claims 1 to 5.
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