CN109911123B - Marine buoy detection and maintenance system - Google Patents
Marine buoy detection and maintenance system Download PDFInfo
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Abstract
The utility model provides a navigation buoy detects maintenance system, relates to navigation mark system technical field, for solving current navigation mark and maintaining the mode that adopts unmanned aerial vehicle to obtain the image one by one, verifies that the accuracy is poor, inefficiency, energy resource consumption are big problem. The system comprises a control center, an unmanned aerial vehicle and a navigation mark; the navigation mark carries a positioning device, and the positioning device is used for sending a navigation mark position signal to the unmanned aerial vehicle; the unmanned aerial vehicle is provided with a navigation mark position verifying device and an image acquiring device, the navigation mark position verifying device is used for verifying whether a navigation mark coordinate has deviation, and the image acquiring device is used for acquiring a navigation mark image; communication connection between control center and unmanned aerial vehicle, unmanned aerial vehicle and the fairway buoy. The invention has high maintenance efficiency, high accuracy because of the adoption of the position coordinates for maintenance, and no need of sending all the navigation marks to the control center after image acquisition, thereby relieving the transmission and storage pressure. The invention can be widely applied to the field of navigation mark maintenance.
Description
Technical Field
The invention relates to the technical field of navigation mark systems, in particular to a navigation buoy detection and maintenance system.
Background
The maintenance work of the navigation mark mainly comprises monitoring whether the navigation mark has deviation or drift, monitoring and maintaining the navigation mark fault, replacing a power supply and monitoring and maintaining other faults, and the like. The traditional realization mode is to send ships to go out and patrol regularly, and the defects of the traditional realization mode are that the time consumption is long, the efficiency is low, the consumption of manpower and material resources is huge, and due to the complexity of sea conditions, patrol personnel have certain risks in the patrol process.
Currently, unmanned aerial vehicle technology is developing rapidly and is widely applied to military and civil fields. The unmanned aerial vehicle is adopted to regularly detect the navigation mark and complete part of maintenance functions, so that the abnormal condition of the navigation mark can be timely detected and reported, an emergency response is timely made, time is striven for the next emergency measure, the frequency of patrol except ship dispatching can be reduced, manpower and material resources are greatly saved, and the danger of real ship patrol is reduced. Staff no longer need frequently expose in the abominable environment of open-air wind-blowing sunshine, just can easily accomplish the maintenance task of patrolling and examining of fairway buoy indoor, great reduction working strength and potential danger. Effectual unmanned aerial vehicle to being applied to the fairway buoy and detecting the maintenance manages, can not only improve the efficiency that unmanned aerial vehicle patrolled and examined, also can reduce the incidence of unmanned aerial vehicle accident.
At present unmanned aerial vehicle has used in fairway buoy detection area, and current unmanned aerial vehicle fairway buoy detecting system makes unmanned aerial vehicle reach the fairway buoy position through predetermineeing the airline, then carries out image acquisition one by one through the image acquisition device that unmanned aerial vehicle carried on to the fairway buoy, then sends and judges whether the fairway buoy squints for the control cabinet. The image is adopted to check whether the navigation mark has offset and drift loss, the checking accuracy is lower because the navigation mark has no fixed reference object, and the image also needs to be transmitted, so that the navigation mark is subjected to image acquisition one by one to judge whether the navigation mark has offset and drift loss, the checking efficiency is low, and the energy consumption is high.
Disclosure of Invention
The purpose of the invention is: the problem of current fairway buoy maintain adopt unmanned aerial vehicle to acquire the mode of image one by one, verify that the accuracy is poor, inefficiency, energy consumption are big is solved.
The invention is realized by adopting the following technical scheme: a detection and maintenance system for a navigation buoy comprises a control center, an unmanned aerial vehicle and a navigation buoy;
the navigation mark carries a GPS positioning device, and the GPS positioning device is used for sending navigation mark position signals to the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a navigation mark position verifying device and an image acquiring device, the navigation mark position verifying device is used for verifying whether a navigation mark coordinate has deviation, and the image acquiring device is used for acquiring a navigation mark image;
communication connection between control center and unmanned aerial vehicle, unmanned aerial vehicle and the fairway buoy.
The invention has the following beneficial effects: the invention has high maintenance efficiency, high accuracy because of the adoption of the position coordinates for maintenance, and does not need to acquire images of all navigation marks and then send the images to the control center, thereby relieving the transmission and storage pressure and greatly reducing the energy consumption of all equipment. Because unmanned aerial vehicle's energy consumption also obtains very big reduction, can assist to increase unmanned aerial vehicle's continuation of the journey mileage to make the unit can accomplish more navigation buoy detection and maintenance, reduce the invalid round trip of unmanned aerial vehicle, further improve maintenance efficiency.
Drawings
Fig. 1 is a schematic diagram of the maintenance system structure of the present invention.
FIG. 2 is a flow chart of the detection function of the present invention.
FIG. 3 is a fault retrieval module flow diagram of the present invention.
Fig. 4 is a schematic structural diagram of a fifth embodiment of the present invention.
Detailed Description
The first embodiment is as follows: the present embodiment will be described in detail with reference to fig. 1 and 2. The system for detecting and maintaining the navigation buoy in the embodiment comprises a control center 100, an unmanned aerial vehicle 200 and a navigation mark 300;
the beacon 300 carries a GPS positioning device, and the GPS positioning device is used for sending a beacon 300 position signal to the unmanned aerial vehicle 200;
the unmanned aerial vehicle 200 is provided with a navigation mark 300 position verification device and an image acquisition device, the navigation mark 300 position verification device compares the stored navigation mark 300 position information with the position information sent by the GPS positioning device to judge whether the navigation mark 300 has offset, and the image acquisition device is used for acquiring the navigation mark 300 image;
the control center 100 communicates with the unmanned aerial vehicle 200, the unmanned aerial vehicle 200 communicates with the unmanned aerial vehicle 200, and the unmanned aerial vehicle 200 communicates with the navigation mark 300.
The conventional system for maintaining the beacon 300 directly acquires the image information of the beacon 300 through the image acquisition device on the unmanned aerial vehicle 200, because the image information of the beacon 300 does not have a fixed reference object and is low in verification accuracy due to the influence of the position and the angle when the unmanned aerial vehicle 200 shoots the image, the conventional system for maintaining the beacon 300 acquires the image of all the beacons 300 and then sends all the image information to the control center 100 for judgment, wherein the image information comprises the correct position information, which causes useless work and low maintenance efficiency, and all the images of the beacon 300 are acquired and sent to the control center 100, so that most energy is consumed, a large amount of image transmission depends on a good network, and when the network is poor, the maintenance mode of the conventional unmanned aerial vehicle 200 is low in efficiency.
The device adopts a GPS positioning device positioning mode to verify whether the position of the beacon 300 is correct or not, the accuracy is high, the GPS positioning device is in a constantly-opened state, the unmanned aerial vehicle 200 reaches the approximate area of the beacon 300 and receives the positioning information of the beacon 300, the beacon 300 position verifying device judges whether the beacon 300 has deviation or not by comparing the stored beacon 300 position information with the position information sent by the GPS positioning device, the beacon 300 position is not deviated and is not processed, the beacon 300 position deviates, the image acquisition device is started to acquire image information and send the image information to the control center 100 to further confirm the state of the beacon 300, if the unmanned aerial vehicle 200 reaches the approximate area of the beacon 300, the position coordinate sent by the GPS positioning device cannot be received, the image acquisition device is turned on to acquire an image and send the acquired image to the control center 100, and during image acquisition, the image acquisition is performed with the center point of the acquired image aligned with the non-offset coordinates of the navigation mark 300.
The device avoids the situation that the image information of the navigation mark 300 is collected when the position of the navigation mark 300 is correct, and improves the maintenance efficiency. The device does not need to collect all image information and send all image information to the control center 100, thereby saving energy. Whether the position of the navigation mark 300 deviates or not is judged in a GPS positioning mode, and the accuracy is improved.
The second embodiment is as follows: the present embodiment is a further improvement of the first embodiment, and the difference between the present embodiment and the first embodiment is that the beacon 300 further includes an activation device, and the activation device controls the GPS positioning device to be turned on or off according to a signal of the drone 200.
The GPS positioning device is in a low-power dormant state when no unmanned aerial vehicle 200 patrols; when the unmanned aerial vehicle 200 is patrolling, the unmanned aerial vehicle 200 transmits a signal to the beacon 300 according to the approximate coordinates, and at the moment, the activation device on the beacon 300 starts the GPS positioning device to start working after receiving the signal, and transmits the position coordinates to the unmanned aerial vehicle 200, so that the energy is further saved,
the third concrete implementation mode: the present embodiment is a further improvement of the first specific embodiment, and the difference between the present embodiment and the first specific embodiment is that the unmanned aerial vehicle 200 is further provided with a controller, and the controller is configured to periodically send the flight state of the unmanned aerial vehicle 200 to the control center 100.
The fourth concrete implementation mode: the present embodiment is a further improvement of the first embodiment, and the difference between the present embodiment and the first embodiment is that the system further includes a failure retrieval module for retrieving the failed navigation mark 300 function module mounting stage 2.
The fifth concrete implementation mode: the present embodiment is a further improvement of the fourth embodiment, and the difference between the present embodiment and the fourth embodiment is that the fault retrieving module includes a clamping device provided on the unmanned aerial vehicle 200, and a protrusion 3 and a separation button 5 provided on the beacon 300 function module mounting platform 2;
the clamping device comprises a box body 1, a sliding block 10 and a release button 6, wherein a clamping groove 4 is processed on the box body 1, the sliding block 10 is arranged at the opening end of the clamping groove 4, and a spring 9 is arranged between one end of the sliding block 10 in the length direction and the inner side wall of the box body 1;
one end of the release button 6 is arranged outside the box body 1, and the other end of the release button is connected with a slide block 10 inside the box body 1 through a lever linkage device;
the separation button 5 is used for separating the navigation mark 300 base from the navigation mark 300 functional module mounting platform 2.
The drone 200 carries corresponding functional module retrieving means, the structure and the working principle of which are shown in fig. 3 and 4. Box 1 sets up on unmanned aerial vehicle 200, and arch 3 and release button 5 set up on beacon 300 function module overlap platform 2, installs each functional device of beacon 300 on the overlap platform, when needs take back beacon 300 function module overlap platform 2, protruding 3 alignment buckle groove 4 to the inslot motion, and slider 10 drives spring 9 and slides inwards. After the protrusion 3 enters the buckling groove 4, the sliding block 10 is released under the action of the spring 9 to fix the beacon 300 function module carrying platform 2 on the retrieving device, after the protrusion 3 enters the buckling groove 4, the box body 1 extrudes the separation button 5, the separation button 5 is triggered, the beacon 300 base releases the beacon 300 function module carrying platform 2, and the retrieving of the fault module is completed.
The module retrieving device is provided with a release button, after the module is retrieved, the control center 100 triggers the release button or a worker manually presses the release button to detach the beacon 300 function module carrying platform 2, the existing connection mode can be adopted between the beacon 300 function module carrying platform 2 and the beacon 300 base, and the release effect can be achieved through electric control release or mechanical release.
The sixth specific implementation mode: this embodiment is to the further improvement of embodiment five, and the difference of this embodiment and embodiment five is that lever linkage includes actuating lever 7 and dwang 8, actuating lever 7 one end and release button 6 fixed connection, the other end and dwang 8 rotate to be connected, the one end and the slider 10 rotation connection of actuating lever 7 are kept away from to dwang 8, the middle part of dwang 8 is passed through the pivot and is rotated with box 1 and be connected, as shown in fig. 4.
The seventh embodiment: the present embodiment is a further improvement of the first embodiment, and the difference between the present embodiment and the first embodiment is that the control center 100 and the drone 200, the drone 200 and the drone 200, and the drone 200 and the navigation mark 300 adopt a 3G/4G network, a mesh network, or UHF wireless radio frequency communication.
The specific implementation mode is eight: the present embodiment will be described in detail with reference to fig. 1 and 2. The embodiment provides a detection and maintenance method for a navigation buoy, which comprises the following steps:
step one, the unmanned aerial vehicle 200 flies according to a preset air route and reaches the approximate position area of the navigation mark 300;
step two, the unmanned aerial vehicle 200 receives a positioning signal sent by a GPS positioning device on the navigation mark 300, the unmanned aerial vehicle 200 cannot receive a position signal, the step three is executed, and the unmanned aerial vehicle 200 receives the position signal, and the step four is executed;
step three, starting an image acquisition device on the unmanned aerial vehicle 200, aligning the central point of the acquired image with the coordinate when the navigation mark 300 is not offset, acquiring the image, sending the image information to the control center 100, and judging whether the navigation mark 300 is lost or not by the control center 100 according to the image information;
and step four, starting the navigation mark 300 position verification device, comparing the navigation mark 300 position information stored by the navigation mark 300 position verification device with the position information sent by the GPS positioning device, judging whether the navigation mark 300 deviates, if the navigation mark 300 does not deviate, carrying out no treatment, if the navigation mark 300 deviates, and sending a signal to the control center 100 by the unmanned aerial vehicle 200.
The unmanned aerial vehicle 200 starts according to a preset air route, when the unmanned aerial vehicle reaches the approximate position area of the beacon 300 to be verified, the unmanned aerial vehicle 200 receives a signal sent by a GPS positioning device which is always started on the beacon 300, if the unmanned aerial vehicle 200 can receive a position coordinate signal, the beacon 300 position verification device is started, and whether the beacon 300 deviates or not and the deviation amount of the beacon 300 is confirmed by comparing the position information of the beacon 300 stored in the beacon 300 position verification device with the position information sent by the GPS positioning device. Confirming that the position of the navigation mark 300 is normal and not processing; if the position of the beacon 300 is abnormal, a communication mechanism between the unmanned aerial vehicle 200 and the control center 100 is started, the abnormal position information of the beacon 300 is sent to the control center 100, and the control center 100 determines the next measure.
If the unmanned aerial vehicle 200 cannot receive the position coordinates, the unmanned aerial vehicle 200 image acquisition device is started to acquire images by aligning the central point of the acquired images with the coordinates when the navigation mark 300 is not offset, and the image information is sent to the control center 100, and the actual situation of the navigation mark 300 is confirmed by the control center 100.
The specific implementation method nine: this embodiment is a further improvement of the eighth embodiment, and the difference between this embodiment and the eighth embodiment is that the first step further includes the following steps:
step one, the unmanned aerial vehicle 200 sends an activation signal;
step two, an activation device on the navigation mark 300 receives an activation signal sent by the unmanned aerial vehicle 200, and a GPS positioning device in a dormant state is started;
step three, the GPS positioning device sends a position signal to the drone 200.
In the eighth embodiment, the GPS positioning device is always on, which wastes energy, but in the present embodiment, the GPS positioning device is in a low-power sleep state when there is no patrol of the drone 200; when unmanned aerial vehicle 200 tours, unmanned aerial vehicle 200 is according to the roughly coordinate transmission signal of fairway buoy 300, and the signal is received to activation device on the fairway buoy 300 this moment and GPS positioner is started to work, sends the position coordinate to unmanned aerial vehicle 200, and after the signal disappeared, activation device on the fairway buoy 300 can not receive the signal that unmanned aerial vehicle 200 sent, closes GPS positioner. So, when not having unmanned aerial vehicle 200 to maintain, do not open GPS positioner, practice thrift the fairway buoy 300 energy, make the fairway buoy 300 operating duration increase.
The detailed implementation mode is ten: this embodiment is a further improvement of the eighth embodiment, and the difference between this embodiment and the eighth embodiment is that the third step further includes the following steps:
step three, the control center 100 receives the signal sent by the unmanned aerial vehicle 200, if the signal is judged to be lost, the unmanned aerial vehicle 200 does not process the signal, if the signal is judged not to be lost, the step two is executed,
and step two, the unmanned aerial vehicle 200 starts a fault retrieving module to retrieve the beacon 300 function module assembling platform 2.
The judgment condition is preset by a technician, the control center 100 compares the preset parameters of the technician with the image parameters returned by the unmanned aerial vehicle 200, if the image parameters are judged to be lost, the command is not sent to the unmanned aerial vehicle 200, and if the image parameters are judged to be not lost, the command is sent to the unmanned aerial vehicle 200. As shown in fig. 3.
When the unmanned aerial vehicle 200 receives an instruction of the control center 100 and retrieves the beacon 300 function module carrying platform 2, the unmanned aerial vehicle 200 or the control center 100 calculates coordinates of the offset position of the beacon 300 in the acquired image according to the image information acquired by the image acquisition device and by combining information such as the position and the angle when the unmanned aerial vehicle 200 acquires the image, and then the unmanned aerial vehicle 200 retrieves the beacon 300 function module carrying platform 2 according to the offset coordinates, wherein the central point of the acquired image is the coordinate of the beacon 300 which is not offset.
The concrete implementation mode eleven: the present embodiment is a further improvement of the first embodiment, and the difference between the present embodiment and the first embodiment is that the navigation mark 300 further includes an illumination device.
The specific implementation mode twelve: this embodiment is a further improvement of the first embodiment, and the difference between this embodiment and the first embodiment is that the navigation mark 300 further includes an acoustic device.
It should be noted that the detailed description is only for explaining and explaining the technical solution of the present invention, and the scope of protection of the claims is not limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.
Claims (8)
1. A detection and maintenance system for a navigation buoy comprises a control center, an unmanned aerial vehicle and a navigation buoy;
the navigation mark carries a GPS positioning device, and the GPS positioning device is used for sending navigation mark position signals to the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a navigation mark position verifying device and an image acquiring device, the navigation mark position verifying device judges whether the navigation mark has offset or not by comparing navigation mark position information stored in the navigation mark position verifying device with position information sent by a GPS positioning device, and the image acquiring device is used for acquiring a navigation mark image;
the control center communicates with the unmanned aerial vehicle, the unmanned aerial vehicle communicates with the unmanned aerial vehicle, and the unmanned aerial vehicle communicates with the navigation mark;
the system also comprises a fault retrieving module, wherein the fault retrieving module is used for retrieving the fault navigation mark function module mounting platform (2);
the method is characterized in that: the fault retrieving module comprises a clamping device arranged on the unmanned aerial vehicle, and a protrusion (3) and a separation button (5) which are arranged on the beacon function module erecting platform (2);
the clamping device comprises a box body (1), a sliding block (10) and a release button (6), wherein a clamping groove (4) is processed on the box body (1), the sliding block (10) is arranged at the opening end of the clamping groove (4), and a spring (9) is arranged between one end of the sliding block (10) in the length direction and the inner side wall of the box body (1);
one end of the release button (6) is arranged on the outer side of the box body (1), and the other end of the release button is connected with a sliding block (10) on the inner side of the box body (1) through a lever linkage device;
the separation button (5) is used for separating the navigation mark base and the navigation mark function module assembling platform (2).
2. The marine buoy detection and maintenance system of claim 1, wherein: the navigation mark also carries an activating device, and the activating device controls the GPS positioning device to be turned on or off according to the signal of the unmanned aerial vehicle.
3. The marine buoy detection and maintenance system of claim 1, wherein: the unmanned aerial vehicle is also provided with a controller, and the controller is used for periodically sending the flight state of the unmanned aerial vehicle to the control center.
4. The marine buoy detection and maintenance system of claim 1, wherein: the lever linkage device comprises a driving rod (7) and a rotating rod (8), one end of the driving rod (7) is fixedly connected with a release button (6), the other end of the driving rod is rotatably connected with the rotating rod (8), one end of the driving rod (7) is far away from the rotating rod (8) and is rotatably connected with a sliding block (10), and the middle of the rotating rod (8) is rotatably connected with the box body (1) through a rotating shaft.
5. The marine buoy detection and maintenance system of claim 1, wherein: and 3G/4G network, mesh network or UHF wireless radio frequency communication is adopted between the control center and the unmanned aerial vehicle, between the unmanned aerial vehicle and the unmanned aerial vehicle, and between the unmanned aerial vehicle and the navigation mark.
6. A detection and maintenance method for a navigation buoy is characterized by comprising the following steps:
firstly, an unmanned aerial vehicle flies according to a preset air route and reaches an approximate position area of a navigation mark;
step two, the unmanned aerial vehicle receives a positioning signal sent by a GPS positioning device on the navigation mark, the unmanned aerial vehicle cannot receive a position signal to execute step three, and the unmanned aerial vehicle receives the position signal to execute step four;
step three, starting an image acquisition device on the unmanned aerial vehicle, aligning the central point of the acquired image with the coordinate when the navigation mark is not offset, acquiring the image, sending the image information to a control center, and judging whether the navigation mark is lost or not according to the image information by the control center;
and step four, starting the navigation mark position verification device, comparing navigation mark position information stored by the navigation mark position verification device with position information sent by the GPS positioning device, judging whether the navigation mark deviates or not, wherein the navigation mark does not deviate, and the unmanned aerial vehicle sends a signal to the control center without processing.
7. The method of claim 6, wherein the first step further comprises the steps of:
step one, the unmanned aerial vehicle sends an activation signal;
step two, an activation device on the navigation mark receives an activation signal sent by the unmanned aerial vehicle, and a GPS positioning device in a dormant state is started;
and step three, the GPS positioning device sends a position signal to the unmanned aerial vehicle.
8. The method for detecting and maintaining a marine buoy as claimed in claim 6, wherein the third step further comprises the steps of:
step three, the control center receives the signal sent by the unmanned aerial vehicle, if the signal is judged to be lost, the unmanned aerial vehicle does not process the signal, if the signal is judged not to be lost, the step three is executed,
and step two, the unmanned aerial vehicle starts the fault retrieving module to retrieve the beacon function module carrying platform (2).
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| CN111010550A (en) * | 2019-12-24 | 2020-04-14 | 天地伟业技术有限公司 | Monitoring system for detecting states of navigation mark vessels on navigation channel |
| CN112053591B (en) * | 2020-08-24 | 2022-07-29 | 大连海事大学 | Offshore three-dimensional linkage networking system of unmanned aerial vehicle group cooperative intelligent navigation mark |
| CN112466099B (en) * | 2020-12-09 | 2022-05-31 | 广东智云工程科技有限公司 | A warning calling device for unmanned aerial vehicle control |
| CN113204245A (en) * | 2021-05-19 | 2021-08-03 | 广州海事科技有限公司 | Navigation mark inspection method, system, equipment and storage medium based on unmanned aerial vehicle |
| CN113744427B (en) * | 2021-11-05 | 2022-03-11 | 天津天元海科技开发有限公司 | Navigation mark inspection system and inspection method based on unmanned aerial vehicle remote sensing |
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| JP2002110367A (en) * | 2000-09-28 | 2002-04-12 | Toshiba Lighting & Technology Corp | Illumination control system |
| CN2679701Y (en) * | 2004-01-05 | 2005-02-16 | 李卫国 | Precision detecting and remote controlled tech, device for fairway buoy displacement of river fairway |
| CN105338709A (en) * | 2015-11-24 | 2016-02-17 | 天津天元海科技开发有限公司 | Intelligent beacon light remote controlling and remote measuring system |
| CN109100766A (en) * | 2018-09-25 | 2018-12-28 | 武汉理工大学 | A kind of navigation mark monitoring system and monitoring method based on Beidou navigation |
| CN109204705A (en) * | 2018-11-01 | 2019-01-15 | 天津天元海科技开发有限公司 | buoy management method |
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