CN110040244A - Inner wall of stack image collecting device and method based on unmanned plane suspension platform - Google Patents
Inner wall of stack image collecting device and method based on unmanned plane suspension platform Download PDFInfo
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- CN110040244A CN110040244A CN201910316535.2A CN201910316535A CN110040244A CN 110040244 A CN110040244 A CN 110040244A CN 201910316535 A CN201910316535 A CN 201910316535A CN 110040244 A CN110040244 A CN 110040244A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000000725 suspension Substances 0.000 title claims abstract description 16
- 241000606750 Actinobacillus Species 0.000 claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000012806 monitoring device Methods 0.000 claims description 33
- 230000005611 electricity Effects 0.000 claims description 31
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 22
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 19
- 229910052744 lithium Inorganic materials 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 10
- 230000009466 transformation Effects 0.000 claims description 8
- 238000013519 translation Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 229920000271 Kevlar® Polymers 0.000 claims 1
- 239000004761 kevlar Substances 0.000 claims 1
- 238000009776 industrial production Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 235000019504 cigarettes Nutrition 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D3/00—Aircraft adaptations to facilitate towing or being towed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of inner wall of stack image collecting devices and method based on unmanned plane suspension platform.Including quadrotor drone, actinobacillus device, acquisition platform and ground monitoring system；Quadrotor drone is hovered in the top at chimney center, acquisition platform is at the uniform velocity put into inside chimney by actinobacillus device with remote control mode carries out the work of inner wall Image Acquisition, the data of acquisition are transferred to repeater by the acquisition platform inside chimney, and repeater sends data to ground monitoring system again and is monitored to realize the collecting work of inner wall of stack image.Present invention reduces the costs of inner wall of stack Image Acquisition, reduce the traditional artificial risk into chimney inside processing, improve the efficiency of inner wall of stack Image Acquisition, higher safety reliability and high efficiency are brought to industrial production, while the application field of quadrotor drone also being extended to the field of inner wall of stack Image Acquisition.
Description
Technical field
The invention belongs to unmanned plane application field, in particular to a kind of inner wall of stack image based on unmanned plane suspension platform
Acquisition device and method.
Background technique
In recent years, although the modes such as solar power generation, wind-power electricity generation, nuclear energy power generation are quickly grown, thermal power generation is still
It is a kind of most traditional generation mode, and the total amount that generates electricity accounts for 80% of total power generation or more.Come with power plant cigarette
The etching problem of chimney inner wall.Currently, traditional chimney internal image acquisition is artificial arrival chimney with corrosion image detection method
Top recycles lifting rope or elevator to enter inside chimney and carries out Image Acquisition work to it.This method is not only time-consuming and laborious to take
Money returns the security risk that staff brings life.
With the development of industrial automation, quadrotor drone is using traditional space technology as support, with prosperity
Communication network is widely used in the civil fields such as aerial mapping, movies-making, emergency relief, logistics transportation as control.Mesh
Before, in chimney application field, metering university, China " inner wall of stack corrosion condition wireless video monitoring equipment based on aircraft with
Chimney is directly flown into using unmanned plane in method " and carries out Image Acquisition, and due to lacking GPS information in chimney, this method cannot be protected
Flight safety of the unmanned plane in chimney is demonstrate,proved, cannot actually solve the problems, such as chimney Image Acquisition.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of inner wall of stack based on unmanned plane suspension platform
Image collecting device and method are remotely controlled actinobacillus device acquisition is flat using quadrotor drone hovering in chimney center top
Platform is put into the safety problem that the mode being acquired in chimney solves inner wall of stack Image Acquisition conscientiously, for unmanned plane in cigarette
The application in chimney field has very important effect, and the application effect for improving unmanned plane has good facilitation.
The technical solution adopted by the invention is as follows:
One, a kind of inner wall of stack image collecting device based on unmanned plane suspension platform
Including quadrotor drone, actinobacillus device and acquisition platform, quadrotor drone bottom is put equipped with actinobacillus device
Acquisition platform is connected with by Kev bracing wire immediately below line apparatus；Quadrotor drone include Multi-axis aircraft rack, electricity adjust I,
Gyroscope I, flight control units, airborne processor, repeater, lithium battery I, PMU Power Management Unit I and matched remote controler
I, gyroscope I, flight control units, airborne processor, repeater, lithium battery and PMU Power Management Unit are mounted on multiaxis
In aircraft frame；Gyroscope I, electricity adjust I to be connected with flight control units, and flight control units are through airborne processor and relaying
Device is connected.
Actinobacillus device includes support frame, wireless remote control DC motor speed-regulating device, brushed DC motor, motor connecting rod, rolling
Cylinder, cylinder support bar, Kev bracing wire 15 and its matched remote controler II, support frame is mainly by three pieces of upper, middle and lower support plate by upper
Composition is sequentially connected under, support frame is integrally equipped on Multi-axis aircraft bottom of the frame middle position, upper branch by upper backup pad
Wireless remote control DC motor speed-regulating device is installed between fagging and middle support plate, has been equipped between middle support plate and lower supporting plate
Brushless motor and roller, are fixed with two cylinder support bars perpendicular to support plate between middle support plate and lower supporting plate, and two
Roller is connected between root cylinder support bar, motor connecting rod one end is connected with the motor output shaft of brushed DC motor, motor
The connecting rod other end is connected with drum central axis, and Kev bracing wire is wound on roller；Lower supporting plate is provided at cylinder position
Unwrapping wire hole, Kev bracing wire are pierced by unwrapping wire hole and are connected with the acquisition platform of underface, and lower supporting plate bottom is equipped with camera model；Nothing
Line remote control DC motor speed-regulating device is connected with brushed DC motor, and remote controler II is controlled by wireless remote control DC motor speed-regulating device
Brushed DC motor rotation, brushed DC motor drive roller rotation by motor connecting rod.
Lithium battery I connects with flight control units, wireless remote control DC motor speed-regulating device respectively through PMU Power Management Unit I
Connect power supply.
Acquisition platform includes acquisition platform rack, lithium battery II, electricity tune II, gyroscope II, platform control unit, PMU electricity
Source control unit II, barometer, light source module and radar installations, light source module, lithium battery II, electricity adjust II, gyroscope II, platform
Control unit, PMU Power Management Unit II, barometer are mounted in acquisition platform rack；Radar installations includes holder camera shooting
Machine, loop wire laser radar and laser radar support frame, radar installations are installed on acquisition platform rack by laser radar support frame
Bottom, equipped with loop wire laser radar on laser radar support frame, laser radar support frame bottom is equipped with PTZ camera；Top
Spiral shell instrument II, electricity adjust II, barometer, light source module, PTZ camera and loop wire laser radar to be connected with platform control unit, lithium
Battery II connect power supply with platform control unit through PMU Power Management Unit II.
Aircraft parking stand and acquisition platform bracket are separately installed in quadrotor drone and acquisition platform.
It further include ground monitoring device, repeater is directly connect with ground monitoring device, the platform courses on acquisition platform
Unit connects ground monitoring device through the repeater in quadrotor drone, and remote controler I and remote controler II are filled with ground monitoring
Set connection.
The gyroscope I is used to acquire the attitude angle information and GPS information of quadrotor drone；Gyroscope II is for acquiring
The attitude angle information of acquisition platform；The loop wire laser radar is used to acquire the horizontal position information of acquisition platform.
The propeller being connected with brushless motor I, Mei Gewu are mounted on each horn of the Multi-axis aircraft rack
Brush motor I is respectively connected with electricity and adjusts I；It is mounted on each platform arm of the acquisition platform rack and to be connected with brushless motor II
Propeller II, each brushless motor II are respectively connected with electricity and adjust II.
Two, based on the inner wall of stack image-pickup method of unmanned plane suspension platform
The following steps are included:
Step 1: the non-unwrapping wire of actinobacillus device under original state, acquisition platform abut actinobacillus device；According to GPS information, pass through
I remote control distributor control unit of remote controler, flight control units control quadrotor drone are hovered above chimney；
Step 2: the image of the camera model of actinobacillus device acquisition chimney top circular port, airborne processor to image according to
Then secondary progress gray processing processing, binary conversion treatment and filtering processing judge the circle in image using Hough transformation loop truss
Chimney center is transmitted to flight control units by the center of shape chimney, airborne processor, flight control units according to
Chimney center regulates and controls quadrotor drone steadily hovering in chimney top center；
Step 3: remote controler II controls brushed DC motor rotation, brushed DC by wireless remote control DC motor speed-regulating device
Motor is to driving roller to rotate, at the uniform velocity unwrapping wire while roller rotates, so that the acquisition platform being connected with Kev bracing wire is downward
At the uniform velocity enter in chimney, ground monitoring device starts timing while unwrapping wire；
Step 4: the data of acquisition are transmitted to platform by PTZ camera, loop wire laser radar, barometer and gyroscope
The acquisition data of acquisition are transmitted to the repeater of quadrotor drone by controller, the platform controller of acquisition platform, then in
Ground monitoring device, which is transferred to, after device carries out real-time monitoring；
Step 5: the platform controller of acquisition platform by loop wire Monitoring by Lidar acquisition platform to inner wall of stack away from
From platform controller is flat to acquisition using the deviation information of position when the distance of acquisition platform to inner wall of stack is less than safe distance
Platform carries out pose adjustment, so that acquisition platform is to chimney center translation to avoid inner wall of stack；
Step 6: ground monitoring device is according to the actual height information monitoring of acquisition platform to acquisition platform close to chimney bottom
When portion, ground monitoring device controls actinobacillus device at the uniform velocity take-up by remote controler II, and acquisition platform is under the drive of Kev bracing wire
It at the uniform velocity rises to immediately below quadrotor drone, quadrotor drone carries acquisition platform and actinobacillus device flies back ground terminates
Image Acquisition task.
Hough transformation loop truss in the step 2 specifically: Hough transformation loop truss includes following formula:
X=x0+r cosθ
Y=y0+rsinθ
Wherein, (x, y) is the coordinate that the upper any pixel of circle is fastened in image coordinate, (x0,y0) it is that circle center pixel exists
The coordinate that image coordinate is fastened, r are radius of circle, and θ is polar angle；Image coordinate system is to establish by coordinate origin of the image upper left corner
Polar coordinate system；
According to polar equation, for any one circle, under circle center pixel coordinate, radius of circle known case, figure
As coordinate system is rotated by 360 ° the point on inswept circle, by the coordinate of each point on the available circle of polar equation；So described
All pixels point coordinate in the image of step 2, on image under radius of circle known case, image coordinate system is rotated by 360 ° by polar coordinates
The coordinate value of Circle in Digital Images central pixel point can be obtained in equation, and the intensity value at circle center is most strong.
In the step 4, PTZ camera, loop wire laser radar, barometer and the data of gyroscope acquisition are respectively
The image information of PTZ camera acquisition, the horizontal position information of the acquisition platform of loop wire laser radar acquisition, barometer obtain
Acquisition platform elevation information and gyroscope obtain acquisition platform attitude angle information.
In the step 4, when ground monitoring device monitors brightness of image according to the image information that PTZ camera acquires
When not up to acquiring luminance threshold, ground monitoring device controls separate unit by repeater control platform and opens light source module.
The ground monitoring device is not in chimney center to acquisition platform according to the acquisition data monitoring of platform controller
When position, ground monitoring device can be by repeater control platform controller to chimney center translation.
The actual height information of acquisition platform is obtained by barometer in the step 6 elevation information and actinobacillus device are put
Line length is combined and is calculated, and calculation formula is as follows:
hc=(h1+h2)/2
h2=hg-L
L=vt
Wherein, hcFor acquisition platform actual height；h1For the height for the acquisition platform that barometer measures；h2To pass through Kev
The height for the acquisition platform that bracing wire measures；hgFor the height of Kev bracing wire starting point, provided by GPS information；L is unwrapping wire length；V is
1 meter per second；T is the unwrapping wire time of actinobacillus device, is obtained by ground monitoring device timing.
Beneficial effects of the present invention:
(1) it is a completely new direction that quadrotor drone is applied to chimney field by the present invention, the prior art nobody
Machine application field not yet exist be applied to chimney Image Acquisition the relevant technologies, take full advantage of digitized image processing technique,
The technologies such as UAV Flight Control technology, laser radar complete the Image Acquisition work of inner wall of stack rapidly, safe.
(2) present invention reduces the costs of inner wall of stack Image Acquisition, reduce traditional artificial into chimney inside processing
Risk, improve the efficiency of inner wall of stack Image Acquisition, bring higher safety reliability and high efficiency to industrial production,
The application field of quadrotor drone is also extended to the field of inner wall of stack Image Acquisition simultaneously.
(3) present invention can carry out Image Acquisition in the case where people does not enter chimney inner case, substantially increase the safety of operation
Property, it not only ensure that the safety of people and barrier, also ensure unmanned plane in the safety of inner wall of stack Collecting operation.
Detailed description of the invention
Fig. 1 is system construction drawing of the invention.
Fig. 2 is module installation diagram of the invention.
Fig. 3 is that module of the invention marks figure.
Fig. 4 is system flow chart of the invention.
Fig. 5 is implementation flow chart of the invention.
In figure: 1, Multi-axis aircraft rack, 2, propeller I, 3, electricity tune I, 4, gyroscope I, 5, flight control units, 6, machine
Borne processor, 7, PMU Power Management Unit I, 8, repeater, 9, brushless motor I, 10, lithium battery I, 11, aircraft parking stand；12,
Brushed DC motor, 13, cylinder support bar, 14, unwrapping wire hole, 15, Kev bracing wire, 16, camera model, 17, roller, 18, motor
Connecting rod, 19, wireless remote control DC motor speed-regulating device；20, lithium battery II, 21, acquisition platform rack, 22, propeller II, 23,
Electricity tune II, 24, gyroscope II, 25, platform control unit, 26, PMU Power Management Unit II, 27, barometer, 28, brushless motor
II, 29, light source module, 30, acquisition platform bracket, 31, laser radar support frame, 32, PTZ camera, 33, loop wire laser thunder
It reaches.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, the inventive system comprises quadrotor drone, actinobacillus device, acquisition platform and ground monitoring dresses
It sets；Quadrotor drone combination chimney GPS and elevation information and camera pass through image gray processing, image binaryzation, image
The chimney center location information hovering that filtering, Hough transformation loop truss obtain is filled in the top of chimney center, the unwrapping wire of carrying
Set the acquisition work that acquisition platform is at the uniform velocity put into remote control mode with the speed of 1 meter per second and carries out inner wall of stack image inside chimney
Make, the data of acquisition are first transferred to the repeater in quadrotor drone by the Image-capturing platform inside chimney, and repeater is again
It sends data to host computer and saves, to realize the acquisition of inner wall of stack image.
As shown in Figures 2 and 3, apparatus of the present invention include quadrotor drone, actinobacillus device and acquisition platform, quadrotor without
Man-machine bottom is connected with acquisition platform by Kev bracing wire 15 equipped with actinobacillus device, actinobacillus device underface；Quadrotor nobody
Machine includes Multi-axis aircraft rack 1, electricity tune I 3, gyroscope I 4, flight control units 5, airborne processor 6, repeater 8, lithium electricity
Pond I 10, PMU Power Management Unit I 7 and matched remote controler I, gyroscope I 4, flight control units 5, airborne processor 6, in
It is mounted in Multi-axis aircraft rack 1 after device 8, lithium battery 10 and PMU Power Management Unit 7；Gyroscope I 4, electricity adjust I 3 with
Flight control units 5 are connected, and flight control units 5 are connected through airborne processor 6 with repeater 8.
Actinobacillus device includes support frame, wireless remote control DC motor speed-regulating device 19, brushed DC motor 12, motor connecting rod
18, roller 17, cylinder support bar 13, Kev bracing wire 15 and its matched remote controler II, support frame is mainly by three pieces of upper, middle and lower
Support plate is from top to bottom sequentially connected composition, and support frame is integrally equipped in 1 bottom of Multi-axis aircraft rack by upper backup pad
Between position, wireless remote control DC motor speed-regulating device 19, middle support plate and lower support are installed between upper backup pad and middle support plate
Brushed DC motor 12 and roller 17 are installed between plate, two are fixed between middle support plate and lower supporting plate perpendicular to support
The cylinder support bar 13 of plate is connected with roller 17,18 one end of motor connecting rod and brushed DC between two cylinder support bars 13
The motor output shaft of motor 12 is connected, and 18 other end of motor connecting rod is connected with 17 central axis of roller, is wound on roller 17 triumphant
Husband's bracing wire 15；Lower supporting plate is provided with unwrapping wire hole 14 at 17 position of roller, and Kev bracing wire 15 is pierced by unwrapping wire hole 14 and underface
Acquisition platform be connected, lower supporting plate bottom is equipped with camera model 16；Wireless remote control DC motor speed-regulating device 19 and there is brush straight
Galvanic electricity machine 12 is connected, and remote controler II controls brushed DC motor 12 by wireless remote control DC motor speed-regulating device 19 and rotates, and has brush
Direct current generator 12 drives roller 17 to rotate by motor connecting rod 18.
Acquisition platform includes acquisition platform rack 21, lithium battery II 20, electricity tune II 23, gyroscope II 24, platform courses list
Member 25, PMU Power Management Unit II 26, barometer 27, light source module 29 and radar installations, light source module 29, lithium battery II 20,
It is flat that electricity adjusts II 23, gyroscope II 24, platform control unit 25, PMU Power Management Unit II 26, barometer 27 to be mounted on acquisition
In platform rack 21；Radar installations includes PTZ camera 32, loop wire laser radar 33 and laser radar support frame 24, radar installations
21 bottom of acquisition platform rack is installed on by laser radar support frame 24, equipped with loop wire laser on laser radar support frame 24
Radar 33,24 bottom of laser radar support frame are equipped with PTZ camera 32；Gyroscope II 24, electricity adjust II 23, barometer 27, light
Source module 29, PTZ camera 32 and loop wire laser radar 33 are connected with platform control unit 25, and lithium battery II 20 is through PMU electricity
Source control unit II 26 connect power supply with platform control unit 25.
In specific implementation, airborne processor 6 is that there are five the ARM single-chip microcontrollers of serial ports for tool；PTZ camera 360 degree rotation is adopted
Collect image；The barrier of acquisition platform avoidance is chimney inner cylindrical inner wall, and Diameter of chimney is generally 6 meters, is highly generally
200 meters to 250 meters；The propeller 2 being connected with brushless motor I 9 is mounted on each horn of Multi-axis aircraft rack 1, often
A brushless motor I 9 is respectively connected with electricity and adjusts I 3；It is mounted on each platform arm of the acquisition platform rack 21 and brushless motor
II 28 connected propellers II 22, each brushless motor II 28 are respectively connected with electricity and adjust II 23.Quadrotor drone and acquisition platform
On be separately installed with aircraft parking stand 11 and acquisition platform bracket 30.
Embodiment
Specifically include following steps (as shown in Figure 4 and Figure 5):
Step 1: the chimney progress on-the-spot investigation to embodiment, upper 6 meters of the diameter in chimney inside, 210 meters of chimney height.Root
According to GPS information, flies hand and remote controler I is first used to manipulate unmanned plane during flying to 220 meters of chimney tip height or so places, then switch to certainly
Dynamic offline mode.
Step 2: the camera model 16 of actinobacillus device acquires the image of chimney top circular port, 6 pairs of airborne processor figures
As successively carrying out gray processing processing, binary conversion treatment and filtering processing, then judged in image using Hough transformation loop truss
Round chimney center, the relayed device 8 in chimney center is transmitted to flight control units 5 by airborne processor 6, flies
Row control unit 5 regulates and controls quadrotor drone steadily hovering in chimney top center according to chimney center；
Hough transformation loop truss specifically: Hough transformation loop truss includes following formula:
X=x0+r cosθ
Y=y0+rsinθ
Wherein, (x, y) is the coordinate that the upper any pixel of circle is fastened in image coordinate, (x0,y0) it is that circle center pixel exists
The coordinate that image coordinate is fastened, r are radius of circle, and θ is polar angle；Image coordinate system is to establish by coordinate origin of the image upper left corner
Polar coordinate system.
According to polar equation, for any one circle, under circle center pixel coordinate, radius of circle known case, rotation
Turn 360 ° of coordinates by each point on the available circle of polar equation；The all pixels point so in the image of the step 2
On coordinate, image under radius of circle known case, it is rotated by 360 ° and Circle in Digital Images central pixel point can be obtained by polar equation
Coordinate value, and the intensity value at circle center is most strong.
Step 3: remote controler II controls brushed DC motor 12 by wireless remote control DC motor speed-regulating device 19 and rotates, and has brush
Direct current generator 12 is to drive roller 17 to rotate, at the uniform velocity unwrapping wire while roller 17 rotates, so that be connected with Kev bracing wire 15
Acquisition platform is at the uniform velocity entered in chimney with the speed of 1 meter per second downwards, and ground monitoring device starts timing while unwrapping wire.
Step 4: PTZ camera 32, loop wire laser radar 33, barometer 27 and gyroscope 24 pass the data of acquisition
Platform controller 25 is transported to, the acquisition data of acquisition are transmitted in quadrotor drone by the platform controller 25 of acquisition platform
After device 8, then ground monitoring device is transferred to by repeater 8 and carries out real-time monitoring；When ground monitoring device is according to PTZ camera
When the image information of 32 acquisitions monitors that brightness of image not up to acquires luminance threshold, ground monitoring device is controlled by repeater 8
Platform courses separate unit 25 processed opens light source module.
Step 5: the platform controller 25 of acquisition platform monitors acquisition platform to inner wall of stack by loop wire laser radar 33
Distance, platform controller 25 is believed using the deviation of position when the distance of acquisition platform to inner wall of stack is less than 2 meters of safe distance
Breath carries out pose adjustment to acquisition platform, so that acquisition platform is reached with avoiding inner wall of stack in chimney to chimney center translation
The avoidance effect of wall；
Ground monitoring device is not in chimney centre bit to acquisition platform according to the acquisition data monitoring of platform controller 25
When setting, ground monitoring device can also reach inner wall of stack to chimney center translation by 8 control platform controller 25 of repeater
Avoidance effect.
Step 6: ground monitoring device is according to the actual height information monitoring of acquisition platform to acquisition platform apart from chimney bottom
When at 10 meters of portion, Image Acquisition terminates, and totally 200 meters of acquisition, lasts 4 minutes or so.Ground monitoring device is controlled by remote controler II
Actinobacillus device processed with 1 meter per second speed at the uniform velocity take-up, acquisition platform at the uniform velocity risen under the drive of Kev bracing wire 15 quadrotor without
Man-machine underface lasts 4 minutes or so.Dropping to acquisition from acquisition platform terminates, and entire acquisition tasks last 8 minutes left sides altogether
It is right.
Step 7: last quadrotor drone carries acquisition platform and actinobacillus device flies back ground terminates Image Acquisition and appoints
Business.
Claims (9)
1. a kind of inner wall of stack image collecting device based on unmanned plane suspension platform, which is characterized in that including quadrotor nobody
Machine, actinobacillus device and acquisition platform, quadrotor drone bottom pass through Kevlar equipped with actinobacillus device, actinobacillus device underface
Line (15) is connected with acquisition platform；Quadrotor drone includes Multi-axis aircraft rack (1), I (3) of electricity tune, gyroscope I (4), flies
Row control unit (5), airborne processor (6), repeater (8), lithium battery I (10), PMU Power Management Unit I (7) and matched
Remote controler I, gyroscope I (4), flight control units (5), airborne processor (6), repeater (8), lithium battery (10) and PMU electricity
Source control unit (7) is mounted on Multi-axis aircraft rack (1)；Gyroscope I (4), electricity adjust I (3) and flight control units
(5) it is connected, flight control units (5) are connected through airborne processor (6) with repeater (8)；
Actinobacillus device includes support frame, wireless remote control DC motor speed-regulating device (19), brushed DC motor (12), motor connecting rod
(18), roller (17), cylinder support bar (13), Kev bracing wire 15 and its matched remote controler II, support frame mainly by it is upper, in,
Lower three pieces of support plates are from top to bottom sequentially connected composition, and support frame is integrally equipped on Multi-axis aircraft rack by upper backup pad
(1) bottom middle position is equipped with wireless remote control DC motor speed-regulating device (19), middle support between upper backup pad and middle support plate
Brushed DC motor (12) and roller (17) are installed between plate and lower supporting plate, are fixed between middle support plate and lower supporting plate
Two cylinder support bars (13) perpendicular to support plate are connected with roller (17) between two cylinder support bars (13), and motor connects
Extension bar (18) one end is connected with the motor output shaft of brushed DC motor (12), motor connecting rod (18) other end and roller (17)
Central axis is connected, and Kev bracing wire (15) are wound on roller (17)；Lower supporting plate is provided with unwrapping wire hole at roller (17) position
(14), Kev bracing wire (15) is pierced by unwrapping wire hole (14) and is connected with the acquisition platform of underface, and lower supporting plate bottom is equipped with camera
Module (16)；Wireless remote control DC motor speed-regulating device (19) is connected with brushed DC motor (12), and remote controler II passes through wireless remote
DC motor speed-regulating device (19) control brushed DC motor (12) rotation is controlled, brushed DC motor (12) passes through motor connecting rod
(18) roller (17) rotation is driven；
Lithium battery I (10) through PMU Power Management Unit I (7) respectively with flight control units (5), wireless remote control direct current generator tune
Fast device (19) connection power supply；
Acquisition platform includes acquisition platform rack (21), lithium battery II (20), electricity tune II (23), gyroscope II (24), platform control
Unit (25), PMU Power Management Unit II (26), barometer (27), light source module (29) and radar installations processed, light source module
(29), lithium battery II (20), electricity adjust II (23), gyroscope II (24), platform control unit (25), PMU Power Management Unit II
(26), barometer (27) is mounted on acquisition platform rack (21)；Radar installations includes PTZ camera (32), loop wire laser
Radar (33) and laser radar support frame (24), radar installations are installed on acquisition platform rack by laser radar support frame (24)
(21) bottom, equipped with loop wire laser radar (33), laser radar support frame (24) bottom peace on laser radar support frame (24)
Equipped with PTZ camera (32)；Gyroscope II (24), electricity adjust II (23), barometer (27), light source module (29), PTZ camera
(32) it is connected with platform control unit (25) with loop wire laser radar (33), lithium battery II (20) is through PMU Power Management Unit
II (26) connect power supply with platform control unit (25).
2. the inner wall of stack image collecting device based on unmanned plane suspension platform belonging to according to claim 1, which is characterized in that
It further include ground monitoring device, repeater (8) is directly connect with ground monitoring device, the platform control unit on acquisition platform
(25) ground monitoring device is connected through the repeater (8) in quadrotor drone, remote controler I and remote controler II are and ground monitoring
Device connection.
3. the inner wall of stack image collecting device based on unmanned plane suspension platform belonging to according to claim 1, which is characterized in that
The gyroscope I (4) is used to acquire the attitude angle information and GPS information of quadrotor drone；Gyroscope II (24) is for acquiring
The attitude angle information of acquisition platform；The loop wire laser radar (33) is used to acquire the horizontal position information of acquisition platform.
4. the inner wall of stack image collecting device based on unmanned plane suspension platform belonging to according to claim 1, which is characterized in that
The propeller (2) being connected with brushless motor I (9), Mei Gewu are mounted on each horn of the Multi-axis aircraft rack (1)
Brush motor I (9) is respectively connected with electricity and adjusts I (3)；It is mounted on and brushless electricity on each platform arm of the acquisition platform rack (21)
The connected propeller II (22) of machine II (28), each brushless motor II (28) are respectively connected with electricity and adjust II (23).
5. using the inner wall of stack image-pickup method based on unmanned plane suspension platform of any described device of Claims 1 to 4,
Characterized by comprising the following steps:
Step 1: the non-unwrapping wire of actinobacillus device under original state, acquisition platform abut actinobacillus device；According to GPS information, pass through remote control
I remote control distributor control unit (5) of device, flight control units (5) control quadrotor drone are hovered above chimney；
Step 2: the image of camera model (16) the acquisition chimney top circular port of actinobacillus device, airborne processor (6) is to figure
As successively carrying out gray processing processing, binary conversion treatment and filtering processing, then judged in image using Hough transformation loop truss
Round chimney center, chimney center is transmitted to flight control units (5) by airborne processor (6), flight control
Unit (5) processed regulates and controls quadrotor drone steadily hovering in chimney top center according to chimney center；
Step 3: remote controler II has brush by wireless remote control DC motor speed-regulating device (19) control brushed DC motor (12) rotation
Direct current generator (12) is to drive roller (17) to rotate, at the uniform velocity unwrapping wire while roller (17) rotates, so that with Kev bracing wire
(15) connected acquisition platform at the uniform velocity enters in chimney downwards, and ground monitoring device starts timing while unwrapping wire；
Step 4: PTZ camera (32), loop wire laser radar (33), barometer (27) and gyroscope (24) are by the number of acquisition
According to being transmitted to platform controller (25), the platform controller (25) of acquisition platform by the acquisition data of acquisition be transmitted to quadrotor without
Man-machine repeater (8), then ground monitoring device is transferred to by repeater (8) and carries out real-time monitoring；
Step 5: the platform controller (25) of acquisition platform monitors acquisition platform to inner wall of stack by loop wire laser radar (33)
Distance, platform controller (25) utilizes the deviation information of position when the distance of acquisition platform to inner wall of stack is less than safe distance
Pose adjustment is carried out to acquisition platform, so that acquisition platform is to chimney center translation to avoid inner wall of stack；
Step 6: ground monitoring device according to the actual height information monitoring of acquisition platform to acquisition platform close to chimney bottom when,
Ground monitoring device controls actinobacillus device at the uniform velocity take-up by remote controler II, and acquisition platform is even under the drive of Kev bracing wire (15)
Speed rises to immediately below quadrotor drone, quadrotor drone carries acquisition platform and actinobacillus device flies back ground, terminates figure
As acquisition tasks.
6. the inner wall of stack image-pickup method according to claim 5 based on unmanned plane suspension platform, which is characterized in that
In the step 4, PTZ camera (32), loop wire laser radar (33), barometer (27) and the number of gyroscope (24) acquisition
According to the image information of respectively PTZ camera (32) acquisition, the horizontal position of the acquisition platform of loop wire laser radar (33) acquisition
The attitude angle letter for the acquisition platform that the elevation information and gyroscope (24) for the acquisition platform that information, barometer (27) obtain obtain
Breath.
7. the inner wall of stack image-pickup method according to claim 5 based on unmanned plane suspension platform, which is characterized in that
In the step 4, when ground monitoring device monitors that brightness of image does not reach according to the image information that PTZ camera (32) acquires
To when acquiring luminance threshold, ground monitoring device opens light source module by repeater (8) control platform control separate unit (25).
8. the inner wall of stack image-pickup method according to claim 5 based on unmanned plane suspension platform, which is characterized in that
The ground monitoring device is not in chimney center to acquisition platform according to the acquisition data monitoring of platform controller (25)
When, ground monitoring device can be by repeater (8) control platform controller (25) to chimney center translation.
9. the inner wall of stack image-pickup method according to claim 5 based on unmanned plane suspension platform, which is characterized in that
The unwrapping wire of the actual height information of acquisition platform is obtained by barometer (27) in the step 6 elevation information and actinobacillus device is long
Degree is combined and is calculated, and calculation formula is as follows:
hc=(h1+h2)/2
h2=hg-L
L=vt
Wherein, hcFor acquisition platform actual height；h1For the height for the acquisition platform that barometer measures；h2To pass through Kev bracing wire
The height of the acquisition platform measured；hgFor the height of Kev bracing wire starting point, provided by GPS information；L is unwrapping wire length；V be 1 meter/
Second；T is the unwrapping wire time of actinobacillus device, is obtained by ground monitoring device timing.
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Application publication date: 20190723 |