CN112758323B - Unmanned aerial vehicle with follow-up illumination function for bridge detection - Google Patents
Unmanned aerial vehicle with follow-up illumination function for bridge detection Download PDFInfo
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- CN112758323B CN112758323B CN202110090648.2A CN202110090648A CN112758323B CN 112758323 B CN112758323 B CN 112758323B CN 202110090648 A CN202110090648 A CN 202110090648A CN 112758323 B CN112758323 B CN 112758323B
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- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000005286 illumination Methods 0.000 title claims description 7
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 5
- 239000000446 fuel Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- 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
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- 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
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an unmanned aerial vehicle with a follow-up lighting function for bridge detection, which comprises an unmanned aerial vehicle system, wherein a synchronous rotation control device is symmetrically arranged at the upper end of the unmanned aerial vehicle system, a cradle head is arranged at the upper end of the synchronous rotation control device, a ranging module and an image acquisition device are arranged on one cradle head side by side, and a spotlight is arranged on the other cradle head. The synchronous rotation control device is added, the deflection angle of the spotlight control holder can be calculated according to the control signal of the control holder of the image acquisition equipment, the observation point distance measured by the ranging module and the installation distance between the spotlight and the image acquisition equipment, the image acquisition quality is improved, and the workload of bridge detection personnel is reduced.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle with a follow-up illumination function for bridge detection.
Background
The bridge belongs to an important ring in the public transportation field, the safety of the bridge is related to the life and property safety of masses, the bridge is detected regularly, the important significance is brought to the discovery of potential safety hazards, the common problems affecting the safety of the bridge are bridge body cracking, surface layer stripping, exposed reinforcing steel bars, loose important fasteners or serious corrosion, serious parts losing and the like, and at present, various methods for detecting the safety of the bridge exist, one method is to monitor the bridge in real time by utilizing a detection device fixedly arranged on the bridge, the method often needs to arrange a monitoring platform at a plurality of places on the bridge, the initial investment is large, a plurality of places exist, the monitoring platform cannot be conveniently set up, and later maintenance is also very inconvenient, such as the bottom of the bridge or the upright post of a diagonal tension bridge; the method is that a bridge inspection vehicle is used for carrying inspection personnel to inspect the bridge manually, so that the time consumption is long and the cost of the inspection vehicle is high; the other mode adopts unmanned aerial vehicle to detect, can reduce detection cost, improves detection efficiency.
Although most unmanned aerial vehicles are equipped with obstacle avoidance equipment or additional anti-collision equipment, in order to ensure the safety of the unmanned aerial vehicle during detection, the bridge deck detection is relatively convenient in a form of long-distance detection by a high-magnification zoom camera, and when the bridge bottom is detected, the unmanned aerial vehicle is more under the side of the bridge, and the zoom camera arranged above the unmanned aerial vehicle is utilized to photograph and return the critical position or suspicious position, so that under the condition of darker light rays, whether the position is at a safety risk or not can be clearly identified by the photograph photographed by the zoom camera. Therefore, the invention provides an unmanned aerial vehicle with a follow-up lighting function for bridge detection, so as to solve the problems.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle with a follow-up lighting function for bridge detection, so as to solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides an unmanned aerial vehicle that is used for bridge to detect has follow-up illumination function, includes unmanned aerial vehicle system, unmanned aerial vehicle system upper end symmetry installation synchronous rotation controlling means, synchronous rotation controlling means upper end installation cloud platform, installation ranging module and image acquisition equipment side by side on the cloud platform of one side, installation spotlight on the cloud platform of the opposite side.
As a further scheme of the invention: the unmanned aerial vehicle system comprises a lifting system, a power system, a flight control system, a data transmission system, ground guarantee equipment, an image transmission system and an image quality recognition and adjustment system.
As still further aspects of the invention: the lifting system consists of a rotor wing, a motor and an electronic speed regulator.
As still further aspects of the invention: the power system is powered by a fuel cell system.
As still further aspects of the invention: the flight control system is located in the unmanned aerial vehicle.
As still further aspects of the invention: the cradle head has three-axis rotation degrees of freedom.
Compared with the prior art, the invention has the beneficial effects that:
1. the synchronous rotation control device is added, the deflection angle of the spotlight control holder can be calculated according to the control signal of the control holder of the image acquisition equipment, the observation point distance measured by the ranging module and the installation distance between the spotlight and the image acquisition equipment, the image acquisition quality is improved, and the workload of bridge detection personnel is reduced.
2. The invention has the function of automatically identifying the image quality, and according to the offset distance and the azimuth of the spot position in the image and the center position of the image, the fine adjustment angle value of the spotlight control holder is calculated by combining the distance measured by the ranging module and is output to the spotlight control holder, so that the purpose that the illumination accurately follows the rotation of the image acquisition equipment is achieved.
Drawings
Fig. 1 is a schematic structural diagram of a unmanned aerial vehicle with a follow-up lighting function for bridge detection.
Fig. 2 is a system diagram of a drone with follow-up lighting for bridge inspection.
In the figure: 1. an unmanned aerial vehicle system; 2. an image acquisition device; 3. a ranging module; 4. a spotlight; 5. and a synchronous rotation control device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, in the embodiment of the invention, an unmanned aerial vehicle with follow-up lighting function for bridge detection comprises an unmanned aerial vehicle system 1, wherein a synchronous rotation control device 5 is symmetrically arranged at the upper end of the unmanned aerial vehicle system 1, a cradle head is arranged at the upper end of the synchronous rotation control device 5, a ranging module 3 and an image acquisition device 2 are arranged on one cradle head side by side, a spotlight 4 is arranged on the other cradle head, the unmanned aerial vehicle system 1 comprises a lift system, a power system, a flight control system, a data transmission system, ground protection equipment, an image transmission system and an image quality identification and adjustment system, the lift system consists of a rotor wing, a motor and an electronic speed regulator, can be a six-rotor aircraft, the power system consists of various energy-containing batteries, can be one or a plurality of combinations, can adopt a fuel cell system to supply power for a flight platform and various airborne equipment, the flying control system is positioned in the unmanned plane and used for controlling the unmanned plane platform to move in space and establishing real-time communication with the ground guarantee equipment through the data transmission system, the ground guarantee equipment is used for controlling the flying platform to fly according to a preset detection path by ground operators and obtaining the flying parameters of the flying platform and receiving the image returned by the image transmission equipment in real time so as to judge the safety condition of the position to be detected, the image transmission system is used for transmitting the image acquired by the image acquisition equipment 2, the cradle head has three-axis rotation freedom degree, the image acquisition equipment 2 is used for acquiring the image information of the position to be detected, the ranging module 3 is used for measuring the distance between the image acquisition equipment 2 and the position to be detected, the spotlight 4 is used for increasing the illumination of the position to be detected and is matched with the image acquisition equipment 2 for use, so as to acquire clear image information of the position to be detected, and the synchronous rotation control device 5 is used for controlling the cradle head of the spotlight 4 to synchronously rotate along with the cradle head of the image acquisition device 2.
The working principle of the invention is as follows: firstly, the synchronous rotation control device 5 collects all azimuth rotation instructions received by an installation holder of the airborne image acquisition equipment 2, then according to the preset installation distance between the holder of the image acquisition equipment 2 and the holder of the spotlight 4 and the distance measured by a ranging module 3 installed on the holder of the image acquisition equipment 2 and synchronously rotating with the image acquisition equipment 2, all azimuth rotation angles required by the holder of the spotlight 4 to be irradiated to the same position are calculated, finally, the rotation instructions are sent to the holder of the spotlight 4 according to the calculated rotation angles, so that the spotlight 4 irradiates the observation point of the image acquisition equipment 2, the image quality identification and adjustment system is used for judging the imaging quality, the power of the spotlight 4 is required to be corrected according to the acquired image information, if the center of a spot of the spotlight 4 on the image does not coincide with the center of the image, the rotation angle control instructions are required to be sent to the holder of the spotlight 4 according to the deviation degree of the center of the spot of the image, so that the centers of the spot of the spotlight 4 coincide with each other to reach the optimal imaging quality, if the imaging quality is judged to be in accordance with the requirements, the image quality is sent to the image transmission system by the image quality identification and adjustment system, finally, the image to be transmitted to the observation point of the image to be judged by the image transmission system is sent to the bridge, and the bridge is judged to be ensured, and the bridge safety state is ensured by the bridge is archived.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. The unmanned aerial vehicle with the follow-up illumination function for bridge detection is characterized by comprising an unmanned aerial vehicle system (1), wherein a synchronous rotation control device (5) is symmetrically arranged at the upper end of the unmanned aerial vehicle system (1), a cradle head is arranged at the upper end of the synchronous rotation control device (5), a ranging module (3) and an image acquisition device (2) are arranged on one cradle head side by side, a spotlight (4) is arranged on the other cradle head, and the unmanned aerial vehicle system (1) comprises an image quality identification and adjustment system;
the synchronous rotation control device (5) collects all azimuth rotation instructions received by the cloud deck of the image acquisition equipment (2), then solves all azimuth rotation angles required by the cloud deck of the spotlight (4) to be irradiated to the same position according to the distance measured by the ranging module (3) and the installation distance between the cloud decks at the two sides, sends rotation instructions to the cloud deck of the spotlight (4), controls the cloud deck of the spotlight (4) to synchronously rotate along with the cloud deck of the image acquisition equipment (2), enables the spotlight (4) to irradiate to the observation point of the image acquisition equipment (2), the image quality identification and adjustment system is used for judging imaging quality, and needs to correct the power of the spotlight (4) according to the image information acquired by the image acquisition equipment (2), if the spot center of the spotlight (4) on an image coincides with the center of the image, the imaging quality meets the requirement, if the spot center of the spotlight (4) on the image does not coincide with the center of the image, sends the rotation angle to the cloud deck according to the deviation degree of the spot center so as to enable the best imaging quality to be adjusted by the control instruction of the focus deck.
2. The unmanned aerial vehicle with a follow-up lighting function for bridge inspection according to claim 1, wherein the unmanned aerial vehicle system (1) comprises a lift system, a power system, a flight control system, a data transmission system, a ground assurance device, an image transmission system.
3. The unmanned aerial vehicle with a follow-up lighting function for bridge detection according to claim 2, wherein the lifting system consists of a rotor, a motor and an electronic speed regulator.
4. The unmanned aerial vehicle with follow-up lighting function for bridge inspection according to claim 2, wherein the power system is powered by a fuel cell system.
5. An unmanned aerial vehicle with follow-up lighting function for bridge inspection according to claim 2, wherein the flight control system is located within the unmanned aerial vehicle.
6. The unmanned aerial vehicle with a follow-up lighting function for bridge detection according to claim 2, wherein the cradle head has three rotational degrees of freedom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110090648.2A CN112758323B (en) | 2021-01-22 | 2021-01-22 | Unmanned aerial vehicle with follow-up illumination function for bridge detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110090648.2A CN112758323B (en) | 2021-01-22 | 2021-01-22 | Unmanned aerial vehicle with follow-up illumination function for bridge detection |
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| Publication Number | Publication Date |
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| CN112758323A CN112758323A (en) | 2021-05-07 |
| CN112758323B true CN112758323B (en) | 2023-12-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1837803A2 (en) * | 2006-03-24 | 2007-09-26 | MobilEye Technologies, Ltd. | Headlight, taillight and streetlight detection |
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| CN208021718U (en) * | 2018-03-22 | 2018-10-30 | 深圳臻迪信息技术有限公司 | A kind of unmanned plane |
| DE102018104693A1 (en) * | 2018-03-01 | 2019-09-05 | Carl Zeiss Microscopy Gmbh | Method for accelerated, high-resolution scanning microscopy |
| CN209870734U (en) * | 2019-04-28 | 2019-12-31 | 会泽云能投新能源开发有限公司 | Unmanned aerial vehicle for detecting surface of wind turbine generator blade |
| CN111911825A (en) * | 2020-09-04 | 2020-11-10 | 浙江氢航科技有限公司 | Freely movable lighting equipment using hydrogen fuel cell as main power supply |
| CN212364855U (en) * | 2020-06-03 | 2021-01-15 | 国网浙江嘉善县供电有限公司 | Overhead high-voltage line obstacle avoidance system based on two-axis laser radar |
| CN112238938A (en) * | 2020-09-27 | 2021-01-19 | 大唐东北电力试验研究院有限公司 | Unmanned aerial vehicle-based four-pipe intelligent detection device and method for thermal power plant |
-
2021
- 2021-01-22 CN CN202110090648.2A patent/CN112758323B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1837803A2 (en) * | 2006-03-24 | 2007-09-26 | MobilEye Technologies, Ltd. | Headlight, taillight and streetlight detection |
| CN106954325A (en) * | 2017-04-27 | 2017-07-14 | 武汉理工大学 | A kind of stage follow spotlight control method based on image recognition |
| DE102018104693A1 (en) * | 2018-03-01 | 2019-09-05 | Carl Zeiss Microscopy Gmbh | Method for accelerated, high-resolution scanning microscopy |
| CN208021718U (en) * | 2018-03-22 | 2018-10-30 | 深圳臻迪信息技术有限公司 | A kind of unmanned plane |
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| CN111911825A (en) * | 2020-09-04 | 2020-11-10 | 浙江氢航科技有限公司 | Freely movable lighting equipment using hydrogen fuel cell as main power supply |
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| CN112758323A (en) | 2021-05-07 |
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