CN116573175B - Lighthouse pull distance testing system and lighthouse pull distance testing method based on unmanned aerial vehicle technology - Google Patents
Lighthouse pull distance testing system and lighthouse pull distance testing method based on unmanned aerial vehicle technology Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- B64U10/13—Flying platforms
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses a lighthouse pull-distance testing system and a lighthouse pull-distance testing method based on unmanned aerial vehicle technology, wherein the lighthouse pull-distance testing system comprises an unmanned aerial vehicle, a ground station and a camera positioned below the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of lighthouse pull distance testing, in particular to a lighthouse pull distance testing system and a lighthouse pull distance testing method based on unmanned aerial vehicle technology.
Background
The lighthouse is a high tower-shaped building, the light equipment is arranged at the top of the lighthouse, the position is important, the lighthouse has a specific building shape, and the lighthouse is easy to distinguish by ships and becomes one of the highest points of ports. Because the earth surface is curved, the tower body needs to have sufficient height to enable the light energy of the light to be observed by a remote navigation ship, and the common viewing distance is 15-25 seas (27.78-46.3 km). The lighthouse is used as an important navigation facility, and according to requirements of 'sea area navigation mark efficacy acceptance Specification' and 'regulations (trial) on maintenance and management implementation of navigation mark in south China navigation security center of transportation department', the lighthouse lamplight pulling test is generally carried out once a year, for example, a novel lamp is replaced, and the lamplight pulling test should be carried out again. The traditional pull-apart testing method is generally developed by utilizing ship night voyage, and adopts a visual inspection mode, namely, the eyesight of eyes with naked eyes is 5.0 (1.0) or more, and the furthest range is observed by 2/3 people. Night light pull tests are separately arranged on lighthouses which are not on the airlines. The traditional lighthouse light range measurement method is generally limited by factors such as meteorological sea conditions, navigation ships and the like, and has the problems of low efficiency, high cost, large risk and the like, and specifically comprises the following steps:
(1) Traditional lamplight pull distance measurement needs water surface ship cooperation, one team is needed when the ship is out of sea, a plurality of teams are needed when a large ship is out of sea, and at least 3 measuring staff are added, so that labor cost is high.
(2) The traditional measuring method is usually carried out by a professional navigation mark ship, the operation and maintenance cost of the ship is high every year, the ship is once out of sea, and the cost of fuel oil is only one expenditure for single measurement, so that tens of thousands of yuan are needed; in addition, the traditional measurement method is limited by sea state meteorological conditions, and the success probability of single voyage measurement is not high.
(3) The measuring method is limited by sea conditions, geographical features, navigation conditions, operating ship hardware conditions and other factors, and the measuring time is at least 4 hours (only the round trip time of the ship is calculated), and the time for people to observe is at least 6 hours when the ship enters and exits from the port in actual operation.
(4) The traditional measuring method must be carried out at night, the risk coefficient of ship night navigation is large, the risk of collision and stranding exists, the offshore environment is complex and changeable, and the difficulty of sudden extreme weather rescue is large during operation.
(5) The traditional measuring method adopts a visual inspection mode, requires that the eyesight of the measuring staff with naked eyes is 5.0 (1.0) or more, has higher requirements on the physical quality of the measuring staff, and requires 2/3 of the number of people to observe when the result is identified. The visual inspection mode is greatly influenced by the sense of the individual observer, and the situation that the individual observer can observe but the other observer cannot observe can exist, mainly because the physical quality of each individual is different, and the formed measurement results are different.
Disclosure of Invention
The invention aims to provide a lighthouse pull distance testing system and a lighthouse pull distance testing method based on unmanned aerial vehicle technology, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the lighthouse pull distance testing method based on the unmanned aerial vehicle technology comprises the following steps of being applied to an unmanned aerial vehicle, a ground station and a camera positioned below the unmanned aerial vehicle
Step S01, preset lighthouse coordinate information and path information are sent towards an unmanned aerial vehicle, and corresponding routes and information are planned;
step S02, the unmanned aerial vehicle flies to a lighthouse detection position according to lighthouse coordinate information and path information transmitted by the ground station;
step S03, after reaching a preset lighthouse detection position, carrying out position confirmation, and shooting the lighthouse through a camera after finishing the position confirmation;
step S04, controlling a camera to shoot the lighthouse, and transmitting shooting data to a ground station;
step S05, the ground station displays the received shot picture and performs data analysis on the picture shot by the camera;
and step S06, after all lighthouses are shot, returning to the falling point along the planned route.
In the flight process of the unmanned aerial vehicle, flight tracks and video data can be transmitted to the ground station in real time, so that the aircraft state and the video data are displayed intuitively, and light data acquisition is realized.
When the distance values between the unmanned aerial vehicle and the lighthouse detection positions are respectively 20 sea, 15 sea and 10 sea, the camera adopts a preset parameter mode to shoot, the camera sends the distance values and video images to the ground station after shooting is completed, and the unmanned aerial vehicle is hovered and suspended for 2-10 minutes in the shooting process of the camera;
after the unmanned aerial vehicle searches the lighthouse, the light picture is easier to distinguish by remotely controlling the amplification factor of the camera 2, the accuracy of the light quantity is ensured, and the range for improving the subsequent light quantity can be further known by photographing at different positions of 20 seashore, 15 seashore and 10 seashore.
Preferably, the ground station processes the received distance value and video image, sends a control command according to the processing result and transmits the control command to the camera, and the camera photographs the lighthouse according to the preset parameter mode of the camera after receiving the control command sent by the ground station, specifically: when the lighthouse illumination is in contact with the edge of the unmanned aerial vehicle, the camera can continuously shoot, the camera can record and store the current shooting picture, the picture is sent to the ground station, and the ground station matches the shooting picture with the pre-stored lamplight picture.
Preferably, the ground station judges whether the lighthouse light information is qualified or not by adopting an imaging principle of a camera and an exposure principle of the camera, and under the conditions that the exposure time of the camera is the same, the aperture size is the same, the distance between a target object and the camera is the same, and the acquisition time is at night, the lighthouse light intensity is stronger, the light source photo shot by the camera is brighter, the lighthouse light intensity is weaker, and the light source photo shot by the camera is darker.
Preferably, after receiving the photograph taken by the camera, the ground station extracts a frame of video picture image at the current time point from the video image, and determines whether to resend the control command to the camera for re-photographing according to the definition comparison result of the video picture image and the image of the lighthouse obtained by photographing.
Preferably, the preset parameter modes include, but are not limited to, focal length, angle and exposure, and when the beacon coordinates are reached, position information is sent to the ground station when the current position is found to be inconsistent with the actual position fed back by the ground station, and the ground station guides the unmanned aerial vehicle to fly to the correct beacon coordinates through analysis.
A lighthouse pull distance test system based on unmanned aerial vehicle technology, unmanned aerial vehicle for use in the above-mentioned method includes: the system comprises a navigation unit, a positioning unit, a path planning unit, a power mechanism, a flight control system and a data receiving and transmitting unit;
the unmanned aerial vehicle comprises a power module, a flight navigation unit, a positioning unit, a path planning unit, a power mechanism, a flight control system, a data receiving unit and a data receiving and transmitting unit, wherein the navigation unit is connected with the path planning unit, the path planning unit is connected with the flight control system, the path planning unit is used for receiving data sent by the flight control system and transmitting the data to the navigation unit, the navigation unit drives the unmanned aerial vehicle to fly according to the path, the power mechanism is connected with the flight control system through signals, the flight control system transmits control signals to the power mechanism, then the power mechanism drives the unmanned aerial vehicle to fly, the data receiving and transmitting unit is used for receiving control signals sent by a ground station and transmitting the received control signals to the flight control system for processing, the flight control system structure can transmit the received camera signals to the ground station in real time through the unmanned aerial vehicle path acquired by the data receiving and transmitting unit, the data receiving and transmitting the data of the ground station to the camera, the camera is provided with a servo stability-increasing cradle head, and the servo stability-increasing cradle head is controlled by the ground station.
Preferably, the ground station of the unmanned aerial vehicle used in the lighthouse pull distance testing method comprises a computer in the prior art, wherein the computer is electrically connected with a display screen, and the computer sends signals to the unmanned aerial vehicle and the camera in a radio mode and receives data transmitted by the unmanned aerial vehicle and the camera in a radio mode and displays the data at the display screen.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned aerial vehicle is simple to operate and control, low in use cost, high in speed and efficiency, low in platform stability risk and the like, the camera is carried to measure the lighthouse lamplight, working efficiency of lighthouse pull distance testing is improved, operation risk is reduced, measurement results are quantitatively analyzed, accuracy and reliability are improved, the unmanned aerial vehicle is automatically controlled through flight control, the angle of the unmanned aerial vehicle can be finely adjusted when sea wind appears, meanwhile, the camera is increased in stability, the camera angle is increased in stability, and the stability of the unmanned aerial vehicle when photographing lighthouse lamplight is further improved.
Drawings
FIG. 1 is a flow chart of a pull-apart testing method of the present invention;
FIG. 2 is a schematic diagram of a pull-apart testing system according to the present invention;
fig. 3 is a schematic perspective view of the unmanned aerial vehicle of the present invention;
FIG. 4 is a diagram showing the size relationship of the photographed object of the camera according to the present invention;
FIG. 5 is a graph of illumination intensity versus distance for the present invention;
FIG. 6 is a diagram showing the difference of luminous intensity according to the present invention;
fig. 7 is a schematic diagram of the unmanned aerial vehicle collecting lighthouse light of the present invention.
In the figure: 1. an unmanned aerial vehicle body; 2. and a camera.
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. 1-7, a lighthouse pull distance testing method based on unmanned aerial vehicle technology comprises a camera 2 applied to an unmanned aerial vehicle, a ground station and positioned below the unmanned aerial vehicle, and the method comprises the following steps
Step S01, preset lighthouse coordinate information and path information are sent towards an unmanned aerial vehicle, and corresponding routes and information are planned;
step S02, the unmanned aerial vehicle flies to a lighthouse detection position according to lighthouse coordinate information and path information transmitted by the ground station;
step S03, after reaching a preset lighthouse detection position, carrying out position confirmation, and shooting the lighthouse through the camera 2 after finishing the position confirmation;
step S04, controlling the camera 2 to shoot the lighthouse, and transmitting shooting data to the ground station;
step S05, the ground station displays the received shot picture and performs data analysis on the picture shot by the camera;
and step S06, after all lighthouses are shot, returning to the falling point along the planned route.
In the flight process of the unmanned aerial vehicle, flight tracks and video data can be transmitted to the ground station in real time, so that the aircraft state and the video data are displayed intuitively, and light data acquisition is realized.
When the distance values between the unmanned aerial vehicle and the lighthouse detection positions are respectively 20 sea, 15 sea and 10 sea, the camera 2 adopts a preset parameter mode to shoot, the camera 2 can send the distance values and video images to the ground station after shooting is completed, the unmanned aerial vehicle is suspended for 5-10 minutes in the shooting process of the camera 2, after the unmanned aerial vehicle searches the lighthouse, the lamplight picture is easier to judge by remotely controlling the amplification factor of the camera 2, the accuracy of the lamplight quantity is ensured, and the range for improving the follow-up lamplight quantity can be further known by shooting at different positions of 20 sea, 15 sea and 10 sea.
The ground station processes the received distance value and the video image, sends a control command according to the processing result and transmits the control command to the camera 2 through the first signal sending module, and the camera 2 shoots the lighthouse according to the preset parameter mode after receiving the control command sent by the ground station, specifically: when the lighthouse illumination is in bright contact with the edge of the unmanned aerial vehicle, the camera 2 can continuously shoot, a shooting picture is matched with a pre-stored lamplight photo, when the matching degree of the shooting picture and the pre-stored lamplight photo meets the preset matching condition, the preset matching degree of the shooting picture and the pre-stored lamplight photo is 50%, if the matching degree fails to reach the standard, a control command is re-generated to the camera 2 to re-shoot, and the camera 2 can record and store the current shooting picture and send the picture to the ground station.
The ground station judges whether the lighthouse light information is qualified or not to adopt the imaging principle of the camera 2 and the exposure principle of the camera 2, and under the conditions that the exposure time of the camera 2 is the same, the aperture size is the same, the distance between a target object and the camera 2 is the same and the acquisition time is at night, the lighthouse light intensity is stronger, the brighter the light source photo shot by the camera 2 is, the weaker the lighthouse light intensity is, and the darker the light source photo shot by the camera 2 is.
After receiving the photograph taken by the camera 2, the ground station extracts a frame of video picture image at the current time point from the video image, and determines whether to resend the control command to the camera 2 for re-photographing according to the definition comparison result of the video picture image and the lighthouse image obtained by photographing.
The preset parameter modes include, but are not limited to, focal length, angle and exposure, and when the beacon coordinates are reached, position information is sent to the ground station when the current position is found to be inconsistent with the actual position fed back by the ground station, and the ground station guides the unmanned aerial vehicle to fly to the correct beacon coordinates through analysis.
A lighthouse pull distance test system based on unmanned aerial vehicle technology, unmanned aerial vehicle for use in the above-mentioned method includes: the unmanned aerial vehicle used in the method comprises the following steps: the system comprises a navigation unit, a positioning unit, a path planning unit, a power mechanism, a flight control system and a data receiving and transmitting unit;
the unmanned aerial vehicle comprises a power module, a flight navigation unit, a positioning unit, a path planning unit, a power mechanism, a flight control system, a data receiving unit and a data receiving and transmitting unit, wherein the navigation unit is connected with the path planning unit, the path planning unit is connected with the flight control system, the path planning unit is used for receiving data sent by the flight control system and transmitting the data to the navigation unit, the navigation unit drives the unmanned aerial vehicle to fly according to the path, the power mechanism is connected with the flight control system through signals, the flight control system transmits control signals to the power mechanism, then the power mechanism drives the unmanned aerial vehicle to fly, the data receiving and transmitting unit is used for receiving control signals sent by a ground station and transmitting the received control signals to the flight control system for processing, the flight control system structure can transmit the received camera signals to the ground station in real time through the unmanned aerial vehicle path acquired by the data receiving and transmitting unit, the data receiving and transmitting the data of the ground station to the camera, the camera is provided with a servo stability-increasing cradle head, and the servo stability-increasing cradle head is controlled by the ground station.
The unmanned aerial vehicle ground station used in the lighthouse pull distance testing method comprises a computer in the prior art, wherein the computer is electrically connected with a display screen, the computer sends signals to the unmanned aerial vehicle and the camera 2 in a radio mode, and data transmitted by the unmanned aerial vehicle and the camera 2 are received in the radio mode and displayed at the display screen.
Specifically, according to fig. 4, the image size can be calculated according to the relationship in the figure as h=f×h/d, where f is the focal length of the camera 2, d is the distance from the lens to the target object, and H is the imaging size on the CMOS of the camera 2.
The image size relationship of the video captured by the camera 2 on projection onto the display through the data link is as follows:
h1/H1 camera 2 pixels=h2/H2 display pixels
Wherein: h1 is camera 2CMOS imaging height;
h1 is the camera 2CMOS dimension height;
h2 is the imaging height on the display;
h2 is the camera 2 display size height;
the test was performed with 1920 x 1080 pixels for both camera 2 and display.
Specifically, according to fig. 5, the farther the same illuminant is, the weaker the intensity of the received illumination.
Specifically, according to fig. 6, the luminance of the same illuminant varies in proportion to the difference in the luminous intensity at the same distance. The difference in luminous intensity is shown in the following graph, and the leftmost side is high in luminous intensity and the rightmost side is low in luminous intensity.
Table 1 common lighthouse lens dimensions
Table 2 unmanned aerial vehicle performance index
Table 3 pod camera performance index
Table 4 project key demand index and system plan design and performance index
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The lighthouse pull distance testing method based on the unmanned aerial vehicle technology is characterized by being applied to an unmanned aerial vehicle, a ground station and a camera (2) positioned below the unmanned aerial vehicle, and comprises the following steps of
Step S01, preset lighthouse coordinate information and path information are sent towards an unmanned aerial vehicle, and corresponding route information is planned;
step S02, the unmanned aerial vehicle flies to a lighthouse detection position according to lighthouse coordinate information and path information transmitted by the ground station;
step S03, after reaching a preset lighthouse detection position, carrying out position confirmation, and shooting the lighthouse through a camera (2) after finishing the position confirmation;
step S04, controlling a camera (2) to shoot the lighthouse, and transmitting shooting data to a ground station;
step S05, the ground station displays the received shot picture and performs data analysis on the picture shot by the camera;
step S06, after all lighthouses are shot, returning to the falling point along the planned route;
in the flight process of the unmanned aerial vehicle, the flight track and video data are transmitted to a ground station in real time so as to intuitively display the state of the aircraft and the video data and realize light data acquisition;
when the distance values between the unmanned aerial vehicle and the lighthouse detection positions are respectively 20 sea, 15 sea and 10 sea, the camera (2) adopts a preset parameter mode to shoot, the camera (2) can send the distance values and video images to the ground station after shooting is completed, and the unmanned aerial vehicle can hover or hang for 2-10 minutes in the shooting process of the camera (2);
after the unmanned aerial vehicle searches the lighthouse, the light picture is easier to distinguish by remotely controlling the magnification of the camera (2), the accuracy of the light quantity is ensured, and photographing is carried out at different positions of 20 seas, 15 seas and 10 seas;
the ground station processes the received distance value and the video image, sends a control command according to the processing result and transmits the control command to the camera (2), and the camera (2) photographs the lighthouse according to a parameter mode preset by the camera (2) after receiving the control command sent by the ground station, specifically: when the lighthouse illumination is in bright contact with the edge of the unmanned aerial vehicle, the camera (2) can continuously shoot, the camera (2) can record and store the current shooting picture, and the picture is sent to the ground station, the ground station matches the shooting picture with a pre-stored lamplight picture, when the matching degree of the shooting picture and the pre-stored lamplight picture accords with a preset matching condition, the preset matching degree of the shooting picture and the pre-stored lamplight picture is 50%, if the matching degree fails to reach the standard, a control command is re-generated to the camera (2) to re-shoot, and the camera (2) can record and store the current shooting picture and send the picture to the ground station.
2. The lighthouse pull testing method based on unmanned aerial vehicle technology according to claim 1, wherein the lighthouse pull testing method is characterized in that: the ground station judges whether the lighthouse light information is qualified or not and adopts the imaging principle of the camera (2) and the exposure principle of the camera (2), and under the conditions that the exposure time of the camera (2) is the same, the aperture size is the same, the distance between a target object and the camera (2) is the same and the acquisition time is at night, the lighthouse light intensity is stronger, the light source photo shot by the camera (2) is brighter, the lighthouse light intensity is weaker, and the light source photo shot by the camera (2) is darker.
3. The lighthouse pull testing method based on unmanned aerial vehicle technology according to claim 1, wherein the lighthouse pull testing method is characterized in that: after receiving the photo shot by the camera (2), the ground station extracts a frame of video picture image at the current time point from the video image, and determines whether to resend the control command to the camera (2) for re-shooting according to the definition comparison result of the video picture image and the image of the lighthouse acquired by shooting.
4. The lighthouse pull testing method based on unmanned aerial vehicle technology according to claim 1, wherein the lighthouse pull testing method is characterized in that: the preset parameter modes comprise focal length, angle and exposure, when the beacon coordinates are reached, position information is sent to the ground station when the current position is found to be inconsistent with the actual position fed back by the ground station, and the ground station guides the unmanned aerial vehicle to fly to the correct beacon coordinates through analysis.
5. A lighthouse pull-distance testing system based on unmanned aerial vehicle technology, which is characterized by being used for the unmanned aerial vehicle of the lighthouse pull-distance testing method according to any one of claims 1-4, wherein the unmanned aerial vehicle comprises a navigation unit, a positioning unit, a path planning unit, a power mechanism, a flight control system and a data receiving and transmitting unit;
the power module is electrically connected with the flight navigation unit, the positioning unit, the path planning unit, the power mechanism, the flight control system and the data receiving and transmitting unit, the path planning unit is connected with the flight control system, the path planning unit is used for receiving data sent by the flight control system and transmitting the data to the navigation unit, the navigation unit drives the unmanned aerial vehicle to fly according to the path, the power mechanism is in signal connection with the flight control system, the flight control system transmits control signals to the power mechanism, then the power mechanism drives the unmanned aerial vehicle to fly, the data receiving and transmitting unit is used for receiving control signals sent by the ground station and transmitting the received control signals to the flight control system for processing, the flight control system structure can transmit the received camera signals to the ground station in real time through the unmanned aerial vehicle path obtained by the data receiving and transmitting unit, the data receiving and transmitting unit is used for transmitting the data of the ground station to the camera, the camera is provided with a servo stability cradle head, and the servo stability cradle head is controlled by the ground station.
6. The unmanned aerial vehicle technology-based lighthouse pull testing system of claim 5, wherein: the system further comprises a ground station for the lamp tower pull-apart testing method according to any one of claims 1-4, wherein the ground station comprises a computer, the computer is electrically connected with a display screen, the computer sends signals to the unmanned aerial vehicle and the camera (2) in a radio mode, and data transmitted by the unmanned aerial vehicle and the camera (2) are received in a radio mode and displayed on the display screen.
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