CN102568251A - Aircraft high-voltage wire anti-collision alarm device and aircraft - Google Patents
Aircraft high-voltage wire anti-collision alarm device and aircraft Download PDFInfo
- Publication number
- CN102568251A CN102568251A CN2011104150894A CN201110415089A CN102568251A CN 102568251 A CN102568251 A CN 102568251A CN 2011104150894 A CN2011104150894 A CN 2011104150894A CN 201110415089 A CN201110415089 A CN 201110415089A CN 102568251 A CN102568251 A CN 102568251A
- Authority
- CN
- China
- Prior art keywords
- image
- module
- aircraft
- line
- alarm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses an aircraft high-voltage wire anti-collision alarm device, comprising an image acquiring module, an image processing module, a high-voltage wire identifying module and an alarm module, wherein the image acquiring module is used for acquiring a view image at the front end of an aircraft; the image processing module is used for carrying out image segmentation on the view image; the high-voltage wire identifying module is used for identifying and judging a high-voltage wire on the image subjected to image segmentation treatment; and the alarm module carries out alarm processing according to judging result. The invention also discloses an aircraft. In the concrete implementation mode of the invention, image acquiring, processing and identifying technologies are adopted, thus the fact that whether the high-voltage wire exists is judged, early warning can be timely provided, and flying safety is realized.
Description
Technical field
The present invention relates to a kind of aircraft hi-line proximity-warning device and be equipped with the aircraft of this device.
Background technology
Helicopter is easy to bump against with hi-line because its flying speed is higher, and flying height is relatively low, causes serious consequence.For a long time, the special crashproof airborne early-warning system of helicopter hi-line is not arranged both at home and abroad, helicopter has generation frequently with the accident of hi-line collision, and pilot's life is caused serious threat.Given this, need the anti-airborne early-warning system of breasting the tape of helicopter to guarantee pilot's life security.
Summary of the invention
The technical matters that the present invention will solve is the deficiency to prior art, provides a kind of and can discern the aircraft hi-line proximity-warning device with early warning to hi-line.
Another technical matters that the present invention will solve provides a kind of aircraft with this device.
The technical matters that the present invention will solve is solved through following technical scheme:
A kind of aircraft hi-line proximity-warning device comprises image collection module, image processing module, hi-line identification module and alarm module, and wherein: said image collection module is used to obtain the field-of-view image of aircraft front end; Said image processing module is used for that said field-of-view image is carried out image segmentation to be handled; Said hi-line identification module is used for the image after the image segmentation processing is carried out hi-line identification and judgement; Said alarm module is according to the processing of reporting to the police of said result of determination.
Wherein said hi-line identification module also is used for using Hough transformation to come the hi-line of detected image.
Wherein said hi-line identification module also is used for calculating according to ρ=x * cos θ+y * sin θ, and wherein (x y) is the interior coordinate figure of X-Y plane; (ρ; θ) be coordinate figure in ρ-θ plane, θ is used for that statistics has identical (ρ, θ) number of pixels in the X-Y plane of value in first preset range; Said number then is judged to be hi-line if surpass first predetermined threshold value.
Wherein said first preset range comprises the scope between 60 ° to 120 °.
Wherein said image collection module comprises camera and A/D converting unit, and said camera is used for images acquired or picture frame, and said A/D converting unit is used for image of gathering or picture frame are carried out the A/D conversion.
Wherein said camera comprises infrared camera and/or visible image capturing head.
Wherein said image processing module comprises denoising unit and edge detection unit, and wherein said denoising unit is used to use median filtering method that image is carried out denoising, and said edge detection unit is used to use the Sobel method that the edge is detected and image segmentation.
Wherein said alarm module comprises warning lamp and/or the hummer that is respectively applied for sound and light alarm.
A kind of aircraft is equipped with aforementioned aircraft hi-line proximity-warning device at the belly front end.
Said aircraft is a helicopter.
Owing to adopted above technical scheme, the beneficial effect that the present invention is possessed is:
(1) in embodiment of the present invention, through Image Acquisition, processing and recognition technology, to whether existing hi-line to judge, and early warning can be provided in time, realize safe flight.
(2) in embodiment of the present invention, carry out the identification of hi-line through Hough transformation, simple and convenient, accuracy is high.
(3) in embodiment of the present invention, adopt the outfit of infrared camera and visible image capturing head, make device not influenced by weather illumination etc., assisting in flying person's identification the place ahead barrier is effectively avoided the aircraft impact hi-line.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the present invention;
Fig. 2 is the structural representation of another embodiment of the present invention;
Fig. 3 is hi-line identification process figure embodiment illustrated in fig. 2;
Fig. 4 is the structural representation of another embodiment of the present invention;
Fig. 5 is an investigative range synoptic diagram embodiment illustrated in fig. 4;
Fig. 6 is traditional Sobel operator synoptic diagram;
Fig. 7 is a Sobel operator template synoptic diagram embodiment illustrated in fig. 4.
Embodiment
Combine accompanying drawing that the present invention is done further explain through embodiment below.
Fig. 1 illustrates the structural representation of the embodiment of aircraft hi-line proximity-warning device according to the present invention, comprises image collection module, image processing module, hi-line identification module and alarm module.This image collection module is used to obtain the field-of-view image of aircraft front end; Image processing module is used for that field-of-view image is carried out image segmentation to be handled; The hi-line identification module is used for the image after the image segmentation processing is carried out hi-line identification and judgement; Alarm module is according to the result of determination processing of reporting to the police.
A kind of embodiment, image collection module comprise camera and A/D converting unit, and camera is used for images acquired or picture frame, and the A/D converting unit is used for image of gathering or picture frame are carried out the A/D conversion.Camera can be selected one of infrared camera and visible image capturing head or the two for use.
A kind of embodiment, image processing module comprise denoising unit and edge detection unit, and the denoising unit is used to use median filtering method that image is carried out denoising, and edge detection unit is used to use the Sobel method that the edge is detected and image segmentation.
A kind of embodiment, hi-line identification module also are used for calculating according to ρ=x * cos θ+y * sin θ, wherein (x; Y) be coordinate figure in the X-Y plane, (ρ θ) is coordinate figure in ρ-θ plane; θ is used in first preset range statistics and has identical (ρ; θ) the number of pixels in the X-Y plane of value, this number then is judged to be hi-line if surpass first predetermined threshold value.The direction of considering hi-line possibly be a level, also certain angle might be arranged, so we confirm that the scope of θ is θ ∈ { 60 °, 120 ° }.First predetermined threshold value can be confirmed and adjusts according to the size of image.
A kind of embodiment, alarm module comprise warning lamp and/or the hummer that is respectively applied for sound and light alarm.
Fig. 2 illustrates structural representation in accordance with another embodiment of the present invention, comprises infrared camera, visible image capturing head, SS, electronic steady image unit, graphics processing unit, feature identification unit and system alarm unit.
A kind of embodiment; SS can select to use infrared camera or visible image capturing head; Perhaps the two uses simultaneously, and the electronic steady image unit is used to overcome the influence of the factors such as moment unusual fluctuation of fuselage shake, flight attitude to the reliability and the accuracy of obstacle detection, identification.
Fig. 3 illustrates hi-line identification process figure embodiment illustrated in fig. 2, comprising:
Step 302: utilize infrared camera or visible image capturing head to obtain image or picture frame;
Step 304: image or picture frame to obtaining carry out medium filtering;
Step 306: again image is carried out rim detection;
Step 308: image is carried out binary conversion treatment;
Step 310: carry out Hough transformation;
Step 312: carry out data statistics;
Step 314: provide the hi-line recognition result.
Fig. 4 illustrates the structural representation of another embodiment according to the present invention; Present embodiment is divided into outer gondola part of machine and engine room inside branch; The outer gondola of machine partly comprises camera and optical system; Engine room inside divides and mainly comprises Flame Image Process and recognition system, connects through the military shielded cable of 12 cores between two parts.
The outer gondola part of the machine of the aircraft hi-line proximity-warning device of present embodiment is installed in helicopter ventral bottom through mechanical shock absorption means; This mechanical shock absorption means comprises 4 ultra-thin vibroshocks of low temperature; Can carry out vibration isolation, protect at a distance from dashing infrared imaging system, visual light imaging system, optical system, each vibroshock can bear the maximum 15kg of level, vertical maximum 25kg impacts.The outer gondola part top of machine is reserved 6 and is installed and fixed the hole, and concrete size can be confirmed according to actual conditions.Its optics axis consistent with helicopter forward flight fuselage axis (or down inclined to one side 0.2 °), or under the constant level inclined to one side 0.2 °, the spatial channel on the helicopter flight direction covered to guarantee investigative range.Terminal display system is that embedded panel is installed in the machine, and concrete size is looked actual conditions and decided.
The outer gondola of machine partly comprises infrared camera, visible image capturing head, A/D modular converter and webcam driver unit.The A/D modular converter adopts the SAA7115H chip that the simulating signal infrared or collection of visible image capturing head is carried out the A/D conversion.The webcam driver unit provides the WV+12V of CCD visible image capturing head and infrared camera.The horizontal field of view angle [alpha] of known infrared camera or visible image capturing head is about 4 °, and the vertical visual field angle beta is about 3 °, and is as shown in Figure 5.Therefore the search coverage area S at 800m place is forwardly:
S＝2×800×tg2°×2×800×tg1.5°＝56×42m
2
The engine room inside branch comprises camera change-over switch, filtration module, electronic steady image module, hummer, master controller supply module, reset switch, alarm lamp, master controller, coding module, LCD MODULE and liquid crystal display supply module.
The camera change-over switch comprises CCD visible image capturing head and infrared eye video output signals selection circuit.Can use two cameras to work simultaneously daytime in practice, needs just to guarantee that infrared camera can blocked in the face of in the sun, otherwise can damage infrared camera.Under evening or the dim condition, can only use infrared camera.Change-over switch can manual switching, also can automatically switch according to the time.Infrared camera occurs temperature easily and floats under the bigger situation of variation of ambient temperature, it is big that picture noise becomes, and utilize reset switch that infrared camera and master controller are resetted this moment.That present embodiment adopts is infrared, two kinds of visible lights not the homogeneity detector flight the place ahead hi-line barrier target is surveyed; For accurately carrying out the technical guarantee of the hi-line barrier feature identification and the providing the foundation property of reporting to the police, guaranteed in the different flight environment of vehicle to the hi-line barrier accurately, reliable detection and warning.
Because hi-line is thinner, therefore before detecting hi-line, earlier image is handled so that obtain more distinct image, carry out denoising through filtration module.Consider that native system is a real-time system, adopt median filtering algorithm.Medium filtering is meant and replaces the mean value of certain any pixel of image by this pixel surrounding pixel.The algorithm of medium filtering is as follows: establish { x
Ij, (i, j) ∈ I
2The gray-scale value of expression digital picture each point, filter window is A, y
IjFor window is that A is at x
IjThe intermediate value of point, then y
Ij=Med
A{ x
Ij}=Med{x
(i+r), (j+s), (r, s) ∈ A, i, j, ∈ I
2.Filter window has several kinds, and 3 * 3,5 * 5,12 * 12 etc., present embodiment adopts 5 * 5 filter window.
System adopts the dual steady picture technology of steady picture of machinery and electronic steady image, and fuselage is shaken to overcome, the factors such as moment unusual fluctuation of flight attitude are to the influence of the reliability and the accuracy of obstacle detection, identification.
After the underway value filtering, can carry out rim detection, the purpose of rim detection is in order to make a distinction hi-line and background.Picture processing chip TMS320DM642 in the master controller is responsible for carrying out Flame Image Process work such as rim detection, hi-line identification.The algorithm of rim detection has a lot, sobel, and Prewitt, Robert, Canny, Kirsch are very common edge detection algorithms.In the present embodiment; Hi-line itself belongs to fairly simple characteristic, if adopt the very good algorithm of effect, can cause the characteristic of other interfering objects to be strengthened; Therefore take all factors into consideration the real-time factor, present embodiment adopts improved sobel algorithm to carry out the algorithm of rim detection.
Traditional sobel operator is the sobel operator of vertical and horizontal direction as shown in Figure 6.Consider that high-tension bus-bar is mainly horizontal direction, so we only adopt the sobel convolution operator of horizontal direction.In order to make the edge more clear, we come in the directivity increase simultaneously.Obtain two operator templates as shown in Figure 7.Ask the value that obtains with these two operators root mean square just to obtain the value at edge.Through after the rim detection, adopt Hough transformation to make a distinction high-tension bus-bar and other interfering objects.And Hough transformation can only detect in bianry image, therefore at first becomes bianry image to greyscale image transitions.All pixel grey scales of image and root mean square as the threshold value of bianry image.
Hough transformation is commonly employed in Flame Image Process, can be used to discern geometric configuration, in the present embodiment, considers the rectilinearity of hi-line, therefore distinguishes high-tension bus-bar with the Hough transformation of detection of straight lines.
The principle of Hough transformation detection of straight lines is following:
Straight line can be used following formulate y=ax+b, and a and b represent slope and intercept respectively.Cross certain a bit (x
0, y
0) the parameter of all straight lines all can satisfy equation y
0=ax
0+ b.I.e. point (x
0, y
0) confirmed one group of straight line.Equation y
0=ax
0+ b is a straight line on parameter a-b plane.Like this, a pixel on the image x-y plane just corresponds to the straight line on the parameter plane.Straight line can pass through polar coordinate representation equally, and promptly straight line can be expressed as ρ=x*cos θ+y*sin θ.Promptly be transformed into straight line that (ρ is θ) on the parameter plane.Can calculate the different pairing ρ values of θ to each pixel,,, represent that then these two pixels belong to same straight line if certain two point is identical to the value that same θ calculates ρ if these two values are all identical.In the present embodiment, we consider that the direction of hi-line possibly be a level, also certain angle might be arranged, and therefore can confirm that the scope of θ is θ ∈ { 60 °, 120 ° }.Consider simultaneously the complexity of calculating again, can be being set to 2 °, promptly θ=60 °, 62 °, 64 °, 66 ° ..., 90 °, 92 °, 94 ° ..., 116 °, 118 °, 120 ° }.(ρ, after value θ), we add up, and identical (ρ, θ) number of the pairing pixel of value if number of pixels surpasses certain threshold value (size according to image is adjusted), is then thought hi-line having calculated corresponding all of all pixels.
Image after handling and discerning is encoded through the SAA7105H chip of coding module and is outputed on the liquid crystal display.
The master controller supply module provides DSP control panel input voltage+5V (8).
The liquid crystal display supply module provides liquid crystal display WV+12V (14).
On the terminal display system acoustooptic alarm system is arranged in the machine, also reserved one tunnel alerting signal in driver's earphone.
The leading indicator of present embodiment:
(1) identification range: 100～500m; Identification diameter: 5mm;
(2) WV: 28V
DC
(3) working current: 0.8A;
(4) power: 20W;
(5) recognition time :≤0.5s;
(6) survey mission spatial channel sectional area>=56 * 42m
2
(7) equipment volume: 40 * 30 * 30cm
3
(8) weight of equipment: about 10Kg;
(9) operating ambient temperature range :-40 ℃～+ 70 ℃;
(10) working environment humidity range :≤95%Rh
(11) sound and light alarm output;
(12) reserved interface for installing EFB additional;
(13) other technical indicator need meet the requirement of national aircraft attachment design.
Above content is to combine concrete embodiment to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (10)
1. an aircraft hi-line proximity-warning device is characterized in that, comprises image collection module, image processing module, hi-line identification module and alarm module, wherein:
Said image collection module is used to obtain the field-of-view image of aircraft front end;
Said image processing module is used for that said field-of-view image is carried out image segmentation to be handled;
Said hi-line identification module is used for the image after the image segmentation processing is carried out hi-line identification and judgement;
Said alarm module is according to the processing of reporting to the police of said result of determination.
2. device as claimed in claim 1 is characterized in that, wherein said hi-line identification module also is used for using Hough transformation to come the hi-line of detected image.
3. device as claimed in claim 2 is characterized in that, wherein said hi-line identification module also is used for calculating according to ρ=x * cos θ+y * sin θ; Wherein (x y) is the interior coordinate figure of X-Y plane, (ρ; θ) be coordinate figure in ρ-θ plane, θ is used for that statistics has identical (ρ, θ) number of pixels in the X-Y plane of value in first preset range; Said number then is judged to be hi-line if surpass first predetermined threshold value.
4. device as claimed in claim 3 is characterized in that, wherein said first preset range comprises the scope between 60 ° to 120 °.
5. like the arbitrary described device of claim 1 to 4; It is characterized in that; Wherein said image collection module comprises camera and A/D converting unit, and said camera is used for images acquired or picture frame, and said A/D converting unit is used for image of gathering or picture frame are carried out the A/D conversion.
6. device as claimed in claim 5 is characterized in that, wherein said camera comprises infrared camera and/or visible image capturing head.
7. like the arbitrary said described device of claim 1 to 4; It is characterized in that; Wherein said image processing module comprises denoising unit and edge detection unit; Wherein said denoising unit is used to use median filtering method that image is carried out denoising, and said edge detection unit is used to use the Sobel method that the edge is detected and image segmentation.
8. like the arbitrary said described device of claim 1 to 4, it is characterized in that wherein said alarm module comprises warning lamp and/or the hummer that is respectively applied for sound and light alarm.
9. an aircraft is characterized in that, at the belly front end arbitrary described aircraft hi-line proximity-warning device like claim 1-4 is installed.
10. aircraft as claimed in claim 9 is characterized in that, said aircraft is a helicopter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104150894A CN102568251A (en) | 2011-12-13 | 2011-12-13 | Aircraft high-voltage wire anti-collision alarm device and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104150894A CN102568251A (en) | 2011-12-13 | 2011-12-13 | Aircraft high-voltage wire anti-collision alarm device and aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102568251A true CN102568251A (en) | 2012-07-11 |
Family
ID=46413558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011104150894A Pending CN102568251A (en) | 2011-12-13 | 2011-12-13 | Aircraft high-voltage wire anti-collision alarm device and aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102568251A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104284140A (en) * | 2013-07-08 | 2015-01-14 | 上海奇志光电科技有限公司 | System and method for assisting nighttime vehicle driving |
| CN104914434A (en) * | 2015-06-09 | 2015-09-16 | 长安大学 | Cruise helicopter airborne radar high-voltage wire detection and early-warning method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6747576B2 (en) * | 2000-11-09 | 2004-06-08 | Astrium Gmbh | Wire detection procedure for low-flying aircraft |
| CN101625723A (en) * | 2009-07-02 | 2010-01-13 | 浙江省电力公司 | Rapid image-recognizing method of power line profile |
| RU2403591C2 (en) * | 2008-12-15 | 2010-11-10 | Владимир Иванович Винокуров | Method for prevention of helicopter collision with high-voltage power transmission lines |
| CN201918032U (en) * | 2010-12-31 | 2011-08-03 | 同济大学 | Low-altitude flying anti-collision device of aircraft |
| CN102930535A (en) * | 2012-10-16 | 2013-02-13 | 余杭供电局 | Power line contour extraction method for detecting online foreign object intrusion |
-
2011
- 2011-12-13 CN CN2011104150894A patent/CN102568251A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6747576B2 (en) * | 2000-11-09 | 2004-06-08 | Astrium Gmbh | Wire detection procedure for low-flying aircraft |
| RU2403591C2 (en) * | 2008-12-15 | 2010-11-10 | Владимир Иванович Винокуров | Method for prevention of helicopter collision with high-voltage power transmission lines |
| CN101625723A (en) * | 2009-07-02 | 2010-01-13 | 浙江省电力公司 | Rapid image-recognizing method of power line profile |
| CN201918032U (en) * | 2010-12-31 | 2011-08-03 | 同济大学 | Low-altitude flying anti-collision device of aircraft |
| CN102930535A (en) * | 2012-10-16 | 2013-02-13 | 余杭供电局 | Power line contour extraction method for detecting online foreign object intrusion |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104284140A (en) * | 2013-07-08 | 2015-01-14 | 上海奇志光电科技有限公司 | System and method for assisting nighttime vehicle driving |
| CN104914434A (en) * | 2015-06-09 | 2015-09-16 | 长安大学 | Cruise helicopter airborne radar high-voltage wire detection and early-warning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20180170540A1 (en) | System and method for automatically inspecting surfaces | |
| CN105759839A (en) | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV | |
| CN205601869U (en) | On -vehicle operating environment safety monitoring system | |
| CN104442924A (en) | All-weather high speed railway vehicle-mounted obstacle detection system and method | |
| CN105047019B (en) | A kind of passenger stock prevent rear car overtake other vehicles after lane change determination methods and device suddenly | |
| CN110866483B (en) | Dynamic and static combined visual detection and positioning method for airport runway foreign matter | |
| CN205601867U (en) | Train contact net detection device | |
| CN111038721B (en) | Unmanned aerial vehicle for inspecting wind turbine blade based on image recognition and inspection method | |
| CN103818320B (en) | Driving compartment intelligent control system and control method | |
| CN104049281A (en) | Device and method for automatically detecting foreign matter between screen door of curve subway platform and train | |
| CN104890574A (en) | Car A column blind zone eliminating device based on machine vision | |
| CN108163014A (en) | A kind of engine drivers in locomotive depot Fu Zhu lookout method for early warning and device | |
| CN110944150A (en) | Special external damage prevention intelligent identification method for electric power | |
| CN201506458U (en) | Night vision device for 24-hour high-speed boat | |
| CN103802727A (en) | Low-visibility guiding system | |
| CN103313039A (en) | Daytime security prompt device and prompt method for highway tunnel entrance | |
| CN113011252B (en) | Rail foreign matter intrusion detection system and method | |
| CN103630949B (en) | Vehicular airfield runway foreign object detection system and method | |
| CN105480417A (en) | Intelligent unmanned aerial vehicle | |
| CN102568251A (en) | Aircraft high-voltage wire anti-collision alarm device and aircraft | |
| CN106980810A (en) | A kind of Overheight Vehicles proximity test method incremental based on sensitizing range image outline | |
| CN205545533U (en) | Two mesh cloud platforms of visible light camera and thermal infrared imaging camera | |
| CN102565873A (en) | Safety check system for three-dimensional vehicle chassis | |
| CN213750759U (en) | Railway tunnel intelligent patrol vehicle based on SLAM technology | |
| CN205384515U (en) | Forest fires monitoring and intelligent recognition system based on unmanned aerial vehicle platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120711 |