CN103869819B - A kind of ribbon conveyer automatic detecting method based on many rotor wing unmanned aerial vehicles - Google Patents
A kind of ribbon conveyer automatic detecting method based on many rotor wing unmanned aerial vehicles Download PDFInfo
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- CN103869819B CN103869819B CN201410085942.4A CN201410085942A CN103869819B CN 103869819 B CN103869819 B CN 103869819B CN 201410085942 A CN201410085942 A CN 201410085942A CN 103869819 B CN103869819 B CN 103869819B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007689 inspection Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000008054 signal transmission Effects 0.000 abstract description 4
- 230000005856 abnormality Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 5
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 4
- 239000001301 oxygen Substances 0.000 description 4
- 229910052760 oxygen Inorganic materials 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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Abstract
A kind of ribbon conveyer automatic detecting method based on many rotor wing unmanned aerial vehicles, belongs to ribbon conveyer fault method for inspecting.Automatic tour inspection system is made up of many rotor wing unmanned aerial vehicles, unmanned aerial vehicle work station and navigation identification；Many rotor wing unmanned aerial vehicles include unmanned plane body, UAV Navigation System, unmanned plane cruising inspection system, airborne power supply and wireless signal transmission end；Unmanned aerial vehicle work station comprises multi-action computer and reception of wireless signals end；Navigation system can identify the flight path determining unmanned plane by navigation by recognition, and the carrying roller of ribbon conveyer optional position can be monitored by cruising inspection system, and sends monitoring signal to unmanned aerial vehicle work station.This method for inspecting includes: air navigation aid and method for inspecting.Just can realize the automatic detecting to carrier roller of belt conveyer by laying navigation markup, the abnormality of carrying roller be detected in time, it is to avoid more serious economic loss and casualties occur.Its simple in construction, Detection results are good, time saving and energy saving.
Description
Technical field
The present invention relates to a kind of ribbon conveyer fault method for inspecting, a kind of ribbon conveyer automatic detecting methods based on many rotor wing unmanned aerial vehicles.
Background technology
Ribbon conveyer is widely used in coal industry at present as horizontal transport or inclination means of transport.Compared with other means of transports, there is the advantage such as fed distance length, big, the continuous conveying of freight volume.Carrying roller is the vitals of ribbon conveyer, and kind is many, and quantity is big.It account for the 35% of a ribbon conveyer totle drilling cost, creates the resistance of more than 70%, and therefore the quality of carrying roller is particularly important.Due to the bad environments of Coal Mining Field, the most easily there is various fault in carrying roller, and as stuck in bearing, carrying roller tube wall is worn out.Therefore, it is the most necessary for monitoring in real time for carrying roller running status.
At present, the automatization level of domestic carrier roller of belt conveyer fault detect is relatively low, relies on substantially staff's regular visit.But due to Coal Mining Field work under bad environment, carrying roller substantial amounts, cause that manual inspection workload is big, accuracy of detection is low.If the fault of carrying roller can not find in time, it will bring great threat to the production in colliery, tremendous economic time serious, can be caused to lose even casualties.
Summary of the invention
Technical problem: it is an object of the invention to the weak point overcome in prior art, it is provided that a kind of ribbon conveyer automatic detecting methods based on many rotor wing unmanned aerial vehicles that simple in construction, Detection results are good.
Technical scheme: the ribbon conveyer automatic tour inspection systems based on many rotor wing unmanned aerial vehicles of the present invention include: many rotor wing unmanned aerial vehicles, unmanned aerial vehicle work station and Navigation of Pilotless Aircraft mark；
Described many rotor wing unmanned aerial vehicles include unmanned plane body, UAV Navigation System, unmanned plane cruising inspection system, airborne power supply and wireless signal transmission end；UAV Navigation System, unmanned plane cruising inspection system, airborne power supply and wireless signal transmission end are installed on unmanned plane body；
Described unmanned aerial vehicle work station comprises multi-action computer and reception of wireless signals end；
Described navigation identification is divided into VNAV mark and Lateral Navigation to identify, and is reflecting strips；VNAV mark is affixed on ribbon conveyer support both sides, and spacing is 1m；Lateral Navigation mark is affixed on parallel with ribbon conveyer, and distance is on the ground of 0.5 meter, and spacing is 1m；
Described UAV Navigation System is divided into Lateral Navigation and two parts of VNAV；Lateral Navigation and VNAV all comprise imageing sensor and tracking controller, and described imageing sensor can carry out real time image collection to the flight path being pre-designed i.e. navigation identification；Described tracking controller can carry out image procossing and control unmanned plane level, vertical flight according to result navigation identification；
Described unmanned plane cruising inspection system includes that parts patrolled and examined by video routing inspection parts and sensor, and described video routing inspection parts comprise high-definition camera and can automatically identify carrying roller running status and control the image processor of high-definition camera shooting；Described sensor is patrolled and examined parts and is included: infrared thermal imager, rfid interrogator, gas concentration sensor and oxygen content sensor；Infrared thermal imager measures carrier roller of belt conveyer temperature；Rfid interrogator reads the carrying roller information of the RFID label tag being arranged on roller rack；Gas concentration sensor and oxygen content sensor acquisition gas density and oxygen content.
The method for inspecting using said system includes air navigation aid and method for inspecting:
Described air navigation aid: Navigation of Pilotless Aircraft uses vision guided navigation mode based on Path Recognition, it is divided into Lateral Navigation and two parts of VNAV, Lateral Navigation is attached to ground navigation markup by horizontal image sensor Real time identification, after the image procossing of tracking controller, control the horizontal flight track of unmanned plane, make unmanned plane can fly along the transportation route of ribbon conveyer；The navigation markup that VNAV is attached on conveyer bridge by vertical image sensor Real time identification, after the image procossing of tracking controller, controls the vertical flight track of unmanned plane, makes the inspection device of unmanned plane and the carrying roller holding level of ribbon conveyer；Additionally, the navigation module of unmanned aerial vehicle work station can carry out the Non-follow control of higher priority according to the navigation information that unmanned plane transmits to the flight path of unmanned plane, to guarantee unmanned plane safety；
Described method for inspecting: unmanned plane cruising inspection system is divided into video routing inspection and sensor to patrol and examine two parts, after video routing inspection automatically identifies carrying roller by high-definition camera and image processor, controller in navigation system can control unmanned plane and hover a period of time, image processor controls high-definition camera and carrying roller carries out video routing inspection, and will patrol and examine situation real-time Transmission to ground unmanned plane work station；Sensor is patrolled and examined after unmanned plane hovers, and passes through installed sensor acquisition carrying roller and environmental information, and the information real-time Transmission gathered is to ground unmanned plane work station；After having patrolled and examined, controller controls unmanned plane and presses navigation markup continuation flight.
Beneficial effect, owing to have employed such scheme, the present invention is capable of the function under poor working conditions to ribbon conveyer automatic detecting.Unmanned plane uses vision guided navigation mode based on Path Recognition, by navigation picture sensor, level, VNAV mark are identified, controller adjusts unmanned plane during flying attitude according to navigation identification, makes unmanned plane be able to detect that the running status of ribbon conveyer optional position carrying roller.After unmanned plane automatically identifies carrying roller by high-definition camera and image processor, the controller in navigation system can control unmanned plane and hover a period of time, patrols and examines carrying roller, and will patrol and examine situation real-time Transmission to ground unmanned plane work station.Just can realize the automatic detecting to carrier roller of belt conveyer by laying navigation markup, the abnormality of carrying roller be detected in time, it is to avoid more serious economic loss and casualties occur.Its simple in construction, Detection results are good, time saving and energy saving, have wide applicability.
Accompanying drawing explanation
Fig. 1 is the system composition structure chart of the present invention.
Fig. 2 is ribbon conveyer illustraton of model.
Fig. 3 is flow of navigation schematic diagram.
Fig. 4 is for patrolling and examining schematic flow sheet.
In figure: 1, upper supporting roller；2, support；3, collet roller；4, RFID label tag；5, VNAV mark；6, Lateral Navigation mark.
Detailed description of the invention
Below in conjunction with the accompanying drawings one embodiment of the present of invention is further described:
Embodiment 1: in FIG, the ribbon conveyer automatic tour inspection systems based on many rotor wing unmanned aerial vehicles of the present invention, it is adaptable to the running status of ribbon conveyer is monitored in real time.It is mainly made up of many rotor wing unmanned aerial vehicles, unmanned aerial vehicle work station and navigation identification.Many rotor wing unmanned aerial vehicles include unmanned plane body, UAV Navigation System, unmanned plane cruising inspection system, airborne power supply and wireless signal transmission end.Unmanned plane body by fuselage, be fixed on the undercarriage below fuselage and multiple be distributed in a symmetrical and be installed on the rotor of fuselage circumference form.UAV Navigation System comprises flight navigation control part, flight avoidance obstacle part.Unmanned plane cruising inspection system is patrolled and examined parts formed by video routing inspection parts, sensor.Airborne power supply includes power management chip, power supply can carry out health control and short of electricity is reported to the police.Unmanned aerial vehicle work station comprises multi-action computer and reception of wireless signals end.
In fig. 2, for ribbon conveyer model, support 2 and the upper supporting roller 1 being arranged on support 2 and collet roller 3, RFID label tag 4 is attached on upper supporting roller support, VNAV mark is affixed on support 2 both sides, and Lateral Navigation labelling is pasted onto and moves towards with support 2 on the parallel and ground of distance 0.5 meter.
Flight navigation control parts in UAV Navigation System use vision guided navigation mode based on Path Recognition, are divided into Lateral Navigation and two parts of VNAV.Lateral Navigation and VNAV all comprise the imageing sensor that the flight path being pre-designed i.e. navigation identification can carry out real time image collection, and navigation identification can carry out image procossing and control unmanned plane level, the tracking controller of vertical flight track according to result.
Navigation identification uses reflecting strips.The navigation identification of VNAV is affixed on belt conveying machine support both sides, and spacing is 1m；The navigation identification of Lateral Navigation is affixed on parallel with ribbon conveyer, and distance is on the ground of 0.5 meter, and spacing is 1m.
Video routing inspection parts in unmanned plane cruising inspection system comprise high-definition camera and can automatically identify carrying roller running status and control the image processor of high-definition camera shooting.
Sensor in unmanned plane cruising inspection system is patrolled and examined parts and is comprised the infrared thermal imager measuring carrier roller of belt conveyer temperature and the rfid interrogator and collection gas density, the gas sensor of oxygen content that are read carrying roller information by the RFID label tag being arranged on carrying roller.
The ribbon conveyer automatic detecting methods based on many rotor wing unmanned aerial vehicles using said system include air navigation aid and method for inspecting:
Described air navigation aid: Navigation of Pilotless Aircraft uses vision guided navigation mode based on Path Recognition, is divided into Lateral Navigation and two parts of VNAV.In figure 3, Lateral Navigation is attached to ground navigation markup by horizontal image sensor Real time identification, after the image procossing of tracking controller, controls the horizontal flight track of unmanned plane, makes unmanned plane can fly along the transportation route of ribbon conveyer；The navigation markup that VNAV is attached on conveyer bridge by vertical image sensor Real time identification, after the image procossing of tracking controller, controls the vertical flight track of unmanned plane, makes the inspection device of unmanned plane and the carrying roller holding level of ribbon conveyer.Additionally, the navigation module of unmanned aerial vehicle work station can carry out the Non-follow control of higher priority according to the navigation information that unmanned plane transmits to the flight path of unmanned plane, to guarantee unmanned plane safety.
Described method for inspecting: unmanned plane cruising inspection system is divided into video routing inspection and sensor to patrol and examine two parts.In the diagram, after video routing inspection automatically identifies carrying roller by high-definition camera and image processor, controller in navigation system can control unmanned plane and hover a period of time, image processor controls high-definition camera and carrying roller carries out video routing inspection, and will patrol and examine situation real-time Transmission to ground unmanned plane work station.Sensor is patrolled and examined after unmanned plane hovers, and passes through installed sensor acquisition carrying roller and environmental information, and the information real-time Transmission gathered is to ground unmanned plane work station.After having patrolled and examined, controller controls unmanned plane and presses navigation markup continuation flight.
Navigational portions realizes automatic detecting to ribbon conveyer upper supporting roller with patrolling and examining Partial coordination work, and note abnormalities operating mode in time, it is ensured that ribbon conveyer properly functioning.
Claims (1)
1. a ribbon conveyer automatic detecting method based on many rotor wing unmanned aerial vehicles, it is characterised in that: this automatic detecting method includes air navigation aid and method for inspecting:
Described air navigation aid: Navigation of Pilotless Aircraft uses vision guided navigation mode based on Path Recognition, it is divided into Lateral Navigation and two parts of VNAV, Lateral Navigation is attached to ground navigation markup by horizontal image sensor Real time identification, after the image procossing of tracking controller, control the horizontal flight track of unmanned plane, make unmanned plane can fly along the transportation route of ribbon conveyer；The navigation markup that VNAV is attached on conveyer bridge by vertical image sensor Real time identification, after the image procossing of tracking controller, controls the vertical flight track of unmanned plane, makes the inspection device of unmanned plane and the carrying roller holding level of ribbon conveyer；Additionally, the navigation module of unmanned aerial vehicle work station can carry out the Non-follow control of higher priority according to the navigation information that unmanned plane transmits to the flight path of unmanned plane, to guarantee unmanned plane safety；
Described method for inspecting: unmanned plane cruising inspection system is divided into video routing inspection and sensor to patrol and examine two parts, after video routing inspection automatically identifies carrying roller by high-definition camera and image processor, controller in navigation system can control unmanned plane and hover a period of time, image processor controls high-definition camera and patrols and examines carrying roller, and will patrol and examine situation real-time Transmission to ground unmanned plane work station；It is after unmanned plane hovers that sensor is patrolled and examined, and passes through installed sensor acquisition carrying roller and environmental information, and by the information real-time Transmission that gathered to ground unmanned plane work station；After having patrolled and examined, controller controls unmanned plane and presses navigation markup continuation flight.
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| CN112904892A (en) * | 2014-10-31 | 2021-06-04 | 深圳市大疆创新科技有限公司 | System and method for monitoring with visual indicia |
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