CN103940823A - Iron tower defect detection system based on aircraft and aircraft positioning method - Google Patents
Iron tower defect detection system based on aircraft and aircraft positioning method Download PDFInfo
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Abstract
本发明公开了一种基于飞行器的铁塔缺陷检测系统，其特征在于，包括：飞行器，用于在铁塔周围飞行；定位装置，用于定位飞行器的位置；设置在飞行器上的图像采集传输装置，用于采集铁塔图像并无线传输给服务器；服务器，用于接收铁塔图像并进行缺陷检测。本发明的巡检系统提供了精确的定位装置，使得在拍摄到同样角度的图像的数据时，飞行器的控制操作更加简便，对操作人员的技术要求降低，减少了巡检人员的培训费用，还提高了巡检作业的安全性。
The invention discloses an aircraft-based iron tower defect detection system, which is characterized in that it comprises: an aircraft for flying around the iron tower; a positioning device for locating the position of the aircraft; an image acquisition and transmission device arranged on the aircraft for use in It is used to collect iron tower images and wirelessly transmit them to the server; the server is used to receive iron tower images and perform defect detection. The inspection system of the present invention provides an accurate positioning device, so that when the image data of the same angle is captured, the control operation of the aircraft is more convenient, the technical requirements for the operators are reduced, the training costs of the inspection personnel are reduced, and Improve the safety of inspection operations.
Description
技术领域 technical field
本发明涉及一种铁塔缺陷检测系统及实施方法，具体涉及一种基于飞行器的铁塔缺陷检测系统及实施方法。本发明属于铁塔缺陷检测与诊断领域。 The invention relates to an iron tower defect detection system and an implementation method, in particular to an aircraft-based iron tower defect detection system and an implementation method. The invention belongs to the field of iron tower defect detection and diagnosis.
背景技术 Background technique
目前铁塔缺陷检测的方法主要以人工实地攀爬上去检测，费时费力。还没有成熟的技术用于室外高空智能检测。目前查看铁塔(基站和电力塔)的情况多通过塔下望远镜观察，受到角度和距离的限制，无法全方位观察天线固定、平台腐蚀、避雷针损坏、高层室外馈线等情况。因此，移动基站上的设备检测和维护迫切需要一套适合于高层作业的自动控制系统，来协助日常例行维护工作。同时还要求记录和分析结果，供维护人员查询和决策的信息管理系统。 At present, the method of iron tower defect detection is mainly to manually climb up the inspection, which is time-consuming and laborious. There is no mature technology for outdoor high-altitude intelligent detection. At present, the observation of the iron tower (base station and power tower) is mostly observed through the telescope under the tower. Due to the limitation of angle and distance, it is impossible to observe the fixed antenna, platform corrosion, lightning rod damage, high-rise outdoor feeder, etc. in all directions. Therefore, the equipment detection and maintenance on the mobile base station urgently needs an automatic control system suitable for high-level operations to assist daily routine maintenance work. At the same time, it is also required to record and analyze the results, and provide an information management system for maintenance personnel to query and make decisions.
发明内容 Contents of the invention
为解决现有技术的不足，本发明的目的在于提供一种基于飞行器的铁塔缺陷检测系统及飞行器定位方法，以解决现有铁塔检测需要人工攀爬，无法全方位观察的技术问题。 In order to solve the deficiencies of the prior art, the object of the present invention is to provide an aircraft-based iron tower defect detection system and an aircraft positioning method to solve the technical problem that the existing iron tower detection requires manual climbing and cannot be observed in all directions.
为了实现上述目标，本发明采用如下的技术方案： In order to achieve the above object, the present invention adopts the following technical solutions:
基于飞行器的铁塔缺陷检测系统，其特征在于，包括： The iron tower defect detection system based on aircraft is characterized in that, comprising:
飞行器，用于在铁塔周围飞行； Aircraft for flying around the tower;
定位装置，用于定位飞行器的位置； The positioning device is used to locate the position of the aircraft;
设置在飞行器上的图像采集传输装置，用于采集铁塔图像并无线传输给服务器； The image collection and transmission device installed on the aircraft is used to collect the image of the iron tower and wirelessly transmit it to the server;
服务器，用于接收铁塔图像并进行缺陷检测。 The server is used to receive the tower image and perform defect detection.
前述的基于飞行器的铁塔缺陷检测系统，其特征在于，所述飞行器为旋翼飞行器，所述飞行器包括用于提供所述飞行器直升的动力的电机、用于驱动电机的电调、为所述飞行器供电的电源、用于飞行器的飞行姿态控制的飞控模块、用于设定飞行器巡检路径的遥控设备、用于搭载图像采集传输装置并保持图像采集传输装置稳定的云台。 The aforementioned aircraft-based iron tower defect detection system is characterized in that, the aircraft is a rotorcraft, and the aircraft includes a motor for providing the power of the aircraft to lift, an electric regulator for driving the motor, and a motor for the aircraft. The power supply for power supply, the flight control module for the flight attitude control of the aircraft, the remote control equipment for setting the inspection path of the aircraft, and the gimbal for carrying the image acquisition and transmission device and keeping the image acquisition and transmission device stable.
前述的基于飞行器的铁塔缺陷检测系统，其特征在于，所述定位装置包括：用于来定位飞行器在铁塔周围区域内位置坐标的电子标签，电子标签设置在飞行器上；用于负责发现电子标签并发送发现请求的定位基站；用于配合定位基站和电子标签进行通讯，以便确定电子标签在局域空间中位置坐标的参考节点；用于负责定位基站、参考节点和电子标签之间无线通讯的网关。 The aforementioned iron tower defect detection system based on the aircraft is characterized in that the positioning device includes: an electronic tag for locating the position coordinates of the aircraft in the area around the iron tower, the electronic tag is arranged on the aircraft; it is used to be responsible for finding the electronic tag and The positioning base station that sends the discovery request; the reference node used to communicate with the positioning base station and the electronic tag to determine the position coordinates of the electronic tag in the local space; the gateway responsible for the wireless communication between the positioning base station, the reference node and the electronic tag .
前述的基于飞行器的铁塔缺陷检测系统，其特征在于，所述定位基站包含ZigBee模块和RFID Reader模块，含ZigBee模块和RFID Reader模块之间通过RX/TX进行数据的传输；参考节点包含ZigBee模块；电子标签包括ZigBee模块和RFID Tag模块，ZigBee模块和RFID Tag模块之间是通过SPI接口连接。 Aforesaid iron tower defect detection system based on aircraft, it is characterized in that, described positioning base station comprises ZigBee module and RFID Reader module, carries out the transmission of data by RX/TX between ZigBee module and RFID Reader module; Reference node comprises ZigBee module; The electronic tag includes a ZigBee module and an RFID Tag module, and the ZigBee module and the RFID Tag module are connected through the SPI interface.
前述的基于飞行器的铁塔缺陷检测系统，其特征在于，所述图像采集传输装置包括用于铁塔图像采集的摄像头、用于将采集到的图像数据传送给服务器的无线传输模块。 The aforementioned aircraft-based iron tower defect detection system is characterized in that the image acquisition and transmission device includes a camera for iron tower image acquisition, and a wireless transmission module for transmitting the collected image data to the server.
前述基于飞行器的铁塔缺陷检测系统的飞行器定位方法，其特征在于，包括如下步骤： The aforementioned aircraft positioning method based on the aircraft-based iron tower defect detection system is characterized in that, comprising the steps:
步骤一：网关向参考节点发送关于参考节点配置请求的广播； Step 1: The gateway sends a broadcast about the configuration request of the reference node to the reference node;
步骤二：参考节点收到广播后进行配置，并发送用于应答网关发出的所述请求的单播； Step 2: The reference node performs configuration after receiving the broadcast, and sends a unicast for responding to the request sent by the gateway;
步骤三：网关向定位基站发送关于电子标签发现请求的单播； Step 3: The gateway sends a unicast about the electronic label discovery request to the positioning base station;
步骤四：定位基站寻找电子标签，发送关于电子标签配置请求的射频信号； Step 4: Locate the base station to find the electronic tag, and send a radio frequency signal about the configuration request of the electronic tag;
步骤五：电子标签收到所述射频信号后发送用于应答步骤四中定位基站发出请求的单播； Step 5: After receiving the radio frequency signal, the electronic tag sends a unicast to respond to the request sent by the positioning base station in step 4;
步骤六：电子标签发送用于参考节点发现请求的广播； Step 6: The electronic tag sends a broadcast for the reference node discovery request;
步骤七：参考节点向电子标签发送关于应答电子标签发现应答的单播； Step 7: The reference node sends a unicast to the electronic tag about responding to the discovery response of the electronic tag;
步骤八：电子标签向网关发送关于电子标签发现应答的单播。 Step 8: The electronic tag sends a unicast about the electronic tag discovery response to the gateway.
本发明的有益之处在于：本发明的巡检系统提供了精确的定位装置，使得在拍摄到同样角度的图像的数据时，飞行器的控制操作更加简便，对操作人员的技术要求降低，减少了巡检人员的培训费用，还提高了巡检作业的安全性。 The advantage of the present invention is that: the inspection system of the present invention provides an accurate positioning device, so that when the image data of the same angle is captured, the control operation of the aircraft is more convenient, the technical requirements for the operator are reduced, and the The training cost of inspection personnel also improves the safety of inspection operations.
附图说明 Description of drawings
图1是本发明基于飞行器的铁塔缺陷检测系统中飞行器的结构示意图； Fig. 1 is the structural representation of aircraft in the iron tower defect detection system based on aircraft of the present invention;
图2是本发明基于飞行器的铁塔缺陷检测系统中飞行器姿态调整原理图； Fig. 2 is the schematic diagram of aircraft attitude adjustment in the iron tower defect detection system based on aircraft of the present invention;
图3是应用本发明基于飞行器的铁塔缺陷检测系统的实施流程图； Fig. 3 is the implementation flowchart of applying the iron tower defect detection system based on aircraft of the present invention;
图4是本发明构件本发明基于飞行器的铁塔缺陷检测系统的定位装置的设计图； Fig. 4 is the design drawing of the positioning device of the iron tower defect detection system based on the aircraft of the present invention component present invention;
图5是本发明基于飞行器的铁塔缺陷检测系统中飞行器定位方法的实现流程图。 Fig. 5 is a flow chart of the implementation of the aircraft positioning method in the aircraft-based iron tower defect detection system of the present invention.
具体实施方式 Detailed ways
以下结合附图和具体实施例对本发明作具体的介绍。 The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.
参照图1所示，本发明该系统利用配有云台的多旋翼飞行器检测装置代替人工上塔检测，利用周围设定的信号点来精确定位，准确稳定地检测目标位置。实时将检测信息发到操作人员手中的显示器上。对于需要维修的情况可即时发到公司网站，并提醒维修人员来修理。从而减少了人员调度、降低了维修成本并提高维修效率。 Referring to Figure 1, the system of the present invention uses a multi-rotor aircraft detection device equipped with a gimbal instead of manual tower detection, uses the signal points set around to accurately locate, and accurately and stably detects the target position. The detection information is sent to the display in the hands of the operator in real time. For the situation that needs maintenance, it can be sent to the company's website immediately, and the maintenance personnel will be reminded to repair. Thereby reducing personnel scheduling, reducing maintenance costs and improving maintenance efficiency.
为了解决现有方法的缺陷，本发明提供了一种基于飞行器的铁塔缺陷检测系统中飞行器定位方法的实现流程图。巡检系统包括铁塔周围区域精确定位装置，多旋翼飞行器和服务器。 In order to solve the defects of the existing methods, the present invention provides a flow chart for realizing an aircraft positioning method in an aircraft-based iron tower defect detection system. The inspection system includes a precise positioning device in the area around the iron tower, a multi-rotor aircraft and a server.
定位装置包括网关、定位基站、参考节点和电子标签。网关用于负责定位基站、参考节点和电子标签之间的无线通讯；定位基站负责发现电子标签并发送发现请求；参考节点用于配合定位基站和电子标签通讯，以便确定电子标签在局域空间中的位置坐标。定位装置通过测算电子标签与各个参考节点的相对距离，从而计算出电子标签在局域空间中的位置坐标，并发送到飞控模块。 The positioning device includes a gateway, a positioning base station, a reference node and an electronic label. The gateway is responsible for the wireless communication between the positioning base station, the reference node and the electronic tag; the positioning base station is responsible for discovering the electronic tag and sending a discovery request; the reference node is used for cooperating with the positioning base station and the electronic tag communication, so as to determine the electronic tag in the local space location coordinates. The positioning device calculates the position coordinates of the electronic tag in the local space by measuring the relative distance between the electronic tag and each reference node, and sends it to the flight control module.
飞行器优选采用多旋翼飞行器，多旋翼飞行器包括电机、电调、电源、飞控模块、遥控设备、高清摄像头、云台、电子标签、无线传输模块。电机用于提供多旋翼飞行器直升的动力；电调用于驱动电机；电源用于为多旋翼飞行器供电；飞控模块用于多旋翼飞行器的飞行姿态控制；遥控设备用于设定飞行器的巡检路径。高清摄像头用于铁塔关键部位的图像采集；云台用于搭载高清摄像头并保持摄像头的稳定，以确保采集到高品质的图像；电子标签用于配合精确定位装置来精确定位到飞行器在铁塔周围区域内的位置坐标，以便更好的控制飞行器达到更好的拍摄角度；无线传输模块用于将采集到的图像数据传送给服务器。多旋翼飞行器配合精确定位装置作为飞行平台用于搭载图像信息采集模块。 The aircraft is preferably a multi-rotor aircraft. The multi-rotor aircraft includes motors, ESCs, power supplies, flight control modules, remote control equipment, high-definition cameras, gimbals, electronic tags, and wireless transmission modules. The motor is used to provide the power for the helicopter of the multi-rotor aircraft; the ESC is used to drive the motor; the power supply is used to supply power to the multi-rotor aircraft; the flight control module is used to control the flight attitude of the multi-rotor aircraft; the remote control device is used to set the inspection of the aircraft path. The high-definition camera is used for image collection of key parts of the iron tower; the gimbal is used to carry the high-definition camera and keep the camera stable to ensure the acquisition of high-quality images; the electronic tag is used to cooperate with the precise positioning device to accurately locate the aircraft in the area around the iron tower The position coordinates in the camera can better control the aircraft to achieve a better shooting angle; the wireless transmission module is used to transmit the collected image data to the server. The multi-rotor aircraft is used as a flight platform with a precise positioning device to carry an image information acquisition module.
服务器用于图像数据的接收及处理，如果发现铁塔存在需要维修的缺陷，则通知维修人员前去维修。 The server is used to receive and process the image data, and if any defect in the iron tower is found that needs to be repaired, the maintenance personnel will be notified to go for repair.
图1为四旋翼飞行器结构图，本发明不仅限于四轴飞行器，可根据具体需求选取不同的多旋翼飞行器。这里以四旋翼飞行器为例介绍其结构。四旋翼飞行器结构如图1所示：四旋翼飞行器由支架、飞行控制计算机、电机、电调和旋翼等组成。 Fig. 1 is a structural diagram of a four-rotor aircraft. The present invention is not limited to a four-axis aircraft, and different multi-rotor aircraft can be selected according to specific requirements. Here we take the quadrotor aircraft as an example to introduce its structure. The structure of the quadrotor aircraft is shown in Figure 1: the quadrotor aircraft is composed of a bracket, a flight control computer, a motor, an electric regulator, and a rotor.
图2为飞行器姿态调整原理图，飞行器姿态调整包含如图所示几个基本运动方式：垂直运动、俯仰运动、滚转运动、偏航运动。 Figure 2 is a schematic diagram of the attitude adjustment of the aircraft. The attitude adjustment of the aircraft includes several basic motion modes as shown in the figure: vertical motion, pitch motion, roll motion, and yaw motion.
实际操作中主要用到的是垂直运动和偏航运动。以垂直运动为例，圆弧上的箭头方向代表旋翼的旋转方向，圆弧中心的箭头方向表示旋翼旋转产生升力的方向。剩下的一个箭头表示飞行器的运动方向。 In actual operation, vertical motion and yaw motion are mainly used. Taking vertical motion as an example, the direction of the arrow on the arc represents the direction of rotation of the rotor, and the direction of the arrow in the center of the arc represents the direction in which the rotor rotates to generate lift. The remaining arrow indicates the direction of movement of the aircraft.
图3为缺陷检测系统实施流程图，该系统巡检流程如图3所示，包括以下步骤：设定飞行器按检测路径飞行，使其经过需要检测的嫌疑点；采集图像数据，通过高清摄像头，在飞行器经过嫌疑点时采集图像数据；传输图像数据到服务器，通过无线传输模块将采集到的图像数据传输并存储到数据库；通知维修人员，服务器筛选出需要维修的铁塔通知维修人员前往维修；根据不同的缺陷指派不同职业的维修人员前往维修。 Figure 3 is a flow chart of the implementation of the defect detection system. The inspection process of the system is shown in Figure 3, including the following steps: setting the aircraft to fly according to the detection path, so that it passes through the suspected points that need to be detected; collecting image data, through the high-definition camera, Collect image data when the aircraft passes the suspect point; transmit the image data to the server, and transmit the collected image data to the database through the wireless transmission module; notify the maintenance personnel, and the server screens out the iron towers that need maintenance and informs the maintenance personnel to go for maintenance; according to Different defects assign maintenance personnel of different occupations to repair.
图4为铁塔周围精确定位系统设计图，该定位系统如图4所示，以铁塔为中心，由网关、定位基站、参考节点和电子标签组成。其建立步骤为： Figure 4 is a design diagram of the precise positioning system around the iron tower. As shown in Figure 4, the positioning system is centered on the iron tower and consists of gateways, positioning base stations, reference nodes and electronic tags. Its establishment steps are:
在铁塔附近设立定位基站，定位基站包含ZigBee模块和RFID Reader模块，它们之间通过RX/TX进行数据的传输。（定位基站也可看作参考节点）。 Set up a positioning base station near the iron tower. The positioning base station includes a ZigBee module and an RFID Reader module, and data transmission is performed between them through RX/TX. (The positioning base station can also be regarded as a reference node).
在关键部位设立参考节点，参考节点只包含ZigBee模块。根据不同铁塔具体需求，可设立不同数目的参考节点。（参考节点越多定位越精确） Set up reference nodes in key parts, and the reference nodes only include ZigBee modules. According to the specific needs of different iron towers, different numbers of reference nodes can be set up. (The more reference nodes, the more accurate the positioning)
在飞行器上搭载电子标签，电子标签是由ZigBee模块和RFID Tag模块组成，它们直接是通过SPI接口连接。 The electronic tag is carried on the aircraft, and the electronic tag is composed of a ZigBee module and an RFID Tag module, which are directly connected through the SPI interface.
在定位区域内设立网关，网关的功能是由协调器来充当它在整个系统中起着至关重要的作用，负责跟基站、电子标签以及参考节点等之间进行通信。 The gateway is set up in the positioning area. The function of the gateway is played by the coordinator. It plays a vital role in the whole system and is responsible for communicating with the base station, electronic tags, and reference nodes.
进一步地，ZigBee模块包含无线通信功能和具有一定的运算能力，负责和其他组件上的ZigBee模块进行通信，并可以测算出与其他组件上的ZigBee模块之间的距离。 Furthermore, the ZigBee module includes wireless communication functions and has certain computing capabilities, and is responsible for communicating with ZigBee modules on other components, and can measure the distance to the ZigBee modules on other components.
RFID Reader模块和RFID Tag模块分别属于定位基站和多旋翼飞行器， The RFID Reader module and the RFID Tag module belong to the positioning base station and the multi-rotor aircraft respectively.
图5为局域定位系统实现过程图，该局域定位系统实现过程如图5所示，包含以下几步： Figure 5 is a diagram of the implementation process of the local positioning system. The implementation process of the local positioning system is shown in Figure 5 and includes the following steps:
第1步：网关发送广播——用于参考节点配置请求； Step 1: The gateway sends a broadcast - for the reference node configuration request;
第2步：参考节点收到广播后配置并发送单播——用于应答网关发出的请求； Step 2: After receiving the broadcast, the reference node configures and sends unicast—for responding to the request sent by the gateway;
第3步：网关向定位基站发送单播——用于电子标签发现请求 Step 3: The gateway sends a unicast to the positioning base station - for the electronic label discovery request
第4步：定位基站寻找电子标签，发送射频信号——用于电子标签配置请求； Step 4: locate the base station to find the electronic tag, and send a radio frequency signal - for the configuration request of the electronic tag;
第5步：电子标签收到射频信号后发送单播——用于应答定位基站发出的请求； Step 5: The electronic tag sends a unicast after receiving the radio frequency signal - used to respond to the request sent by the positioning base station;
第6步：电子标签发送广播——用于参考节点发现请求； Step 6: The electronic label sends a broadcast—for the reference node discovery request;
第7步：参考节点向电子标签发送单播——用于应答电子标签发现应答； Step 7: The reference node sends a unicast to the electronic tag—for replying to the electronic tag discovery response;
第8步：电子标签向网关发送单播——用于电子标签发现应答。 Step 8: The electronic tag sends a unicast to the gateway—for electronic tag discovery response.
进一步地，过程第1-2步作用是：网关配合其他参考节点（定位基站也属于参考节点）建立局域网。根据各个参考节点到定位基站的相对距离，通过特定算法建立基于该局域网的三维空间坐标系。 Further, the function of steps 1-2 of the process is: the gateway cooperates with other reference nodes (the positioning base station also belongs to the reference node) to establish a local area network. According to the relative distance from each reference node to the positioning base station, a three-dimensional space coordinate system based on the local area network is established through a specific algorithm.
过程第3步的作用是：通过网关发送电子标签发现请求给定位基站，定位基站收到请求后执行相应的操作。 The function of the third step of the process is to send an electronic label discovery request to the positioning base station through the gateway, and the positioning base station performs corresponding operations after receiving the request.
进一步地，定位基站收到请求后执行相应的操作为：过程第4步到第7步。过程4-5步的作用是：找到盲节点（电子标签）。定位基站包含Zigbee模块和RFID Reader模块。以调制的方式形成射频信号，通过天线不断向外发送射频信号。电子标签包含Zigbee模块和RFID Tag模块。接收到定位基站发送过来的射频信号，经过解调和解码后将数据通过SPI方式传送给ZigBee模块。ZigBee模块再通过无线方式发送应答到定位基站。过程第6-7步的作用是：测算各参考节点到盲节点（电子标签）的距离。ZigBee模块通过无线方式发送参考节点发现请求到局域网内所有的参考节点。参考节点收到发现请求后发送应答并将自己的坐标信息和RSSI值发送给电子标签。 Further, after receiving the request, the positioning base station performs corresponding operations as follows: Steps 4 to 7 of the process. The role of steps 4-5 in the process is to find blind nodes (electronic tags). The positioning base station contains Zigbee module and RFID Reader module. The radio frequency signal is formed in a modulated way, and the radio frequency signal is continuously sent out through the antenna. Electronic tags include Zigbee modules and RFID Tag modules. After receiving the radio frequency signal sent by the positioning base station, the data is sent to the ZigBee module through SPI after demodulation and decoding. The ZigBee module then sends a reply to the positioning base station through wireless means. The function of steps 6-7 of the process is to measure the distance from each reference node to the blind node (electronic label). The ZigBee module sends a reference node discovery request to all reference nodes in the LAN through wireless means. After receiving the discovery request, the reference node sends a reply and sends its own coordinate information and RSSI value to the electronic tag.
过程第8步的作用是：电子标签向网关发送电子标签发现应答。电子标签收到各个参考节点的位置信息和RSSI值后，以此求出电子标签（盲节点）在之前建立的坐标系中的位置坐标。然后电子标签向网关发送电子标签发现应答并将球出来的位置坐标发送到相应设备。提高了飞行器的易操作性，从而降低了对操作人员的技术要求。 The function of step 8 of the process is: the electronic tag sends an electronic tag discovery response to the gateway. After the electronic tag receives the position information and RSSI value of each reference node, it calculates the position coordinates of the electronic tag (blind node) in the previously established coordinate system. Then the electronic tag sends an electronic tag discovery response to the gateway and sends the position coordinates of the ball out to the corresponding device. The ease of operation of the aircraft is improved, thereby reducing the technical requirements for operators.
本发明未公开的均为现有技术。 What is not disclosed in the present invention is the prior art.
本发明的有益效果是： The beneficial effects of the present invention are:
与现有方法比起来有如下特点： Compared with existing methods, it has the following characteristics:
1、利用配有云台的多旋翼飞行器检测装置代替人工上塔检测，避免，减少危险性。相关人员相对减少，减小了工人工资的支出。 1. Use a multi-rotor aircraft detection device equipped with a gimbal instead of manual tower detection to avoid and reduce danger. Relevant personnel are relatively reduced, which reduces the expenditure of workers' wages.
2、利用周围设定的参考点来控制多旋翼飞行器，精确定位到需要监测的地方采集图像数据，相对现有的方法检测效率更高。 2. Use the reference points set around to control the multi-rotor aircraft, and accurately locate the place that needs to be monitored to collect image data. Compared with the existing methods, the detection efficiency is higher.
3、将采集到的图像数据处理并智能分类，检测精度更高，检测手段脱离人工，更加智能可靠。 3. The collected image data is processed and intelligently classified, the detection accuracy is higher, and the detection method is separated from manual work, which is more intelligent and reliable.
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，上述实施例不以任何形式限制本发明，凡采用等同替换或等效变换的方式所获得的技术方案，均落在本发明的保护范围内。 The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the above-mentioned embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.
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