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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- CN103940823A CN103940823A CN201410169953.0A CN201410169953A CN103940823A CN 103940823 A CN103940823 A CN 103940823A CN 201410169953 A CN201410169953 A CN 201410169953A CN 103940823 A CN103940823 A CN 103940823A
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Abstract
The invention discloses an iron tower defect detection system based on an aircraft. The iron tower defect detection system is characterized by comprising the aircraft flying around an iron tower, a positioning device for positioning the aircraft, an image acquisition and transmission device which is arranged on the aircraft and is used for acquiring an image of the iron tower and wirelessly transmitting the image to a server, and the server for receiving the image of the iron tower and performing defect detection. An inspection system of the iron tower defect detection system provides the precise positioning device, so that the control operation of the aircraft is simple when data of the image at the same angle are shot; the technology requirement on an operator is reduced, the training cost for inspectors is lowered, and the inspection work safety is improved.
Description
Technical field
The present invention relates to a kind of steel tower defect detecting system and implementation method, be specifically related to a kind of steel tower defect detecting system and implementation method based on aircraft.The invention belongs to steel tower defects detection and diagnostic field.
Background technology
The method of steel tower defects detection, mainly manually to climb the detection of getting on the spot, wastes time and energy at present.Also there is no proven technique for outdoor overhead Intelligent Measurement.Check at present that the situation of steel tower (base station and power tower) is many and observe by telescope under tower, be subject to the restriction of angle and distance, cannot comprehensive observation antenna fix, the situation such as the damage of platform burn into lightning rod, high-rise outdoor feeder line.Therefore, the equipment Inspection on mobile base station and maintenance, in the urgent need to a set of automatic control system that is suitable for high-rise operation, are assisted daily routine maintenance work.Also require record and analysis result, for the information management system of maintainer's inquiry and decision-making simultaneously.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of steel tower defect detecting system and aircraft localization method based on aircraft, detect and need artificial climbing to solve existing steel tower, technical matters that cannot comprehensive observation.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
Steel tower defect detecting system based on aircraft, is characterized in that, comprising:
Aircraft, for flight around steel tower;
Locating device, for the position of positioning flight device;
Be arranged on carry-on image acquisition transmitting device, for gathering steel tower image and radioing to server;
Server, for receiving steel tower image and carrying out defects detection.
The aforesaid steel tower defect detecting system based on aircraft, it is characterized in that, described aircraft is rotor craft, described aircraft comprise motor for the power that described aircraft goes straight up to is provided, for the electricity of drive motor adjust, for the power supply of described aircraft power supply, for the flight attitude control of aircraft fly control module, for setting the remote control equipment of aircraft polling path, for carrying image collecting transmitter and keep the stable The Cloud Terrace of image acquisition transmitting device.
The aforesaid steel tower defect detecting system based on aircraft, is characterized in that, described locating device comprises: for carrying out the electronic tag of positioning flight device position coordinates in steel tower peripheral region, electronic tag is arranged on aircraft; For the locating base station of being responsible for finding electronic tag and sending the request of discovery; Be used for coordinating locating base station and electronic tag to carry out communication, to determine the reference mode of electronic tag position coordinates in local space; For being responsible for the gateway of wireless telecommunications between locating base station, reference mode and electronic tag.
The aforesaid steel tower defect detecting system based on aircraft, is characterized in that, described locating base station comprises ZigBee module and RFID Reader module, containing carrying out the transmission of data by RX/TX between ZigBee module and RFID Reader module; Reference mode comprises ZigBee module; Electronic tag comprises ZigBee module and RFID Tag module, between ZigBee module and RFID Tag module, is to connect by SPI interface.
The aforesaid steel tower defect detecting system based on aircraft, is characterized in that, described image acquisition transmitting device comprises for the camera of steel tower image acquisition, for the view data collecting being sent to the wireless transport module of server.
The aircraft localization method of the aforementioned steel tower defect detecting system based on aircraft, is characterized in that, comprises the steps:
Step 1: gateway sends the broadcast about reference mode configuring request to reference mode;
Step 2: reference mode is configured after receiving broadcast, and send the clean culture for replying the described request that gateway sends;
Step 3: gateway sends the clean culture of finding request about electronic tag to locating base station;
Step 4: locating base station is found electronic tag, sends the radiofrequency signal about electronic tag configuring request;
Step 5: electronic tag sends the clean culture of sending request for response steps four locating base station after receiving described radiofrequency signal;
Step 6: electronic tag sends the broadcast of finding request for reference mode;
Step 7: reference mode sends and finds the clean culture of replying about replying electronic tag to electronic tag;
Step 8: electronic tag sends and finds the clean culture of replying about electronic tag to gateway.
Usefulness of the present invention is: cruising inspection system of the present invention provides accurate locating device, make in the time photographing the data of image of same angle, the control operation of aircraft is easier, operating personnel's technical requirement is reduced, reduce patrol officer's training cost, also improved the security of patrolling and examining operation.
Brief description of the drawings
Fig. 1 is the structural representation that the present invention is based on aircraft in the steel tower defect detecting system of aircraft;
Fig. 2 the present invention is based on attitude of flight vehicle in the steel tower defect detecting system of aircraft to adjust schematic diagram;
Fig. 3 is the implementing procedure figure that application the present invention is based on the steel tower defect detecting system of aircraft;
Fig. 4 is the design drawing that member of the present invention the present invention is based on the locating device of the steel tower defect detecting system of aircraft;
Fig. 5 is the realization flow figure that the present invention is based on aircraft localization method in the steel tower defect detecting system of aircraft.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is done to concrete introduction.
Shown in Fig. 1, the multi-rotor aerocraft pick-up unit that this system utilization of the present invention is furnished with The Cloud Terrace replaces artificial upper tower to detect, and utilizes the signaling point of setting accurately to locate around, and accurate stable ground detects target location.In real time detection information is dealt on the display in operating personnel's hand.Can immediately be dealt into company's site for situation about needing repairing, and remind maintenance personal to repair.Thereby reduce personal scheduling, reduced maintenance cost and improved maintenance efficiency.
In order to solve now methodical defect, the invention provides the realization flow figure of aircraft localization method in a kind of steel tower defect detecting system based on aircraft.Cruising inspection system comprises steel tower peripheral region accurate positioning device, multi-rotor aerocraft and server.
Locating device comprises gateway, locating base station, reference mode and electronic tag.Gateway is for being responsible for the wireless telecommunications between locating base station, reference mode and electronic tag; Locating base station is responsible for finding electronic tag and is sent the request of discovery; Reference mode is used for coordinating locating base station and electronic tag communication, to determine the position coordinates of electronic tag in local space.Locating device is by the relative distance of measuring and calculating electronic tag and each reference mode, thereby calculates the position coordinates of electronic tag in local space, and sends to and fly to control module.
Aircraft preferably adopts multi-rotor aerocraft, and multi-rotor aerocraft comprises electric mechanical, electrical tune, power supply, flies to control module, remote control equipment, high-definition camera, The Cloud Terrace, electronic tag, wireless transport module.The power of motor for providing multi-rotor aerocraft to go straight up to; Electricity calls in drive motor; Power supply is used to multi-rotor aerocraft power supply; Fly to control the flight attitude control of module for multi-rotor aerocraft; Remote control equipment is for setting the polling path of aircraft.High-definition camera is for the image acquisition of steel tower key position; The Cloud Terrace is for carrying high-definition camera and keeping the stable of camera, to guarantee to collect the image of high-quality; Electronic tag, for coordinating accurate positioning device accurately to navigate to the position coordinates of aircraft in steel tower peripheral region, reaches better shooting angle to better control aircraft; Wireless transport module is for sending the view data collecting to server.Multi-rotor aerocraft coordinates accurate positioning device to be used for carrying image information acquisition module as flying platform.
Server is for reception and the processing of view data, if find that steel tower exists the defect needing repairing, goes to keep in repair before notifying maintenance personal.
Fig. 1 is quadrotor structural drawing, and the present invention is not limited only to four-axle aircraft, can choose different multi-rotor aerocrafts according to real needs.Here introduce its structure as an example of quadrotor example.Quadrotor structure is as shown in Figure 1: quadrotor is made up of support, flight-control computer, electric mechanical, electrical mediation rotor etc.
Fig. 2 is that attitude of flight vehicle is adjusted schematic diagram, and attitude of flight vehicle adjustment comprises several basic exercise modes as shown in the figure: vertical movement, luffing, rolling movement, yawing rotation.
What in practical operation, mainly use is vertical movement and yawing rotation.Taking vertical movement as example, the direction of arrow on circular arc represents the sense of rotation of rotor, and the direction of arrow of center of arc represents that rotor wing rotation produces the direction of lift.A remaining arrow represents the direction of motion of aircraft.
Fig. 3 is defect detecting system implementing procedure figure, and this system is patrolled and examined flow process as shown in Figure 3, comprises the following steps: set aircraft by detecting path flight, make its suspicion point through needing to detect; Acquisition of image data, by high-definition camera, acquisition of image data in the time of aircraft process suspicion point; Transmit image data is to server, by wireless transport module by the image data transmission collecting and store database into; Notify maintenance personal, the steel tower that screening server goes out to need repairing notifies maintenance personal to go to maintenance; Assign the maintenance personal of different occupation to go to maintenance according to different defects.
Fig. 4 is steel tower Precise Position System design drawing around, and this positioning system as shown in Figure 4, centered by steel tower, is made up of gateway, locating base station, reference mode and electronic tag.Its establishment step is:
Near steel tower, set up locating base station, locating base station comprises ZigBee module and RFID Reader module, carries out the transmission of data between them by RX/TX.(locating base station also can be regarded reference mode as).
Set up reference mode at key position, reference mode only comprises ZigBee module.According to different steel tower real needs, can set up the reference mode of different numbers.(the more location of reference mode are more accurate)
On aircraft, carry electronic tag, electronic tag is made up of ZigBee module and RFID Tag module, and they are directly to connect by SPI interface.
In locating area, set up gateway, the function of gateway is to serve as it by telegon in whole system, to play vital effect, is responsible for communicating with between base station, electronic tag and reference mode etc.
Further, ZigBee module comprises radio communication function and has certain arithmetic capability, be responsible for and other assemblies on ZigBee module communicate, and can calculate and other assemblies on ZigBee module between distance.
RFID Reader module and RFID Tag module belong to respectively locating base station and multi-rotor aerocraft,
Fig. 5 is local positioning system implementation procedure figure, and this local positioning system implementation procedure as shown in Figure 5, comprises the following steps:
The 1st step: gateway sends broadcast---for reference mode configuring request;
The 2nd step: after reference mode is received broadcast, configuration concurrency send clean culture---the request of sending for replying gateway;
The 3rd step: gateway sends clean culture to locating base station---find request for electronic tag
The 4th step: locating base station is found electronic tag, sends radiofrequency signal---for electronic tag configuring request;
The 5th step: electronic tag sends clean culture after receiving radiofrequency signal---the request of sending for replying locating base station;
The 6th step: electronic tag sends broadcast---find request for reference mode;
The 7th step: reference mode sends clean culture to electronic tag---find to reply for replying electronic tag;
The 8th step: electronic tag sends clean culture to gateway---find to reply for electronic tag.
Further, the effect of process 1-2 step is: gateway coordinates other reference modes (locating base station also belongs to reference mode) to set up LAN (Local Area Network).Relative distance according to each reference mode to locating base station, sets up the three-dimensional coordinate system based on this LAN (Local Area Network) by special algorithm.
The effect of process the 3rd step is: send electronic tag by gateway and find that request is to locating base station, carry out corresponding operation after the locating base station request of receiving.
Further, after the locating base station request of receiving, execution is operating as accordingly: process the 4th step to the 7 steps.The effect of process 4-5 step is: find blind node (electronic tag).Locating base station comprises Zigbee module and RFID Reader module.Mode with modulation forms radiofrequency signal, constantly outwards sends radiofrequency signal by antenna.Electronic tag comprises Zigbee module and RFID Tag module.Receive the radiofrequency signal that locating base station sends over, after demodulation code, send data to ZigBee module by SPI mode.ZigBee module sends an acknowledgement to locating base station by wireless mode again.The effect of process 6-7 step is: calculate the distance of each reference mode to blind node (electronic tag).ZigBee module sends reference mode by wireless mode and finds to ask all reference modes in LAN (Local Area Network).After reference mode is received the request of discovery, transmission is replied and the coordinate information of oneself and RSSI value is sent to electronic tag.
The effect of process the 8th step is: electronic tag sends electronic tag to gateway and finds to reply.Electronic tag is received after the positional information and RSSI value of each reference mode, obtains the position coordinates of electronic tag (blind node) in the coordinate system of setting up before with this.Then electronic tag is found reply and ball position coordinates is out sent to relevant device to gateway transmission electronic tag.Improve the ease for operation of aircraft, thereby reduced the technical requirement to operating personnel.
The undocumented prior art that is of the present invention.
The invention has the beneficial effects as follows:
Compare following features with existing method:
1, utilize the multi-rotor aerocraft pick-up unit of being furnished with The Cloud Terrace to replace artificial upper tower to detect, avoid, reduce dangerous.Related personnel reduces relatively, has reduced wage for workmen's expenditure.
2, utilize the reference point of setting to control multi-rotor aerocraft around, accurately navigate to the local acquisition of image data that needs monitoring, relatively existing method detection efficiency is higher.
3, the view data collecting is processed and intelligent classification, accuracy of detection is higher, and detection means departs from artificial, more intelligent reliable.
More than show and described ultimate principle of the present invention, principal character and advantage.The technician of the industry should understand, and above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the mode of equivalent transformation obtains, all drops in protection scope of the present invention.
Claims (6)
1. the steel tower defect detecting system based on aircraft, is characterized in that, comprising:
Aircraft, for flight around steel tower;
Locating device, for the position of positioning flight device;
Be arranged on carry-on image acquisition transmitting device, for gathering steel tower image and radioing to server;
Server, for receiving steel tower image and carrying out defects detection.
2. the steel tower defect detecting system based on aircraft according to claim 1, it is characterized in that, described aircraft is rotor craft, described aircraft comprise motor for the power that described aircraft goes straight up to is provided, for the electricity of drive motor adjust, for the power supply of described aircraft power supply, for the flight attitude control of aircraft fly control module, for setting the remote control equipment of aircraft polling path, for carrying image collecting transmitter and keep the stable The Cloud Terrace of image acquisition transmitting device.
3. the steel tower defect detecting system based on aircraft according to claim 2, is characterized in that, described locating device comprises: for carrying out the electronic tag of positioning flight device position coordinates in steel tower peripheral region, electronic tag is arranged on aircraft; For the locating base station of being responsible for finding electronic tag and sending the request of discovery; Be used for coordinating locating base station and electronic tag to carry out communication, to determine the reference mode of electronic tag position coordinates in local space; For being responsible for the gateway of wireless telecommunications between locating base station, reference mode and electronic tag.
4. the steel tower defect detecting system based on aircraft according to claim 3, it is characterized in that, described locating base station comprises ZigBee module and RFID Reader module, containing carrying out the transmission of data by RX/TX between ZigBee module and RFID Reader module; Reference mode comprises ZigBee module; Electronic tag comprises ZigBee module and RFID Tag module, between ZigBee module and RFID Tag module, is to connect by SPI interface.
5. the steel tower defect detecting system based on aircraft according to claim 4, it is characterized in that, described image acquisition transmitting device comprises for the camera of steel tower image acquisition, for the view data collecting being sent to the wireless transport module of server.
6. the aircraft localization method of the steel tower defect detecting system based on aircraft described in claim 1, is characterized in that, comprises the steps:
Step 1: gateway sends the broadcast about reference mode configuring request to reference mode;
Step 2: reference mode is configured after receiving broadcast, and send the clean culture for replying the described request that gateway sends;
Step 3: gateway sends the clean culture of finding request about electronic tag to locating base station;
Step 4: locating base station is found electronic tag, sends the radiofrequency signal about electronic tag configuring request;
Step 5: electronic tag sends the clean culture of sending request for response steps four locating base station after receiving described radiofrequency signal;
Step 6: electronic tag sends the broadcast of finding request for reference mode;
Step 7: reference mode sends and finds the clean culture of replying about replying electronic tag to electronic tag;
Step 8: electronic tag sends and finds the clean culture of replying about electronic tag to gateway.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410169953.0A CN103940823A (en) | 2014-04-25 | 2014-04-25 | Iron tower defect detection system based on aircraft and aircraft positioning method |
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| CN201410169953.0A CN103940823A (en) | 2014-04-25 | 2014-04-25 | Iron tower defect detection system based on aircraft and aircraft positioning method |
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| CN104730081A (en) * | 2015-03-26 | 2015-06-24 | 大唐（赤峰）新能源有限公司 | Failure detection system for wind power blade |
| CN104991289A (en) * | 2015-07-14 | 2015-10-21 | 国网山东省电力公司经济技术研究院 | Electrical iron tower defect identification and positioning instrument |
| CN106442570A (en) * | 2016-11-23 | 2017-02-22 | 中国计量大学 | Internal pipeline defect detecting device, detecting method and start setting method of cameras |
| CN106706663A (en) * | 2016-11-29 | 2017-05-24 | 广东容祺智能科技有限公司 | Automatic detection and identification system and identification method for hardware rust corrosion on iron tower |
| EP3271788A4 (en) * | 2015-03-18 | 2018-04-04 | Izak Van Cruyningen | Flight planning for unmanned aerial tower inspection with long baseline positioning |
| CN110084917A (en) * | 2019-04-08 | 2019-08-02 | 山东瀚岳智能科技股份有限公司 | A kind of prison institute intelligent patrol detection managing and control system on duty and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3271788A4 (en) * | 2015-03-18 | 2018-04-04 | Izak Van Cruyningen | Flight planning for unmanned aerial tower inspection with long baseline positioning |
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| CN106442570A (en) * | 2016-11-23 | 2017-02-22 | 中国计量大学 | Internal pipeline defect detecting device, detecting method and start setting method of cameras |
| CN106442570B (en) * | 2016-11-23 | 2023-08-22 | 中国计量大学 | Device and method for detecting defects in pipeline and method for opening and setting camera |
| CN106706663A (en) * | 2016-11-29 | 2017-05-24 | 广东容祺智能科技有限公司 | Automatic detection and identification system and identification method for hardware rust corrosion on iron tower |
| CN110084917A (en) * | 2019-04-08 | 2019-08-02 | 山东瀚岳智能科技股份有限公司 | A kind of prison institute intelligent patrol detection managing and control system on duty and method |
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Application publication date: 20140723 |