CN106155086B - A kind of Road Detection unmanned plane and its automatic cruising method - Google Patents
A kind of Road Detection unmanned plane and its automatic cruising method Download PDFInfo
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Abstract
The invention discloses a kind of Road Detection unmanned plane and its automatic cruising methods, the unmanned plane includes rack, dynamical system, vision system, flight control system, road detection system and earth station system, wherein vision system is used to obtain the deviation between the practical course line of unmanned plane and road route, flight control system is for adjusting unmanned plane during flying posture, correct course-line deviation, unmanned plane is set to fly automatically along road route, road detection system is used for road surface reparation, and Road Detection is stored as a result, earth station system is for drawing preset unmanned plane course line；The present invention can automatically fly in conjunction with vision system and preset course line along road during Road Detection；Road Detection result is stored in self-contained memory module by the present invention when carrying out Road Detection, without being communicated with earth station, can be used for remote Road Detection；The present invention realizes Road Detection in the air, can carry different types of road detection apparatus, and road traffic is not interfered during Road Detection.
Description
Technical Field
The invention belongs to the technical field of road detection, and particularly relates to a road detection unmanned aerial vehicle and an automatic cruise method thereof.
Background
With the rapid increase of highway operation mileage in China, the road maintenance task is increasingly heavy, how to quickly, economically, effectively and accurately determine the problem road section, and the road maintenance is carried out in time by adopting the principle of proximity, so that the method has important significance for ensuring driving safety and reducing the road maintenance cost.
The existing road detection equipment mainly uses a road detection vehicle, and has the defects of high detection cost, small detection range, limited detection efficiency by traffic conditions and the like, and personnel is required to track and detect. With the development of unmanned aerial vehicle technology, the application fields of the unmanned aerial vehicle technology are more and more, and the application of the unmanned aerial vehicle in road detection becomes a new development direction of road detection. Because unmanned aerial vehicle communication distance's restriction, the road detection unmanned aerial vehicle mainly used closely road detection at present, its testing process still relies on artificial intervention and control in ground, and this problem seriously restricts road detection unmanned aerial vehicle's further development and application.
Disclosure of Invention
The invention aims to solve the technical problem of providing a road detection unmanned aerial vehicle which has high automation degree, does not depend on the control of ground workers, is not limited by communication distance, can be used for long-distance road detection, does not obstruct road traffic, has wide detection range and high detection efficiency aiming at the defects of the existing road detection equipment.
Aiming at the problems, the invention provides the following technical scheme:
a road detection unmanned aerial vehicle comprises a rack and a power system, wherein the power system is fixed on the rack, and is characterized by further comprising a vision system, a flight control system, a road detection system and a ground station system;
the vision system and the road detection system are respectively connected with a flight control system;
the system comprises a visual system and a control system, wherein the visual system comprises a wide-angle camera and a visual detection module, the wide-angle camera is connected with the visual detection module, and the system is used for acquiring a deflection angle of a road route relative to the vertical direction of the unmanned aerial vehicle;
the road detection system comprises a zoom camera, a road detection module and a storage module, wherein the zoom camera is respectively connected with the road detection module and the storage module, the system is used for detecting road surface images shot by the zoom camera through the road detection module, judging whether the road surface images are vehicle covered road surfaces or problem road surfaces, carrying out detailed detection on the problem road surfaces, storing road surface information and position information of the vehicle covered road surfaces or the problem road surfaces in the storage module, and storing all road surface images shot in the road detection process and the corresponding position information in the storage module;
the flight control system comprises an altimeter, a gyroscope, a magnetometer, an accelerometer, a positioning module and a flight control board, wherein the altimeter, the gyroscope, the magnetometer, the accelerometer and the positioning module are respectively connected with the flight control board taking a micro control unit as a core, and the system is used for adjusting the flight attitude of the unmanned aerial vehicle and correcting flight deviation; meanwhile, the system is used for adjusting the transverse shooting angle of the zoom camera in the road detection system according to the detection result of the vision system; the system is also used for adjusting the unmanned aerial vehicle to enter a hovering state when the road detection system judges that the vehicle covers the road surface or the road surface with problems, and adjusting the unmanned aerial vehicle to continuously fly after the detailed detection of the vehicle leaving the road surface to be detected or the road surface with problems is finished;
the ground station system comprises a PC and ground station software installed on the PC, and is used for drawing a preset air route of the unmanned aerial vehicle;
the vision system, the flight control system and the road detection system are all fixed on the rack.
Further, the vision system obtains the declination angle of the road route relative to the vertical direction of the unmanned aerial vehicle by using the following formula:
wherein,is the declination angle of the road route relative to the vertical direction of the unmanned aerial vehicle, driThe transverse distance between the road center position and the image center position in each frame of image acquired by the wide-angle camera;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera; psi is the roll angle of the unmanned aerial vehicle, the inclination to the right side is positive, and the inclination to the left side is negative;
further, flight control system adjusts unmanned aerial vehicle's flight gesture, and it means to correct the flight deviation:
if the deviation between the actual flight position of the unmanned aerial vehicle and the preset air route is less than the threshold value D, ifAdjusting the flying attitude of the unmanned aerial vehicle to fly to the right, if soAdjusting the flight attitude of the unmanned aerial vehicle to fly leftwards;
and if the deviation of the actual flight position of the unmanned aerial vehicle and the preset air route is greater than or equal to the threshold value D, adjusting the unmanned aerial vehicle to fly according to the initially set air route.
Wherein, the calculation formula of the deviation L between the actual flight position of the unmanned aerial vehicle and the preset air route is as follows:
wherein (x)0,y0) Longitude and latitude coordinates of the actual flying position of the unmanned aerial vehicle; slatLength value represented by unit latitude; slonA length value represented in units of longitude; A. b, C is the coordinate (x) of current position in the initial set route1slat,y1slon) And next position coordinate (x)2slat,y2slon) The determined linear equation Ax + By + C is a coefficient of 0.
Further, the road detection system detects a road surface image shot by the zoom camera through the road detection module, judges whether the road surface image is a vehicle covered road surface or a problem road surface, and performs detailed detection on the problem road surface, namely, the following functions are realized:
firstly, the flight control system adjusts the transverse shooting angle of a zoom camera in the road detection system according to the detection result of the vision system to shoot road pavement images, wherein the calculation formula of the transverse shooting angle of the zoom camera is as follows:wherein d isriThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera;
secondly, if the road detection system judges that the road pavement image shot by the zoom camera is that the vehicle covers the road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state;
if the road detection system judges that the road pavement image shot by the zoom camera is the problem road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state, the focal length of a lens of the zoom camera in the road detection system is increased, the zoom camera performs automatic focusing to obtain a high-resolution image of the road, the road detection module analyzes the high-resolution image to realize detailed detection of the problem road pavement, and the zoom camera is adjusted back to the original state to finish detailed detection of the problem road pavement;
and finally, after the vehicle leaves the road surface to be detected or the detailed detection of the problem road surface is finished, the flight control system adjusts the unmanned aerial vehicle to continue flying.
Furthermore, unmanned aerial vehicle still include wireless data transmission module or USB interface, wireless data transmission module include aerial module and ground module, aerial module fix in the frame to be connected with flight control system, ground module be connected with the PC in the ground station system, but USB interface and the PC in the ground station system accordant connection.
The invention also designs an automatic cruising method of the road detection unmanned aerial vehicle, which comprises the following steps:
step 1, leading a preset air route into an unmanned aerial vehicle;
step 2, starting the road detection unmanned aerial vehicle, setting the unmanned aerial vehicle to be in an automatic flight mode, enabling the unmanned aerial vehicle to automatically fly according to the flight line data set in the flight control system, acquiring a deflection angle of a road route relative to the vertical direction of the unmanned aerial vehicle through a vision system in the flight process, and adjusting the flight attitude to correct the flight line; meanwhile, a road detection system detects road surface images shot by the zoom camera, detailed detection is carried out on the problem road surface, road surface information and position information of the detailed detection problem road surface are stored in a storage module, and all road surface images shot in the road detection process and the corresponding position information are also stored in the storage module;
and step 3, after the road detection is finished, the unmanned aerial vehicle navigates back.
Further, in the step 2, the deviation angle of the road route relative to the vertical direction of the unmanned aerial vehicle is obtained by using the following formula:
wherein,is the declination angle of the road route relative to the vertical direction of the unmanned aerial vehicle, driThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera; psi is the roll angle of the drone, with the inclination to the right being positive and the inclination to the left being negative.
Further, the adjusting the flight attitude in the step 2 to correct the flight path means:
if the deviation between the actual flight position of the unmanned aerial vehicle and the preset air route is less than the threshold value D, ifThen adjust the drone to fly to the right, ifAdjusting the unmanned aerial vehicle to fly to the left;
if the deviation of the actual flight position of the unmanned aerial vehicle from the preset air route is greater than or equal to the threshold value D, adjusting the unmanned aerial vehicle to fly according to the initially set air route;
wherein, the calculation formula of the deviation L between the actual flight position of the unmanned aerial vehicle and the preset air route is as follows:
wherein (x)0,y0) Longitude and latitude coordinates of the actual flying position of the unmanned aerial vehicle; slatLength value represented by unit latitude; slonA length value represented in units of longitude; A. b, C is the coordinate (x) of current position in the initial set route1slat,y1slon) And next position coordinate (x)2slat,y2slon) The determined linear equation Ax + By + C is a coefficient of 0.
Further, the step 2 of detecting the road surface image shot by the zoom camera through the road detection system and performing detailed detection on the road surface with the problem refers to:
step 21, the flight control system adjusts the transverse shooting angle of the zoom camera in the road detection system to shoot road pavement images according to the detection result of the vision system, wherein the calculation formula of the transverse shooting angle of the zoom camera is as follows:wherein d isriThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera;
step 22, if the road detection system judges that the road pavement image shot by the zoom camera is that the vehicle covers the road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state;
if the road detection system judges that the road pavement image shot by the zoom camera is the problem road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state, the focal length of a lens of the zoom camera in the road detection system is increased, the zoom camera performs automatic focusing to obtain a high-resolution image of the road, the road detection module analyzes the high-resolution image to realize detailed detection of the problem road pavement, and the zoom camera is adjusted back to the original state to finish detailed detection of the problem road pavement;
and step 23, after the vehicle leaves the road surface to be detected or the detailed detection of the problem road surface is finished, the flight control system adjusts the unmanned aerial vehicle to continue flying.
Compared with the prior art, the invention has the following technical effects:
1. the invention has high automation degree, can automatically fly according to the road route in the road detection process, and does not depend on the control of ground workers.
2. The invention stores the detection result into the self-carried storage module when detecting the road, and does not need to communicate with the ground station, thereby being not limited by the communication distance of the ground station and being used for long-distance road detection.
3. The invention realizes road detection in the air, can carry different types of cameras or other road detection devices, can realize road fixed-point detection by using the hovering function of the unmanned aerial vehicle, does not interfere with road traffic in the road detection process, and has wide detection range and high detection efficiency.
In conclusion, the invention has high automation degree, does not depend on the control of ground workers, is not limited by communication distance, can be used for long-distance road detection, does not interfere road traffic, and has wide detection range and high detection efficiency.
Drawings
FIG. 1 is a block diagram of a system for a road detection auto-cruise drone according to the present invention;
fig. 2 is a flow chart of the work of the road detection automatic cruise unmanned aerial vehicle of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The invention discloses a road detection unmanned aerial vehicle, which comprises a rack and a power system, wherein the power system is fixed on the rack;
the vision system and the road detection system are respectively connected with a flight control system;
as shown in fig. 1, in the present embodiment, the power system includes a power source, an electric speed regulator, a motor and a propeller;
in this embodiment, the vision system includes a wide-angle camera and a vision detection module with a DSP TMS320DM642 as a core structure, and the system is configured to obtain a deviation between an actual route of the unmanned aerial vehicle and a road route;
in this embodiment, the flight control system includes an MS-5611 altimeter, a six-axis MPU6000 sensor integrating a three-axis gyroscope and a three-axis accelerometer, an HMC5883 magnetometer, an M8N GPS positioning module, and a flight control board with an ATMEGA2560 micro control unit as a core, and the system is used for adjusting the flight attitude of the unmanned aerial vehicle and correcting flight deviation; meanwhile, the system is used for adjusting the transverse shooting angle of the zoom camera in the road detection system according to the detection result of the vision system; the system is also used for adjusting the unmanned aerial vehicle to enter a hovering state when the road detection system judges that the vehicle covers the road surface or the road surface with problems, and adjusting the unmanned aerial vehicle to continuously fly after the detailed detection of the vehicle leaving the road surface to be detected or the road surface with problems is finished;
in this embodiment, the road detection system includes a zoom camera, a road detection module with DSP TMS320DM6467+ FPGAEP3C25F324 as a core structure, and an SD card storage module, and is configured to detect a road surface image captured by the zoom camera through the road detection module, determine whether the road surface image is a vehicle covered road surface or a problem road surface, perform detailed detection on the problem road surface, store road surface information and position information of the vehicle covered road surface or the problem road surface in the storage module, and store all road surface images captured in a road detection process and corresponding position information in the storage module;
in this embodiment, the ground station system includes a state k590s PC and session planer ground station software installed on the PC, and the system is used for drawing a preset unmanned plane route;
in this embodiment, the power system, the vision system, the flight control system and the road detection system are all fixed on the frame.
Wherein, the vision system utilizes the following formula to acquire the declination angle of the road route relative to the vertical direction of the unmanned aerial vehicle:
wherein,is the declination angle of the road route relative to the vertical direction of the unmanned aerial vehicle, driThe lateral distance between the road center position and the image center position in each frame of image obtained by the wide-angle camera, the road center position beingThe right side of the image center position is positive, and the left side of the road center position on the image center position is negative;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera; psi is the roll angle of the drone, with the inclination to the right being positive and the inclination to the left being negative.
Flight control system adjusts unmanned aerial vehicle's flight gesture, and it indicates to correct the flight deviation:
predetermine the airline and provide approximate flight route for unmanned aerial vehicle, in actual flight, flight control system can combine visual system's probing result adjustment flight route, makes unmanned aerial vehicle along the route automatic flight of actual road, and unmanned aerial vehicle carries out following navigation rule when flying:
if the deviation between the actual flight position of the unmanned aerial vehicle and the preset air route is less than the threshold value D, ifAdjusting the flying attitude of the unmanned aerial vehicle to fly to the right, if soAdjusting the flight attitude of the unmanned aerial vehicle to fly leftwards;
and if the deviation of the actual flight position of the unmanned aerial vehicle and the preset air route is greater than or equal to the threshold value D, adjusting the unmanned aerial vehicle to fly according to the initially set air route.
Wherein, the formula for calculating the deviation L between the actual flight position of the unmanned aerial vehicle and the preset air route is as follows:
wherein (x)0,y0) Longitude and latitude coordinates of the actual flying position of the unmanned aerial vehicle; slatLength value represented by unit latitude; slonA length value represented in units of longitude; A. b, C is the coordinate (x) of current position in the initial set route1slat,y1slon) And next position coordinate (x)2slat,y2slon) The determined linear equation Ax + By + C is a coefficient of 0.
The road detection system detects a road surface image shot by the zoom camera through the road detection module, judges whether the road surface image is a vehicle covered road surface or a problem road surface, and carries out detailed detection on the problem road surface, wherein the detailed detection means is that:
firstly, the flight control system adjusts the transverse shooting angle of a zoom camera in the road detection system according to the detection result of the vision system to shoot road pavement images, wherein the calculation formula of the transverse shooting angle of the zoom camera is as follows:wherein d isriThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera;
secondly, if the road detection system judges that the road pavement image shot by the zoom camera is that the vehicle covers the road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state;
if the road detection system judges that the road pavement image shot by the zoom camera is the problem road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state, the focal length of a lens of the zoom camera in the road detection system is increased, the zoom camera performs automatic focusing to obtain a high-resolution image of the road, the road detection module analyzes the high-resolution image to realize detailed detection of the problem road pavement, and the zoom camera is adjusted back to the original state to finish detailed detection of the problem road pavement;
and finally, after the vehicle leaves the road surface to be detected or the detailed detection of the problem road surface is finished, the flight control system adjusts the unmanned aerial vehicle to continue flying.
Furthermore, unmanned aerial vehicle still include wireless data transmission module or USB interface, wireless data transmission module include aerial module and ground module, aerial module fix in the frame to be connected with flight control system, ground module be connected with the PC in the ground station system, but USB interface and the PC in the ground station system accordant connection. In this embodiment, a 3DR wireless data transmission module is adopted.
Further, the automatic cruising method of the road detection unmanned aerial vehicle comprises the following steps:
step 1, leading a preset air route into an unmanned aerial vehicle;
step 2, starting the road detection unmanned aerial vehicle, setting the unmanned aerial vehicle to be in an automatic flight mode, enabling the unmanned aerial vehicle to automatically fly according to the flight line data set in the flight control system, acquiring a deflection angle of a road route relative to the vertical direction of the unmanned aerial vehicle through a vision system in the flight process, and adjusting the flight attitude to correct the flight line; meanwhile, a road detection system detects road surface images shot by the zoom camera, detailed detection is carried out on the problem road surface, road surface information and position information of the detailed detection problem road surface are stored in a storage module, and all road surface images shot in the road detection process and the corresponding position information are also stored in the storage module;
and step 3, after the road detection is finished, the unmanned aerial vehicle navigates back.
As shown in fig. 2, in this embodiment, the working process of the road detection automatic cruise drone is as follows: firstly, a navigation chart of road detection is drawn on MissionPlanner ground station software, secondly, route data of the road detection is written into a flight control system by utilizing a USB data transmission line or a wireless data transmission module, then, an automatic cruise unmanned aerial vehicle for the road detection is started, the unmanned aerial vehicle is set to be in an automatic flight mode, the unmanned aerial vehicle automatically flies according to the route data set in the flight control system, deviation between a flight route and a road route is detected through a vision system in the flying process, the flight attitude is adjusted to correct the route, meanwhile, the road detection is carried out through a road detection system, the condition of the road and the road surface information and the position information of a problem road surface are stored into a storage module, and finally, the vehicle returns.
Further, in step 2, the deviation angle of the road route relative to the vertical direction of the unmanned aerial vehicle is obtained by using the following formula:
wherein,is the declination angle of the road route relative to the vertical direction of the unmanned aerial vehicle, driThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera; psi is the roll angle of the drone, with the inclination to the right being positive and the inclination to the left being negative.
Further, step 1 presets the airline and provides roughly flight route for unmanned aerial vehicle, and in actual flight, flight control system can adjust flight route in combination with visual system's probing result, makes unmanned aerial vehicle along the route automatic flight of actual road, and unmanned aerial vehicle carries out following navigation rule when flying:
if the deviation between the actual flight position of the unmanned aerial vehicle and the preset air route is less than the threshold value D, ifAdjusting the flying attitude of the unmanned aerial vehicle to fly to the right, if soAdjusting the flight attitude of the unmanned aerial vehicle to fly leftwards;
and if the deviation of the actual flight position of the unmanned aerial vehicle and the preset air route is greater than or equal to the threshold value D, adjusting the unmanned aerial vehicle to fly according to the initially set air route.
Wherein, the formula for calculating the deviation L between the actual flight position of the unmanned aerial vehicle and the preset air route is as follows:
wherein (x)0,y0) Longitude and latitude coordinates of the actual flying position of the unmanned aerial vehicle; slatLength value represented by unit latitude; slonA length value represented in units of longitude; A. b, C is the coordinate (x) of current position in the initial set route1slat,y1slon) And next position coordinate (x)2slat,y2slon) The determined linear equation Ax + By + C is a coefficient of 0.
In the step 2, detecting the road surface image shot by the zoom camera through the road detection system, and performing detailed detection on the problem road surface means that:
step 21, the flight control system adjusts the transverse shooting angle of the zoom camera in the road detection system to shoot road pavement images according to the detection result of the vision system, wherein the calculation formula of the transverse shooting angle of the zoom camera is as follows:wherein d isriThe transverse distance between the road center position and the image center position in each frame of image acquired by the wide-angle camera is shown in the figureThe right side of the image center position is positive, and the left side of the road center position in the image center position is negative;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera;
step 22, if the road detection system judges that the road pavement image shot by the zoom camera is that the vehicle covers the road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state;
if the road detection system judges that the road pavement image shot by the zoom camera is the problem road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state, the focal length of a lens of the zoom camera in the road detection system is increased, the zoom camera performs automatic focusing to obtain a high-resolution image of the road, the road detection module analyzes the high-resolution image to realize detailed detection of the problem road pavement, and the zoom camera is adjusted back to the original state to finish detailed detection of the problem road pavement;
and step 23, after the vehicle leaves the road surface to be detected or the detailed detection of the problem road surface is finished, the flight control system adjusts the unmanned aerial vehicle to continue flying.
After the unmanned aerial vehicle navigates back, the contents stored by the storage module are consulted by ground workers, the workers verify the road detection result, and send a notice to the road maintenance unit closest to the problem road surface, and the maintenance work of the problem road surface is carried out by the unit.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. A road detection unmanned aerial vehicle comprises a rack and a power system, wherein the power system is fixed on the rack, and is characterized by further comprising a vision system, a flight control system, a road detection system and a ground station system;
the vision system and the road detection system are respectively connected with a flight control system;
the system comprises a visual system and a control system, wherein the visual system comprises a wide-angle camera and a visual detection module, the wide-angle camera is connected with the visual detection module, and the system is used for acquiring a deflection angle of a road route relative to the vertical direction of the unmanned aerial vehicle;
the road detection system comprises a zoom camera, a road detection module and a storage module, wherein the zoom camera is respectively connected with the road detection module and the storage module, the system is used for detecting road surface images shot by the zoom camera through the road detection module, judging whether the road surface images are vehicle covered road surfaces or problem road surfaces, carrying out detailed detection on the problem road surfaces, storing road surface information and position information of the vehicle covered road surfaces or the problem road surfaces in the storage module, and storing all road surface images shot in the road detection process and the corresponding position information in the storage module;
the flight control system comprises an altimeter, a gyroscope, a magnetometer, an accelerometer, a positioning module and a flight control board, wherein the altimeter, the gyroscope, the magnetometer, the accelerometer and the positioning module are respectively connected with the flight control board taking a micro control unit as a core, and the system is used for adjusting the flight attitude of the unmanned aerial vehicle and correcting flight deviation; meanwhile, the system is used for adjusting the transverse shooting angle of the zoom camera in the road detection system according to the detection result of the vision system; the system is also used for adjusting the unmanned aerial vehicle to enter a hovering state when the road detection system judges that the vehicle covers the road surface or the road surface with problems, and adjusting the unmanned aerial vehicle to continuously fly after the detailed detection of the vehicle leaving the road surface to be detected or the road surface with problems is finished;
the ground station system comprises a PC and ground station software installed on the PC, and is used for drawing a preset air route of the unmanned aerial vehicle;
the vision system, the flight control system and the road detection system are all fixed on the rack;
the vision system obtains the deflection angle of the road route relative to the vertical direction of the unmanned aerial vehicle by using the following formula:
wherein,unmanned aerial vehicle for road routeDeclination angle in vertical direction, driThe transverse distance between the road center position and the image center position in each frame of image acquired by the wide-angle camera;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera; psi is the roll angle of the drone, with the inclination to the right being positive and the inclination to the left being negative.
2. The unmanned aerial vehicle for road detection of claim 1, wherein the flight control system adjusts the flight attitude of the unmanned aerial vehicle, and the correcting the flight deviation is:
if the deviation between the actual flight position of the unmanned aerial vehicle and the preset air route is less than the threshold value D, ifAdjusting the flying attitude of the unmanned aerial vehicle to fly to the right, if soAdjusting the flight attitude of the unmanned aerial vehicle to fly leftwards;
if the deviation of the actual flight position of the unmanned aerial vehicle from the preset air route is greater than or equal to the threshold value D, adjusting the unmanned aerial vehicle to fly according to the initially set air route;
wherein, the calculation formula of the deviation L between the actual flight position of the unmanned aerial vehicle and the preset air route is as follows:
wherein (x)0,y0) Longitude and latitude coordinates of the actual flying position of the unmanned aerial vehicle; slatLength value represented by unit latitude; slonA length value represented in units of longitude; A. b, C is the coordinate (x) of current position in the initial set route1slat,y1slon) And next position coordinate (x)2slat,y2slon) The determined linear equation Ax + By + C is a coefficient of 0.
3. The unmanned aerial vehicle for road detection as claimed in claim 1, wherein the road detection system detects the road surface image captured by the zoom camera through the road detection module, determines whether the road surface image is a vehicle covered road surface or a problem road surface, and performs detailed detection on the problem road surface by implementing the following functions:
firstly, the flight control system adjusts the transverse shooting angle of a zoom camera in the road detection system according to the detection result of the vision system to shoot road pavement images, wherein the calculation formula of the transverse shooting angle of the zoom camera is as follows:wherein d isriThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera;
secondly, if the road detection system judges that the road pavement image shot by the zoom camera is that the vehicle covers the road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state;
if the road detection system judges that the road pavement image shot by the zoom camera is the problem road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state, the focal length of a lens of the zoom camera in the road detection system is increased, the zoom camera performs automatic focusing to obtain a high-resolution image of the road, the road detection module analyzes the high-resolution image to realize detailed detection of the problem road pavement, and the zoom camera is adjusted back to the original state to finish detailed detection of the problem road pavement;
and finally, after the vehicle leaves the road surface to be detected or the detailed detection of the problem road surface is finished, the flight control system adjusts the unmanned aerial vehicle to continue flying.
4. The unmanned aerial vehicle for road detection according to claim 1, wherein the unmanned aerial vehicle further comprises a wireless data transmission module or a USB interface, the wireless data transmission module comprises an air module and a ground module, the air module is fixed on the frame and connected with the flight control system, the ground module is connected with a PC in the ground station system, and the USB interface is connected with the PC in the ground station system in a matching manner.
5. An automatic cruising method of a road detection unmanned aerial vehicle comprises the following steps:
step 1, leading a preset air route into an unmanned aerial vehicle;
step 2, starting the road detection unmanned aerial vehicle, setting the unmanned aerial vehicle to be in an automatic flight mode, enabling the unmanned aerial vehicle to automatically fly according to the flight line data set in the flight control system, acquiring a deflection angle of a road route relative to the vertical direction of the unmanned aerial vehicle through a vision system in the flight process, and adjusting the flight attitude to correct the flight line; meanwhile, a road detection system detects road surface images shot by the zoom camera, detailed detection is carried out on the problem road surface, road surface information and position information of the detailed detection problem road surface are stored in a storage module, and all road surface images shot in the road detection process and the corresponding position information are also stored in the storage module;
step 3, after the road detection is finished, the unmanned aerial vehicle navigates back;
in the step 2, the deflection angle of the road route relative to the vertical direction of the unmanned aerial vehicle is obtained by using the following formula:
wherein,for road routesDeclination angle relative to the vertical direction of the drone, driThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera; psi is the roll angle of the drone, with the inclination to the right being positive and the inclination to the left being negative.
6. The automatic cruising method of road detection unmanned aerial vehicle of claim 5, wherein the step 2 of adjusting the flight attitude for correcting the flight path is:
if the deviation between the actual flight position of the unmanned aerial vehicle and the preset air route is less than the threshold value D, ifThen adjust the drone to fly to the right, ifAdjusting the unmanned aerial vehicle to fly to the left;
if the deviation of the actual flight position of the unmanned aerial vehicle from the preset air route is greater than or equal to the threshold value D, adjusting the unmanned aerial vehicle to fly according to the initially set air route;
wherein, the calculation formula of the deviation L between the actual flight position of the unmanned aerial vehicle and the preset air route is as follows:
wherein (x)0,y0) Longitude and latitude coordinates of the actual flying position of the unmanned aerial vehicle; slatLength value represented by unit latitude; slonA length value represented in units of longitude; A. b, C is the coordinate (x) of current position in the initial set route1slat,y1slon) And next position coordinate (x)2slat,y2slon) The determined linear equation Ax + By + C is a coefficient of 0.
7. The automatic cruising method of road detection unmanned aerial vehicle according to claim 5, wherein the step 2 of detecting the road surface image shot by the zoom camera through the road detection system and performing detailed detection on the problem road surface comprises:
step 21, the flight control system adjusts the transverse shooting angle of the zoom camera in the road detection system to shoot road pavement images according to the detection result of the vision system, wherein the calculation formula of the transverse shooting angle of the zoom camera is as follows:wherein d isriThe method comprises the steps that the transverse distance between the road center position and the image center position in each frame of image acquired by a wide-angle camera is determined, the road center position is positive on the right side of the image center position, and the road center position is negative on the left side of the image center position;the lateral view angle of the wide-angle camera; w is aiThe transverse width of each frame of image of the wide-angle camera;
step 22, if the road detection system judges that the road pavement image shot by the zoom camera is that the vehicle covers the road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state;
if the road detection system judges that the road pavement image shot by the zoom camera is the problem road pavement, the flight control system adjusts the unmanned aerial vehicle to enter a hovering state, the focal length of a lens of the zoom camera in the road detection system is increased, the zoom camera performs automatic focusing to obtain a high-resolution image of the road, the road detection module analyzes the high-resolution image to realize detailed detection of the problem road pavement, and the zoom camera is adjusted back to the original state to finish detailed detection of the problem road pavement;
and step 23, after the vehicle leaves the road surface to be detected or the detailed detection of the problem road surface is finished, the flight control system adjusts the unmanned aerial vehicle to continue flying.
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| CN107117313B (en) * | 2017-05-24 | 2019-03-12 | 东南大学 | A kind of unmanned plane road detection system based on BIM |
| DE102017005087A1 (en) | 2017-05-29 | 2018-11-29 | Preh Car Connect Gmbh | Providing a route for an unmanned aerial vehicle by means of a navigation device |
| CN107092268A (en) * | 2017-06-01 | 2017-08-25 | 西北工业大学 | It is a kind of that cruise control system is remotely pinpointed based on the GPRS 4G unmanned planes communicated |
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| CN108417041A (en) * | 2018-05-15 | 2018-08-17 | 江苏大学 | A kind of backroad monitoring system and method based on quadrotor and Cloud Server |
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| CN109610281B (en) * | 2018-12-19 | 2020-12-29 | 山东交通学院 | Road safety pavement repair information system and method |
| CN109978913A (en) * | 2019-03-01 | 2019-07-05 | 北京航空航天大学 | A kind of unmanned machine head automatically tracks the method and system in railway region |
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| CN112162565B (en) * | 2020-08-21 | 2023-05-30 | 云南电网有限责任公司昆明供电局 | Uninterrupted self-main-pole tower inspection method based on multi-machine collaborative operation |
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