CN106468918A - A kind of standardized data acquisition method of line data-logging and system - Google Patents

A kind of standardized data acquisition method of line data-logging and system Download PDF

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Publication number
CN106468918A
CN106468918A CN201510504379.4A CN201510504379A CN106468918A CN 106468918 A CN106468918 A CN 106468918A CN 201510504379 A CN201510504379 A CN 201510504379A CN 106468918 A CN106468918 A CN 106468918A
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China
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data
section
logging
circuit
described
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CN201510504379.4A
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Chinese (zh)
Inventor
牟风涛
赵龙
崔宏
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航天图景(北京)科技有限公司
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Priority to CN201510504379.4A priority Critical patent/CN106468918A/en
Publication of CN106468918A publication Critical patent/CN106468918A/en

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Abstract

The invention discloses a kind of standardized data acquisition method of line data-logging and system, methods described includes:According to the feature of each section of circuit, in preset position photographs photo and gather in aircraft flight status information corresponding with photo position and attitude and cloud mirror parameter in attitude, focal length, aperture and shutter speed;The standardized data that each section of line data-logging is taken pictures is formed according to described aircraft flight state and Yun Jing information;Trajectory planning is carried out according to the standardized data that described each section of line data-logging is taken pictures, realizes the automatization of circuit is patrolled and examined.The present invention further simultaneously discloses a kind of line data-logging method, a kind of line data-logging standardized data harvester and a kind of line data-logging system.

Description

A kind of standardized data acquisition method of line data-logging and system

Technical field

The invention belongs to line data-logging technical field, the standardized data acquisition method of more particularly, to a kind of line data-logging and system.

Background technology

Unmanned plane is a class low-risk, the air-robot of low cost, is all widely applied in military-civil field.At present, It is more and more universal to line data-loggings such as overhead transmission line, railway, highway, oil-gas pipeline, river course and water channels using unmanned plane, Particularly under the conditions of natural disaster burst and extreme climate, give full play of that it is flexible, environmental suitability is strong, patrol and examine The feature of efficiency high, is therefore extensively applied by line data-logging enterprise.Particularly many rotor wing unmanned aerial vehicles have that structure is simple, control spirit The advantages of live and can be vertically moved up or down, has been used for overhead transmission line is patrolled and examined.Many rotor wing unmanned aerial vehicles patrol and examine main carrying high definition Camera and digital camera are carried out becoming more meticulous to transmission line of electricity defects detection, can improve to a certain extent and patrol and examine patrolling and examining of operating personnel Efficiency, reduces the labor intensity patrolling and examining operating personnel.

Although many rotor wing unmanned aerial vehicles have obvious advantage to patrolling and examining of overhead transmission line, should through popularization after a while With, patrol and examine present in problem also more and more prominent, subject matter has:When patrolling and examining circuit using many rotor wing unmanned aerial vehicles, all according to Non-follow control by ground control personnel fulfils assignment, and labor intensity is high, and the technical merit of operator is had high demands;Using many When rotor wing unmanned aerial vehicle patrols and examines circuit and its part, data acquisition quality and precision are limited to the skilled operation journey of ground handling operator Degree, the valid data of acquisition are few, and obtain the precision of data with angle difference big it is impossible to realize automatic interpretation;Existing behaviour The mode of work cannot realize the standardization of operational motion, and Result Precision cannot ensure, achievement cannot be multiplexed, with power system regulation Standardized work requires gap big.It is true that in addition to overhead transmission line, in railway, highway, oil-gas pipeline, river During the line data-loggings such as road, water channel, equally exist the problems referred to above.

In view of this, embodiment of the present invention expectation provides a kind of standardized data acquisition method and the system of line data-logging, can solve Realize technical problem circuit being standardized patrol and examine using unmanned plane.

The technical scheme of the embodiment of the present invention is realized in:

Embodiments provide a kind of standardized data acquisition method of line data-logging, methods described includes:

Circuit is divided into N section, the feature according to each section of circuit arranges data collection point position, in preset position photographs photo simultaneously Gather aircraft flight state corresponding with photo and Yun Jing parameter;

The standardized data that each section of line data-logging is taken pictures is formed according to described aircraft flight state and Yun Jing parameter;

Trajectory planning is carried out according to the standardized data that described each section of line data-logging is taken pictures, realizes the automatization of transmission line of electricity is patrolled Inspection.

In such scheme, the described feature according to each section of circuit, in preset position photographs photo and gather corresponding with photo Aircraft flight state and Yun Jing parameter include:

The three-dimensional position of aircraft, three-dimensional velocity and 3 d pose information;

The 3 d pose of Yun Jing, focal length value, f-number and shutter speed.

In such scheme, the aircraft flight state described in described basis and Yun Jing parameter form the mark that each section of line data-logging is taken pictures Standardization data includes:

In each shooting point position gathered data, including the photo shooting and the aircraft flight state with photo synchronous acquisition and Cloud mirror parameter, the data using collection on all shooting point positions of each section of circuit forms the standard that each section of line data-logging is taken pictures Change data;

According to the different characteristics of each section of circuit, different data collection point positions are set and form standard corresponding with each section of circuit Change data.

Embodiments provide a kind of line data-logging method, methods described includes:

Standardized data is gathered on each section of circuit difference shooting point position according to line standard collecting method, including photograph Piece, the state of flight of aircraft and Yun Jing parameter;

According to the standardized data of collection on described each section of circuit difference shooting point position, and each of circuit part is patrolled One patrol strategy is set during inspection, and one section of circuit can form a patrol strategy combination, and the patrol strategy of different section circuit is not With the method for inspecting of one section of one strategy of formation.

Embodiments provide a kind of line data-logging standardized data harvester, described device includes:

Data acquisition unit, for shooting photo synchronous acquisition aircraft corresponding with photo one section of circuit difference shooting point position State of flight and Yun Jing parameter;

Data Synthesis unit, for shooting photo and gathering aircraft flight in one section of circuit difference shooting point bit synchronization according to described State and the standardized data of Yun Jing parameter one section of circuit of formation;

Market demand unit, enters for the standardized data according to described one section of circuit and patrol strategy corresponding with this section of circuit Row trajectory planning, and control aircraft to be automatically performed the collection of line data-logging data.

In such scheme, described data acquisition unit includes:

Imaging device, can be camera or radar or the two combination, for gathering photo;

Aircraft state information collecting unit, for gathering three-dimensional position, three-dimensional velocity and the 3 d pose of aircraft;

Cloud mirror parameter acquisition unit, for gathering 3 d pose, focal length value, f-number and the shutter speed of cloud mirror.

In such scheme, described Data Synthesis unit includes:

Same section of track data synthesis unit, for forming one according to the data of collection on described same section of circuit difference shooting point position The standardized data of section circuit;

Different section track data synthesis units, for the described feature according to different section circuits and corresponding with this section of circuit patrol and examine Strategy forms the standardized data of different section line data-loggings.

In such scheme, described market demand unit includes:

Patrol and examine data acquisition, for according to the described trajectory planning carrying out patrol task using one section of line standard data, and It is with reference to shooting photo gather current flight device state of flight corresponding with photo and Yun Jing with standardized data on planning point position Parameter.

Embodiments provide a kind of line data-logging system, described system includes:

Data acquisition subsystem, in each section of circuit difference position photographs photo and gather aircraft corresponding with photo fly Row state and Yun Jing parameter;

Trajectory planning and control subsystem, for being patrolled by described one section of circuit and patrol strategy planning corresponding with this section of circuit Inspection task flight path, and control aircraft to complete the automation collection of line data-logging task data.

The standardized data acquisition method of the line data-logging that the embodiment of the present invention is provided and system, by veteran aircraft Line data-logging operating personnel gathers clear pictures on the default shooting point position of one section of circuit and gathers aircraft corresponding with photo State of flight and the standardized data of Yun Jing parameter one section of line data-logging of formation, the patrol strategy of different section circuits is different, forms one The method for inspecting of section one strategy;Patrol officer patrols and examines and appoints according to each section of circuit and patrol strategy planning corresponding with this section of circuit The flight path of business, and control unmanned plane collection on planning point position and on the basis of normal data to patrol and examine data, including the photo shooting And current flight device state of flight corresponding with photo and Yun Jing parameter, reduce many rotor wing unmanned aerial vehicles and patrol and examine ground handling operator people For factor impact, obtain that high-quality is high-precision patrols and examines data, realize " one section of one strategy " automation data of defeated line data-logging Collection.

Brief description

Fig. 1 is a kind of flow chart of the standardized data acquisition method of line data-logging of the embodiment of the present invention 1;

Fig. 2 is the composition structural representation of the data acquisition unit of the embodiment of the present invention 3.

In order to be able to clearly realize the structure of embodiments of the invention, give the composition structure chart of system in figure, but be only for explaining State function and illustrate needs, be not intended to limit the invention in functional module, according to specific needs, the common skill of this area These functional modules and device can be adjusted or change by art personnel, and the adjustment being carried out or modification are still included appended In the scope of claim.

Specific embodiment

In the following description, by the multiple different aspect of the description present invention.However, for ordinary skill people in the art For member, the present invention can be implemented just with some or all structures of the present invention or flow process.Clear and definite in order to explain Property for, elaborate specific number, configuration and order, however, it will be apparent that also may be used in the case of there is no these specific detail To implement the present invention.In other cases, in order to not obscure the present invention, will no longer carry out in detail for some well-known features Thin elaboration.

Embodiment 1

In order to solve using during aircraft circuit cannot automatization obtain standardized data technical problem, the embodiment of the present invention provide A kind of standardized data acquisition method of line data-logging, as shown in figure 1, the present embodiment methods described includes:

Step S101:Circuit is divided into N section, the feature according to each section of circuit arranges data collection point position, on the position of preset Shoot photo and gather aircraft flight state corresponding with photo and Yun Jing parameter;

In order to form the standardized data of one section of line data-logging, in one section of circuit difference shooting point position photographs photo and gather and shine In piece corresponding aircraft flight status information three-dimensional position, in three-dimensional velocity and 3 d pose information and cloud mirror parameter 3 d pose, focal length value, f-number and shutter speed.

Step S102:The normalized number that each section of line data-logging is taken pictures is formed according to described aircraft flight state and Yun Jing parameter According to;

In each shooting point position gathered data of one section of circuit, using the data shape of collection on all shooting point positions of one section of circuit Become the standardized data that one section of line data-logging is taken pictures;According to the different characteristics of each section of circuit, different data collection point positions are set And form standardized data corresponding with each section of circuit.

Step S103:Trajectory planning is carried out according to the standardized data that described each section of line data-logging is taken pictures, realizes to transmission line of electricity Automatization patrol and examine.

, according to the feature of each section of circuit, the data collection point position that the different part of setting is patrolled and examined, in each number for the present embodiment method Shoot three-dimensional position in photo synchronous acquisition aircraft flight state corresponding with photo, three-dimensional velocity and three according to collection point position 3 d pose in dimension attitude and cloud mirror parameter, focal length value, f-number and shutter speed, form the normalized number of one section of circuit According to;According to the standardized data of one section of circuit, patrol and examine operating personnel and carry out patrol task trajectory planning using ground control system, Form patrol task track data, control unmanned plane to arrive each number on the basis of standardized data by patrol task track data Shoot according to collection point position three-dimensional position in photo synchronous acquisition current flight device state of flight, three-dimensional velocity and 3 d pose with And the 3 d pose in cloud mirror parameter, focal length value, f-number and shutter speed, complete the automation collection of line data-logging data, And patrol and examine every time and can obtain the data very strong with standardized data concordance, for realizing the defect of computer automatic interpretation circuit Lay a good foundation.

Embodiment 2

The present embodiment be a kind of line data-logging described in embodiment 1 standardized data acquisition method on the basis of propose one Plant line data-logging method, the present embodiment method includes:

Step S201:Operating personnel behaviour is patrolled and examined by veteran by the line standard collecting method described in embodiment 1 Control aircraft gathers standardized data, including photo, the state of flight of aircraft and Yun Jing parameter on one section of circuit difference position;

According to the different characteristics of each section of circuit, the different shooting point position of setting, and one is arranged to each of circuit part Patrol strategy, one section of circuit can form a patrol strategy combination, and the patrol strategy of different section circuit is different;Rich by experience The rich operating personnel that patrols and examines is standardized data acquisition according to the Different Strategies of different section circuits, forms what one section of one strategy was patrolled and examined Standardized data.

Step S202:The standardized data patrolled and examined according to described one section of one strategy, patrols and examines operating personnel and utilizes ground to control before operation System processed carries out trajectory planning to aircraft, and with the standardized data of each data collection point position of each section of circuit as reference Value controls the line standard automatic detecting patrolled and examined data, realize one section of one strategy of aircraft automatic data collection circuit.

The present embodiment method high degree of automation, reduces the labor intensity of operator, and weak with the technical merit of operator Related;Both save the training cost of user, reduced application threshold, also meet the requirement of industry standardization operation, simultaneously Improve the reliability of safety work.

Embodiment 3

The present embodiment be a kind of line data-logging described in embodiment 1 standardized data acquisition method on the basis of provide one Plant line data-logging standardized data harvester, as shown in Fig. 2 the present embodiment described device includes:

Data acquisition unit 301, for gathering the three-dimensional in the aircraft flight state of photo and synchronous acquisition corresponding with photo 3 d pose in position, three-dimensional velocity and 3 d pose and cloud mirror parameter, focal length value, f-number and shutter speed;

Data Synthesis unit 302, for forming the normalized number of different section circuits according to the standardized data of described each section of circuit According to;

Market demand unit 303, is patrolled and examined using ground control system planning for the standardized data according to described one section of circuit and appoints The flight path of business, the standard aircraft state of flight put on position planning by patrol task flight tracking control aircraft and be given and cloud Mirror parameter shoots photo and records current flight device state of flight corresponding with photo and Yun Jing parameter, realizes line data-logging number of tasks According to automatic data collection and the automatization of circuit patrol and examine.

Each ingredient of the present embodiment can be realized by the additional equipment of aircraft it is also possible to pass through aircraft itself indispensability Sensor device realize;The equipment taken pictures in the present embodiment, can be both camera or radar, can also be two The combination of person;Camera both can be digital camera or the camera oneself producing as needed;And camera both can be Single-lens or many camera lenses;Camera focus process both can be auto-focusing or human assistance focusing;In phase During machine focusing, can be that single-lens first auto-focusing is taken pictures it is also possible to complete auto-focusing with a parafacies machine again, principal phase machine is complete Heterodyne is shone.

Embodiment 4

The present embodiment is a kind of line data-logging system proposing on the basis of embodiment 1-3, and described system includes:

Data acquisition subsystem, in each section of circuit difference position photographs photo and gather aircraft corresponding with photo fly Row state and Yun Jing parameter, form the standardized data of one section of one tactful line data-logging;And then according to trajectory planning and control subsystem System completes the automation collection of patrol task data;

Trajectory planning and control subsystem, for by the standardized data of described one section of circuit and corresponding with this section of circuit patrol Inspection strategy, to plan patrol task flight path, completes to patrol and examine the automation collection of data by patrol task flight tracking control aircraft.

From the description of above-described embodiment 1-4, using aircraft, the system that circuit is patrolled and examined and the process of patrolling and examining include one section The method for inspecting of one strategy, line data-logging data acquisition unit and line data-logging system, according to the line data-logging mark of one section of one strategy Standardization collecting method, gathers the normalized number of line data-logging using line data-logging system and line data-logging data acquisition unit According to, and carry out the trajectory planning of patrol task according to standardized data, realized to circuit by patrol task flight tracking control aircraft Automatization patrol and examine, obtain and the very strong data of standardized data concordance, the defect for realizing computer automatic interpretation part establishes Determine basis.

Embodiment 5

Realize process in order to further illustrate embodiments of the invention, below by way of an actual scene, the present invention is carried out Describe in detail.

The present embodiment so that four rotor wing unmanned aerial vehicles patrol and examine overhead transmission line as a example, the present invention to implement step as follows:

(1) the construction data according to overhead transmission line or history patrol and examine data, patrol and examine operating personnel by veteran Formulate the patrol strategy of each base shaft tower, including setting data collection point position, data acquisition angle and patrol and examine patrolling of a position Inspection order;

(2) veteran patrol and examine operating personnel manipulation unmanned plane, by earth station in real time down pass video be reference, instead The whole flight attitude of polyphony and acquisition parameters, shoot a series of photos and gather aircraft flight status information corresponding with photo With cloud mirror parameter, three-dimensional position (x, y, z) including aircraft, three-dimensional velocity (Vx, Vy, Vz) and 3 d pose (ψ,γ) And 3 d pose in cloud mirror parameter (φ, θ, k), focal length value f, f-number g and shutter speed value h;

(3) all data are imported in computer and carry out manual analyses, to focus accurate, subject in picture Centre, component detail are complete, and intuitively can whether there is external physical defect for standard by judgement part by visual observation, from 1 optimal photo is selected on one shooting point position, and by this photo and aircraft flight state corresponding with photo and Cloud mirror parameter is as the standardized data of this shooting point position;According to above-mentioned processing procedure, patrol and examine all for a base shaft tower a little On position, the data of collection is synthesized, and forms the standardized data of a base shaft tower;

(4) patrol strategy according to standardized data and each base shaft tower, completes each base shaft using ground control system The trajectory planning of tower patrol task, forms patrol task trajectory planning data, and stores in a computer;

(5) when routine is patrolled and examined, the patrol task trajectory planning data of each base shaft tower is loaded into ground control system In, control unmanned plane to be automatically performed shaft tower patrol task;

(6) according to patrol task trajectory planning data, control unmanned plane to fly to preset data collection point position first and carry out determining High spot hover;

(8) cloud mirror control system control camera to reach given 3 d pose (φ, θ, k) and focal length value f, if image Harvester is that photographing camera is reordered the double camera pattern of a photographic head, then camera focus adjust to default focal length value f, fixed Position photographic head carries out concordance interpretation by collection image and with standard image data, the three-dimensional appearance to camera on this basis (φ, θ k) are finely adjusted it is ensured that patrolling and examining the concordance of collection image and standard picture state with focal length value f;If image Harvester is one camera pattern, then arrange multistage canonical parameter near standard focal length value, by the video of captured in real-time Image and standard picture carry out concordance interpretation, and to camera 3 d pose, (φ, θ, k) with focal length value f on this basis It is finely adjusted, and make focal length be advanced amplification step by step and auto-focusing is it is ensured that patrol and examine the one of collection image and standard picture Cause property;

(9) state of flight information and the Yun Jing parameter of current time aircraft corresponding with photo are recorded;

(10) routine is patrolled and examined data and import to Data Analysis Computer, carry out concordance interpretation with standardized data;? On the basis of this, complete automatic interpretation and the examination of component defect.

It is an advantage of the current invention that:Patrol and examine operating personnel by veteran according to the construction data of each section of circuit or history Patrol and examine data, the patrol strategy of each section of circuit of setting, and gathered data is simultaneously on each preset position to manipulate unmanned plane Form the standardized data of each section of line data-logging, and then the trajectory planning completing patrol task by ground control system is simultaneously Generate patrol task trajectory planning data, common patrol officer just can be according to patrol task planning flight path manipulation unmanned plane Complete the automation collection of patrol task data.Reduce the labor intensity of operator, and the technology water with operator Equal weak correlation.Both save the training cost of power consumer, reduced application threshold, meet industry standardization operation again Require, also improve operational efficiency and the reliability of safety in production simultaneously.

Standardized data and the customary concordance interpretation method patrolling and examining data are known in this field and conventional methods, and line The element on road is also the common knowledge of this area, repeats no more.

It should be understood that disclosed equipment and method in several embodiments provided herein, can be passed through it Its mode is realized.Apparatus embodiments described above are only schematically, for example, the division of described unit, and only It is only a kind of division of logic function, actual can have other dividing mode, for example when realizing:Multiple units or assembly can To combine, or it is desirably integrated into another system, or some features can be ignored, or do not execute.Additionally, shown or The each ingredient coupling each other discussing or direct-coupling or communication connection can be by some interfaces, if The INDIRECT COUPLING of standby or unit or communication connection, can be electrical, machinery or other forms.

The above-mentioned unit illustrating as separating component can be or may not be physically separate, show as unit Part can be or may not be physical location, you can with positioned at a place it is also possible to be distributed to multiple networks On unit;The purpose to realize this embodiment scheme for the part or all of unit therein can be selected according to the actual needs.

Additionally, can be fully integrated in a processing module in each functional unit in various embodiments of the present invention it is also possible to Be each unit individually as a unit it is also possible to two or more units are integrated in a unit;Above-mentioned Integrated unit both can be to be realized in the form of hardware, it would however also be possible to employ the form that hardware adds SFU software functional unit is realized.

One of ordinary skill in the art will appreciate that:The all or part of step realizing said method embodiment can pass through journey Sequence instructs related hardware to complete, and aforesaid program can be stored in a computer read/write memory medium, this program Upon execution, execute the step including said method embodiment;And aforesaid storage medium includes:Movable storage device, Read only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. are various can be with the medium of store program codes.

The automatization that the present invention is applied to the circuits such as overhead transmission line, railway, highway, oil-gas pipeline, river course and water channel patrols The automatization of inspection task data collection and circuit patrols and examines.The above, the only specific embodiment of the present invention, but this Bright protection domain is not limited thereto, any those familiar with the art the invention discloses technical scope Interior, change or replacement can be readily occurred in, all should be included within the scope of the present invention.Therefore, the protection of the present invention Scope should be defined by described scope of the claims.

Claims (9)

1. a kind of standardized data acquisition method of line data-logging is it is characterised in that methods described includes:
Circuit is divided into N section, data collection point position is arranged according to the feature of each section of circuit, in preset position photographs photo and adopt Collect aircraft flight state corresponding with photo and Yun Jing parameter;
The standardized data that each section of line data-logging is taken pictures is formed according to described aircraft flight state and Yun Jing parameter;
Trajectory planning is carried out according to the standardized data that described each section of line data-logging is taken pictures, realizes the automatization of transmission line of electricity is patrolled and examined.
2. method according to claim 1 is it is characterised in that described be divided into N section by circuit, according to the spy of each section of circuit Point setting data collection point position, in preset position photographs photo and gather aircraft flight state corresponding with photo and Yun Jing parameter Including:
The three-dimensional position of aircraft, three-dimensional velocity and 3 d pose information;
The 3 d pose of Yun Jing, focal length value, f-number and shutter speed.
3. method according to claim 1 is it is characterised in that the aircraft flight state described in described basis and Yun Jing parameter The standardized data that each section of line data-logging of formation is taken pictures includes:
In each shooting point position gathered data, including the photo shooting and the aircraft flight state with photo synchronous acquisition and cloud Mirror parameter, the data using collection on all shooting point positions of one section of circuit forms the standardized data that one section of line data-logging is taken pictures;
According to the different characteristics of each section of circuit, different data collection point positions are set and form standardization corresponding with each section of circuit Data.
4. a kind of line data-logging method is it is characterised in that methods described includes:
Standard is gathered on each section of circuit difference shooting point position by the line standard collecting method described in claim 1-3 Change data, including photo, the state of flight of aircraft and Yun Jing parameter;
According to the standardized data of collection on described one section of circuit difference shooting point position, and one is arranged to each of circuit part Individual patrol strategy, one section of circuit can form a patrol strategy combination, and the patrol strategy of different section circuit is different, forms one section The method for inspecting of one strategy.
5. a kind of line data-logging standardized data harvester is it is characterised in that described device includes:
Data acquisition unit, for shooting photo and gathering aircraft flight state and Yun Jing in one section of circuit difference shooting point bit synchronization Parameter;
Data Synthesis unit, for shooting photo and gathering aircraft flight shape in one section of circuit difference shooting point bit synchronization according to described State and the standardized data of Yun Jing parameter one section of line data-logging of formation;
Market demand unit, for the standardized data according to described one section of line data-logging and patrol strategy corresponding with this section of circuit Carry out trajectory planning, form patrol task layout data, and control aircraft to complete the automation collection of line data-logging data.
6. line data-logging standardized data harvester according to claim 5 is it is characterised in that described data acquisition unit Including:
Imaging device has camera or radar, or the combination of camera and radar, for gathering photo;
Aircraft state information collecting unit, for gathering three-dimensional position, three-dimensional velocity and the 3 d pose of aircraft;
Cloud mirror parameter acquisition unit, for gathering 3 d pose, focal length value, f-number and the shutter speed of cloud mirror.
7. line data-logging standardized data harvester according to claim 5 is it is characterised in that described Data Synthesis unit Including:
Same section of track data synthesis unit, for forming one section according to the data of collection on described same section of circuit difference shooting point position The standardized data of circuit;
Different section track data synthesis units, for the feature according to described difference section circuits and corresponding with this section of circuit patrol and examine plan Slightly form the standardized data of different section line data-loggings.
8. line data-logging standardized data harvester according to claim 5 is it is characterised in that described market demand unit Including:
Patrol and examine data acquisition, for aircraft is realized on planning point position and with given mark according to described one section of line standard data Quasi- aircraft flight state and Yun Jing parameter shoot photo and record current flight device state of flight corresponding with photo and Yun Jing parameter.
9. a kind of line data-logging system is it is characterised in that described system includes:
Line data-logging standardized data harvester described in claim 5-8 forms data acquisition subsystem, in each section of line Road difference position photographs photo simultaneously gathers aircraft flight state corresponding with photo and Yun Jing parameter;
Trajectory planning and control subsystem, for being patrolled and examined by described one section of circuit and patrol strategy planning corresponding with this section of circuit Task flight path, and control aircraft to complete the automation collection of line data-logging data.
CN201510504379.4A 2015-08-18 2015-08-18 A kind of standardized data acquisition method of line data-logging and system CN106468918A (en)

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