CN106568400A - Method for measuring joint rate of tower flange using multi-rotor unmanned aerial vehicle - Google Patents
Method for measuring joint rate of tower flange using multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN106568400A CN106568400A CN201610931966.6A CN201610931966A CN106568400A CN 106568400 A CN106568400 A CN 106568400A CN 201610931966 A CN201610931966 A CN 201610931966A CN 106568400 A CN106568400 A CN 106568400A
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- flange
- gap value
- joint place
- view
- unmanned aerial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
A method for measuring the joint rate of a tower flange using a multi-rotor unmanned aerial vehicle disclosed by the invention comprises the following steps: (1) an image acquisition step; (2) a line drawing step; (3) a ratio calculation step; (4) a joint surface angle calculation step; and (5) a joint rate calculation step. The beneficial effect of the method lies in that a measuring method based on digital line drawing is used, and there is no need for other image detection. By using a line segment combining method, the interference of small and short line segments is avoided, and the amount of calculation is reduced. The method can be applied to tower flange joint rate inspection by an unmanned aerial vehicle.
Description
Technical field
The present invention relates to UAV Flight Control and the technical field of computer vision mixing together, more particularly to a kind of base
The method that the utilization multi-rotor unmanned aerial vehicle calculated in line measures iron tower flange laminating rate.
Background technology
In recent years, unmanned plane has obtained quick development, and it has flight stability, easily manipulation, low noise, safety hazard
Little the features such as, increasingly it is widely applied in multiple fields such as aeroplane photography, electric inspection process, the condition of a disaster investigation, military surveillances.
Patrol and examine in work in steel tower, traditional method is patrolled and examined steel tower by the way of artificial mostly, between hand dipping flange
Gap amount, and the gap value obtained according to measurement calculates flange laminating rate, not only human intervention is larger for this traditional method, measurement
Data are inaccurate, and there is certain potential safety hazard for patrol officer.For this purpose, also have being carried out to steel tower using unmanned plane
Patrol and examine, can so be effectively reduced cost, the amount of lightening one's labor, and solve the safety problem that manual inspection is brought.So
And, existing unmanned plane is relatively low to the intelligent and reliability for patrolling and examining technology of steel tower, and computational efficiency is relatively low, it is difficult to meet existing
The requirement patrolled and examined of steel tower.
For this purpose, applicant carried out beneficial exploration and trial, have found result of the above problems, will be detailed below being situated between
The technical scheme for continuing is produced under this background.
The content of the invention
The technical problem to be solved：Steel tower is carried out for traditional manual type to patrol and examine and existing unmanned plane
The problem that steel tower patrols and examines presence is carried out, and provides a kind of intelligent with reliability height, computational efficiency is high, measurement data is accurate, drop
The method that inexpensive, the safe utilization multi-rotor unmanned aerial vehicle calculated based on line measures iron tower flange laminating rate.
Technical problem solved by the invention can employ the following technical solutions to realize：
A kind of method that utilization multi-rotor unmanned aerial vehicle measures iron tower flange laminating rate, comprises the following steps：
1) image acquisition step, using the camera being mounted in multi-rotor unmanned aerial vehicle to including flange laminating on steel tower
The orientation of front, rear, left and right four in the region at place carries out IMAQ, and includes the region of flange joint place described in being formed
Front view, rearview, left view and right view；
2) line draws step, the front view, rearview, left view and right view is carried out to retouch side, so that it is determined that retouching side
The flange gap value Y1 of the flange joint place in rear front view, rearview, left view and right view, Y2, Y3, Y4,；
3) ratio calculation procedure, by flange gap value Y1, Y2, Y3, Y4 translate up or down N1, N2, N3, after N4 time,
So that the displacement of flange gap value Y1, Y2, Y3, Y4 is equal to flange thickness X, and by formula Yi=Xi/Ni, wherein 1≤i≤
4, i is integer, and flange gap value Y1, Y2, Y3, Y4 are so calculated respectively；
4) binding face angle calculating step, flange joint place is calculated in the longitudinal direction according to flange gap value Y1 and Y2
Binding face angle [alpha], flange joint place binding face angle beta in the lateral direction is calculated according to flange gap value Y3 and Y4；
5) laminating rate calculation procedure, is laminating according to the area of binding face angle [alpha], β and bonding gap less than below 0.2mm
The requirement of area being calculated the fitting area in the region of flange joint place, according to formula laminating rate=fitting area/total face
Accumulate to be calculated laminating rate.
As a result of technical scheme as above, the beneficial effects of the present invention is：The present invention is using based on digital line stroke
Measuring method, so as to without the need for image is carried out other detection.Using the method for Straight-line segments mergence, it is to avoid short and small straight line in small, broken bits
The interference of section, while reduce amount of calculation, present invention can apply to multi-rotor unmanned aerial vehicle is in the patrolling and examining of iron tower flange laminating rate.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that the orientation of front, rear, left and right four in the region of flange joint place is entered in image acquisition step of the invention
The schematic diagram of row IMAQ.
Fig. 2 is the profile in the region for including flange joint place on the steel tower to be measured of the invention.
Fig. 3 is the flange laminating angle calculation schematic diagram of the present invention.
Fig. 4 is the flange laminating Plane Angle schematic diagram of the present invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
The method that a kind of utilization multi-rotor unmanned aerial vehicle of the present invention measures iron tower flange laminating rate, comprises the following steps：
1) image acquisition step, referring to Fig. 1, using the camera being mounted in many rotor multi-rotor unmanned aerial vehicles on steel tower
Including the orientation of front, rear, left and right four in the region 100 of flange joint place carries out IMAQ, and includes method described in being formed
The front view CamA in the region 100 of blue joint place, rearview CamC, left view CamB and right view CamD；
2) line draws step, referring to Fig. 2, front view CamA, rearview CamC, left view CamB and right view CamD is entered
Row amplifies, and front view CamA, rearview CamC, left view CamB and right view CamD are retouched using mapping software
Side, so that it is determined that retouching the flange laminating in the front view CamA behind side, rearview CamC, left view CamB and right view CamD
Flange gap value Y1, Y2, Y3, the Y4 at place；
3) ratio calculation procedure, referring to Fig. 2, using graphics software AutoCAD or other professional two dimensional drafting software difference
By flange gap value Y1, Y2, Y3, Y4 translate up or down N1, N2, N3, after N4 time so that flange gap value Y1, Y2, Y3,
The displacement of Y4 is equal to flange thickness X, wherein, flange thickness X is known quantity, then by formula Yi=Xi/Ni, wherein 1≤i
≤ 4, i are integer, and flange gap value Y1, Y2, Y3, Y4 are so calculated respectively；
4) binding face angle calculating step, referring to Fig. 3, flange joint place is calculated front according to flange gap value Y1 and Y2
Binding face angle [alpha] in rear direction, according to flange gap value Y3 and Y4 the laminating in the lateral direction of flange joint place is calculated
Face angle beta；
5) laminating rate calculation procedure, according to《Tower mast bar I＆M specification 47-2》Specification in file, it is assumed that
Below 0.2mm gaps are negligible, then all gaps can be calculated in fitting area in the area of 0.2mm consisting of
It is interior, referring to Fig. 4, flange gap value Y1, Y2, Y3, Y4 are used for into cross coordinate system, for example, flange gap value Y1<Flange gap
Amount Y2, flange gap value Y3<Flange gap value Y4, then the area on the left of dotted line L1 is under fitting area, and dotted line L2
The area of side is fitting area, can thus be calculated the fitting area in the region of flange joint place, is pasted according to formula
Conjunction rate=fitting area/gross area is being calculated laminating rate.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (1)
1. a kind of method that utilization multi-rotor unmanned aerial vehicle measures iron tower flange laminating rate, comprises the following steps：
1) image acquisition step, using the camera being mounted in multi-rotor unmanned aerial vehicle to including flange joint place on steel tower
The orientation of front, rear, left and right four in region carries out IMAQ, and includes the forward sight in the region of flange joint place described in being formed
Figure, rearview, left view and right view；
2) line draws step, the front view, rearview, left view and right view is carried out to retouch side, so that it is determined that retouching behind side
The flange gap value Y1 of the flange joint place in front view, rearview, left view and right view, Y2, Y3, Y4,；
3) ratio calculation procedure, by flange gap value Y1, Y2, Y3, Y4 translate up or down N1, N2, N3, after N4 time so that
The displacement of flange gap value Y1, Y2, Y3, Y4 is equal to flange thickness X, and by formula Yi=Xi/Ni, wherein 1≤i≤4, i is
Integer, so calculates respectively flange gap value Y1, Y2, Y3, Y4；
4) binding face angle calculating step, according to flange gap value Y1 and Y2 flange joint place patch in the longitudinal direction is calculated
Conjunction face angle [alpha], according to flange gap value Y3 and Y4 flange joint place binding face angle beta in the lateral direction is calculated；
5) laminating rate calculation procedure, is fitting area according to the area of binding face angle [alpha], β and bonding gap less than below 0.2mm
Requirement being calculated the fitting area in the region of flange joint place, according to formula laminating rate=fitting area/gross area come
It is calculated laminating rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610931966.6A CN106568400B (en) | 2016-10-31 | 2016-10-31 | A method of iron tower flange fitting rate is measured using multi-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931966.6A CN106568400B (en) | 2016-10-31 | 2016-10-31 | A method of iron tower flange fitting rate is measured using multi-rotor unmanned aerial vehicle |
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| CN106568400A true CN106568400A (en) | 2017-04-19 |
| CN106568400B CN106568400B (en) | 2019-03-08 |
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Citations (5)
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|---|---|---|---|---|
| CN101957178A (en) * | 2009-07-17 | 2011-01-26 | 上海同岩土木工程科技有限公司 | Method and device for measuring tunnel lining cracks |
| KR101074678B1 (en) * | 2011-03-03 | 2011-10-18 | 배상모 | A measurement method for real size of object using camera in mobile terminal |
| CN103196398A (en) * | 2013-04-15 | 2013-07-10 | 西安工业大学 | Digitalized detection system and digitalized measuring method for tapered profile coupling mechanism conjoint ratio |
| CN104376562A (en) * | 2014-11-21 | 2015-02-25 | 南车青岛四方机车车辆股份有限公司 | Taper hole image acquisition device of coupling, fitting rate detection method and system |
| CN205633026U (en) * | 2016-01-06 | 2016-10-12 | 无锡觅睿恪科技有限公司 | Indoor unmanned aerial vehicle of many rotors |
-
2016
- 2016-10-31 CN CN201610931966.6A patent/CN106568400B/en active Active
Patent Citations (5)
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|---|---|---|---|---|
| CN101957178A (en) * | 2009-07-17 | 2011-01-26 | 上海同岩土木工程科技有限公司 | Method and device for measuring tunnel lining cracks |
| KR101074678B1 (en) * | 2011-03-03 | 2011-10-18 | 배상모 | A measurement method for real size of object using camera in mobile terminal |
| CN103196398A (en) * | 2013-04-15 | 2013-07-10 | 西安工业大学 | Digitalized detection system and digitalized measuring method for tapered profile coupling mechanism conjoint ratio |
| CN104376562A (en) * | 2014-11-21 | 2015-02-25 | 南车青岛四方机车车辆股份有限公司 | Taper hole image acquisition device of coupling, fitting rate detection method and system |
| CN205633026U (en) * | 2016-01-06 | 2016-10-12 | 无锡觅睿恪科技有限公司 | Indoor unmanned aerial vehicle of many rotors |
Non-Patent Citations (2)
| Title |
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| 夏长鹏: "基于机器视觉的350km/h动车组联轴节贴合率检测技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 张养臣: "塔式钢结构中法兰接头焊接及变形控制", 《焊接技术》 * |
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Effective date of registration: 20200618 Address after: Room 207, building 10, 26 Jingsi Road, Qinghai Biotechnology Industrial Park, Xining City, Qinghai Province 810016 Patentee after: Qinghai Fengge agriculture and forestry Electronic Technology Co.,Ltd. Address before: 200030 Shanghai Road, Qinzhou, building 1209, room 2, building 100, room Patentee before: SHANGHAI ZHUTIAN INTELLIGENT SCIENCE & TECHNOLOGY Co.,Ltd. |
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Address after: Room 2819, Huaiying Building, No. 99, Tuanjie Road, Yanchuangyuan, Jiangbei New District, Nanjing City, Jiangsu Province, 211899 Patentee after: Feixun (Nanjing) Digital Intelligent Technology Co.,Ltd. Address before: 810016 Room 207, Building 10, No. 26, Jingsi Road, Qinghai Biotechnology Industrial Park, Xining, Qinghai Patentee before: Qinghai Fengge agriculture and forestry Electronic Technology Co.,Ltd. |
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