CN106568400B - A method of iron tower flange fitting rate is measured using multi-rotor unmanned aerial vehicle - Google Patents
A method of iron tower flange fitting rate is measured using multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN106568400B CN106568400B CN201610931966.6A CN201610931966A CN106568400B CN 106568400 B CN106568400 B CN 106568400B CN 201610931966 A CN201610931966 A CN 201610931966A CN 106568400 B CN106568400 B CN 106568400B
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- flange
- gap value
- fitting
- joint place
- view
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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 kind of method using unmanned plane measurement iron tower flange fitting rate disclosed by the invention, comprising the following steps: 1) image acquisition step；2) line draws step；3) ratio calculates step；4) binding face angle calculating step；5) fitting rate calculates step.The beneficial effects of the present invention are: the present invention uses the measurement method drawn based on digital line, without carrying out other detections to image.Using the method for Straight-line segments mergence, the interference of short and small straightway fine crushing is avoided, while reducing calculation amount, present invention can apply to unmanned planes in the inspection of iron tower flange fitting rate.
Description
Technical field
The present invention relates to the technical field of UAV Flight Control and computer vision mixing together, in particular to a kind of base
The method using multi-rotor unmanned aerial vehicle measurement iron tower flange fitting rate calculated is drawn in line.
Background technique
In recent years, unmanned plane has obtained quick development, with flight stability, easily manipulation, low noise, safety hazard
The features such as small, has been more and more widely used in multiple fields such as aeroplane photography, electric inspection process, the condition of a disaster investigation, military surveillances.
In steel tower inspection work, traditional method mostly uses greatly artificial mode to carry out inspection to steel tower, between hand dipping flange
Gap amount, and flange fitting rate is calculated according to the gap value that measurement obtains, not only human intervention is larger for this traditional method, measurement
Data inaccuracy, and there are some potential safety problemss for patrol officer.Steel tower is carried out using unmanned plane for this purpose, also having
Inspection, it can be effectively reduced cost in this way, lighten one's labor, and solve safety problem brought by manual inspection.So
And existing unmanned plane is lower to the intelligence and reliability of the inspection technology of steel tower, computational efficiency is lower, it is difficult to meet existing
Steel tower inspection requirement.
For this purpose, having found result of the above problems applicant carried out beneficial exploration and trial, will be detailed below being situated between
The technical solution to continue generates in this background.
Summary of the invention
The technical problems to be solved by the invention: steel tower inspection and existing unmanned plane are carried out for traditional manual type
Carry out steel tower inspection there are the problem of, and provide a kind of intelligence and high reliablity, computational efficiency are high, measurement data is accurate, drop
It is inexpensive, highly-safe that the method using multi-rotor unmanned aerial vehicle measurement iron tower flange fitting rate calculated is drawn based on line.
Technical problem solved by the invention can be realized using following technical scheme:
A method of iron tower flange fitting rate is measured using multi-rotor unmanned aerial vehicle, comprising the following steps:
1) image acquisition step, using the camera being mounted in multi-rotor unmanned aerial vehicle to include on steel tower flange fitting
The orientation of front, rear, left and right four in the region at place carries out Image Acquisition, and includes the region of flange joint place described in formation
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
Front view, rearview, left view and flange gap value Y1, Y2 of the flange joint place in right view afterwards, Y3, Y4,；
3) ratio calculates step, and flange gap value Y1, Y2, Y3, Y4 are translated N1, N2, N3, after N4 times upward or downward,
So that the displacement of flange gap value Y1, Y2, Y3, Y4 are equal to flange thickness X, and pass through formula Yi=Xi/Ni, wherein 1≤i≤
4, i be integer, calculates separately out flange gap value Y1, Y2, Y3, Y4 in this way；
4) binding face angle calculating step calculates flange joint place in the longitudinal direction according to flange gap value Y1 and Y2
Binding face angle [alpha], the binding face angle beta of flange joint place in the lateral direction is calculated according to flange gap value Y3 and Y4；
5) fitting rate calculates step, is bonded according to binding face angle [alpha], β and bonding gap lower than 0.2mm area below
The requirement of area is calculated the fitting area in the region of flange joint place, according to formula fitting rate=fitting area/total face
Product is to be calculated fitting rate.
Due to using technical solution as above, the beneficial effects of the present invention are: the present invention is used to be drawn based on digital line
Measurement method, without carrying out other detections to image.Using the method for Straight-line segments mergence, short and small straight line fine crushing is avoided
The interference of section, while calculation amount is reduced, present invention can apply to multi-rotor unmanned aerial vehicles in the inspection of iron tower flange fitting rate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 be the region in image acquisition step of the invention to flange joint place the orientation of front, rear, left and right four into
The schematic diagram of row Image Acquisition.
Fig. 2 is on present invention steel tower to be measured include flange joint place region sectional view.
Fig. 3 is flange fitting angle calculation schematic diagram of the invention.
Fig. 4 is flange fitting Plane Angle schematic diagram of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
A kind of method using multi-rotor unmanned aerial vehicle measurement iron tower flange fitting rate of the invention, comprising the following steps:
1) image acquisition step, referring to Fig. 1, using the camera being mounted in multi-rotor unmanned aerial vehicle to including on steel tower
The orientation of front, rear, left and right four in the region of flange joint place carries out Image Acquisition, and includes flange joint place described in formation
Region front view CamA, rearview CamC, left view CamB and right view CamD；
2) line draw step, referring to fig. 2, by front view CamA, rearview CamC, left view CamB and right view CamD into
Row amplification, 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 fitting 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 calculates step, referring to fig. 2, using graphics software AutoCAD or other professional two dimensional drafting software difference
Flange gap value Y1, Y2, Y3, Y4 are translated into N1, N2, N3, after N4 times upward or downward 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 passes through formula Yi=Xi/Ni, wherein 1≤i
≤ 4, i are integer, calculate separately out flange gap value Y1, Y2, Y3, Y4 in this way；
4) binding face angle calculating step calculates flange joint place preceding according to flange gap value Y1 and Y2 referring to Fig. 3
Binding face angle [alpha] in rear direction calculates the fitting of flange joint place in the lateral direction according to flange gap value Y3 and Y4
Face angle beta；
5) fitting rate calculates step, according to the specification in " tower mast bar installation and maintenance specification 47-2 " file, it is assumed that
The gap 0.2mm or less can be ignored, then all gaps can be calculated in fitting area in the area of 0.2mm consisting of
It is interior, referring to fig. 4, using flange gap value Y1, Y2, Y3, Y4 ratio as cross coordinate system, for example, flange gap value Y1 < flange gap
Y2, flange gap value Y3 < flange gap value Y4 are measured, 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, and the fitting area in the region of flange joint place can thus be calculated, pasted according to formula
Fitting rate is calculated in conjunction rate=fitting area/gross area.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (1)
1. a kind of method using multi-rotor unmanned aerial vehicle measurement iron tower flange fitting rate, comprising 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
Four orientation in front, rear, left and right in region carry out Image Acquisition, and include 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 after retouching side
Flange gap value Y1, Y2 of flange joint place in front view, rearview, left view and right view, Y3, Y4,；
3) ratio calculates step, and flange gap value Y1, Y2, Y3, Y4 are translated N1, N2, N3, after N4 times upward or downward, so that
The displacement of flange gap value Y1, Y2, Y3, Y4 are equal to flange thickness X, and pass through formula Yi=Xi/Ni, wherein 1≤i≤4, i are
Integer calculates separately out flange gap value Y1, Y2, Y3, Y4 in this way；
4) binding face angle calculating step calculates the patch of flange joint place in the longitudinal direction according to flange gap value Y1 and Y2
Conjunction face angle [alpha] calculates the binding face angle beta of flange joint place in the lateral direction according to flange gap value Y3 and Y4；
5) fitting rate calculates step, and being lower than 0.2mm area below according to binding face angle [alpha], β and bonding gap is fitting area
Requirement be calculated the fitting area in the region of flange joint place, according to formula fitting rate=fitting area/gross area come
Fitting rate is calculated.
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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 |
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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 |
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| CN106568400B true CN106568400B (en) | 2019-03-08 |
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| CN101957178B (en) * | 2009-07-17 | 2012-05-23 | 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 |
| CN104376562B (en) * | 2014-11-21 | 2017-09-26 | 中车青岛四方机车车辆股份有限公司 | Taper hole image acquiring device, laminating rate detection method and the system of a kind of shaft coupling |
| 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 |
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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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