CN106708073B - A kind of quadrotor system of independent navigation power-line patrolling fault detection - Google Patents
A kind of quadrotor system of independent navigation power-line patrolling fault detection Download PDFInfo
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Abstract
The invention discloses a kind of quadrotor systems of independent navigation power-line patrolling fault detection, are made of ground host computer, flight control modules, ultrasonic distance measuring module, transfer control module, serial ports expansion plate, GPRS communication module, Beidou navigation module, battery monitoring module, camera and image detection module.Present system utilizes ultrasonic wave avoiding barrier in aircraft line walking on the way, power line failure is detected using camera and image detection module, testing result and flying quality pass through GPRS communication module real-time Transmission to ground host computer, ground host computer can also control aircraft, battery monitoring module can monitor battery capacity in real time to line walking on the way, it predicts whether current flight device needs to make a return voyage to charge point by calculating, can independently make a return voyage to charge point when not enough power supply.
Description
Technical field
The invention belongs to power-line patrolling technical fields, and in particular to a kind of four rotations of independent navigation power-line patrolling fault detection
Rotor aircraft system.
Background technique
With the rapid development of national economy and the continuous expansion of city size, life sharply increases with industrial electricity
Long, nationwide integrated power grid scale is constantly expanded.The power line of substantial amounts needs a large amount of human and material resources, financial resources to be checked, to ensure
Electrical Safety.Quadrotor utilizes nobody since its structure is simple, fuselage weight is light, control mode is relatively simple
Machine, which carries out line walking investigation, becomes a kind of new patrolling method in recent years, and high-definition camera instrument or thermal imaging system are installed on unmanned plane,
By power line image transmitting to ground control station, artificial observation power line whether there is failure.
But when common quadrotor power-line patrolling, aircraft by manual operation, need operator in real time with
Track flight state in order to avoid deviation route, and is encountered barrier and can not independently be avoided, needs to maintain higher flying height,
Photo in this way is with regard to unintelligible, in addition, power line failure judgement or by manually carrying out, can not real-time detection failure, and when flight
Between it is too long when, aircraft is because low battery can not make a return voyage or even be unable to control.
Further, since being the four-axle aircraft of autonomous flight, we are also extremely to be concerned about to the real-time status of aircraft.
If can not be communicated with aircraft, the status information of four-axle aircraft is periodically obtained, we will be unable to four-axle aircraft
Flight carry out control calibration.Once aircraft breaks down or yaw, we also can not be in time by controlling accordingly
Order is to reset and adjust the state of four-axle aircraft, so as to cause four-axle aircraft crash or the adverse consequences of lost contact.
Summary of the invention
In view of above-mentioned, the present invention provides a kind of quadrotor system of independent navigation power-line patrolling fault detection,
Power line failure, testing result and flying quality, which are detected, using camera and DSP module passes through GPRS module real-time Transmission to ground
Face monitoring station, ground monitoring station can also control aircraft.
A kind of quadrotor system of independent navigation power-line patrolling fault detection, including be located at ground host computer with
And be installed on aircraft for controlling the flight control modules of aircraft flight state, it include useful inside flight control modules
In the GPS module for obtaining current flight device GPS position information by GPS satellite system；The aerocraft system further include:
It is installed on aircraft for acquiring the camera of video image；
Image detection module is with the power line identified in image for detecting to collected video image
It is no that there are abnormal conditions；
Beidou navigation module, for obtaining the Beidou location information of current flight device by Beidou satellite system；
Ultrasonic distance measuring module, for whether there are obstacles around sense aircraft and between barrier away from
From；
GPRS communication module, for receiving the navigation route information of ground host computer transmission, while by flight control modules
The location information obtained after the state of flight information and fusion calibration of offer is sent to host computer；
Transfer control module, after the Beidou location information and navigation route information are parsed and pre-processed
Flight control modules are sent to, while the obstacle information detected according to ultrasonic distance measuring module is controlled by analysis to flight
Module issues avoidance flight directive, is also used to the ginseng of the work to image detection module, Beidou navigation module and GPRS communication module
Number is set to drive the work for coordinating these modules；
The flight control modules are by carrying out fusion calibration to the GPS position information and Beidou location information and tying
State of flight of the navigation route information to control aircraft is closed, while driving aircraft to make according to avoidance flight directive
Avoidance movement, and the location information obtained after state of flight information and fusion calibration is transmitted to by transfer control module
GPRS communication module.
Beidou navigation module, image detection module and the GPRS communication module is controlled by expansion interface plate and transfer
Module connection.
If image detection module detects the power line in current frame image, there are abnormal conditions, control mould by transfer
Block makes flight control modules control aircraft hovering to further confirm that abnormal conditions；After power line determines failure, flight control
Current time, current location and fault type are passed sequentially through transfer control module to molding block and GPRS communication module is sent to
Host computer.
The host computer includes:
Network receiving module, for connecting public network and carrying out network communication with carry-on GPRS communication module；
Host computer processing module uses Voronoi diagram method to aircraft current location, destination locations and all barriers
Hinder coordinate information a little to carry out path operation, and then operation is obtained by navigation route information by network receiving module and is sent to
Aircraft.
The host computer processing module carries out path operation, and detailed process is as follows:
(1) aircraft current position coordinates point is remotely obtained by network receiving module, in conjunction with the destination locations of setting
The storage of these points is independent discrete point by coordinate points and all barrier points；
(2) the minimum square map region comprising above-mentioned all discrete points delimited；
(3) in the minimum square map region, pathization fortune is carried out to all discrete points using Voronoi diagram method
It calculates, calculates feasible path all in the map area；
(4) route searching is carried out to all feasible paths using breadth-first search, determined from current location to mesh
Position optimal path；
(5) discrete to optimal path progress to reveal, the coordinate information of each discrete point on optimal path is extracted, and then will
The coordinate information of these discrete points is remotely sent to aircraft by network receiving module.
The flight control modules carry out the specific method of fusion calibration such as to GPS position information and Beidou location information
Under:
Firstly, carrying out fusion calibration to preceding n group Beidou location information and GPS position information by following formula:
Wherein:WithCorrespond to i-th group of Beidou location information and i-th group of GPS position information, YiCorrespond to i-th group
Location information after fusion calibration, SBAnd SGThe number of satellite of Beidou satellite system and GPS satellite system is corresponded to, i is natural number
And 1≤i≤n, n are the group number of setting；
Then, the variance of n group Beidou location information and GPS position information before calculating according to the following formula:
Wherein: ∈BAnd ∈GThe variance of n group Beidou location information and GPS position information before corresponding to；
Finally, by following formula to after n group Beidou location information and GPS position information carry out fusion calibration:
Wherein:WithCorrespond to jth group Beidou location information and jth group GPS position information, YjCorrespond to jth group
Location information after fusion calibration, j are natural number and j > n.
Described image detection module detects collected video image, and detailed process is as follows:
(1) gray processing processing is carried out to collected video image；
(2) background difference is carried out to the video image after gray processing and prospect separates, obtain difference foreground image；I.e. for
Current frame video image subtracts each other it with previous frame video image corresponding grey scale value, obtains current difference image；For current poor
Any pixel point in partial image, if its gray value is greater than certain threshold value, marking the pixel is prospect, and traversal is all according to this
Pixel, to obtain difference foreground image；
(3) type Hough transformation is improved to the difference foreground image, output obtains corresponding to the parameter pair of a plurality of straight line
(P, θ), wherein P and θ is respectively intercept and angle of the straight line in image coordinate system；Detailed process is as follows:
3.1 pairs of difference foreground images obtain the parameters of all possible corresponding straight lines to (P, θ) using traditional Hough transformations,
According to the size of angle theta to these parameters to being ranked up；
3.2 for parameter current to (Pi,θi) and its previous parameter to (Pi-1,θi-1), if | θi-θi-1| < Δ θ and | Pi-
Pi-1| < Δ P then compares A (Pi,θi) and A (Pc,θc) size: if A (Pi,θi) > A (Pc,θc), then make parameter to (Pc,θc)
It is updated to (Pi,θi)；If A (Pi,θi)≤A(Pc,θc), then make parameter to (Pc,θc) remain unchanged；
If | θi-θi-1| >=Δ θ or | Pi-Pi-1| >=Δ P is then saved and is exported parameter current to (Pi,θi), and make parameter
To (Pc,θc) and A (Pc,θc) it is set to 0；
Wherein, A (Pi,θi) it is parameter current to (Pi,θi) corresponding to pixel number on straight line, A (Pc,θc) it is parameter
To (Pc,θc) corresponding to pixel number on straight line, the parameter is to (Pc,θc) and A (Pc,θc) initialization be 0, Δ P and
Δ θ is respectively the differential seat angle threshold value and intercept difference threshold value set；
3.3 according to each parameter in step 3.2 successively judgment step 3.1 to (P, θ)；
(4) parameter obtained according to step (3) output carries out (P, θ) in conjunction with the power line actual parameter being previously set
Logic analysis, to judge whether there is power line abnormal conditions；Following two situation if it exists then determines that current power line is different
Often；
1. the parameter that step (3) output obtains is less than actual power line quantity to the number of (P, θ)；
2. each parameter that step (3) output obtains is inconsistent to the angle theta of (P, θ).
Following avoidance analysis strategy is loaded in the transfer control module:
Whether there are obstacles within the scope of certain distance immediately ahead of real-time judge aircraft: if it is not, then controlling mould to flight
Block, which issues forward flight instruction, makes aircraft by predefined paths autonomous flight；If so, further judging that aircraft left is certain
Whether there are obstacles in distance range:
If it is not, then issuing left-hand rotation flight directive to flight control modules；If so, further judging that aircraft right is certain
Whether there are obstacles in distance range:
If it is not, then issuing right-hand rotation flight directive to flight control modules；If so, further judging certain above aircraft
Whether there are obstacles in distance range:
If it is not, then issuing upward flight instruction to flight control modules；If so, further judging certain below aircraft
Whether there are obstacles in distance range:
If it is not, then issuing descending flight instruction to flight control modules；If so, further judging that aircraft rear is certain
Whether there are obstacles in distance range:
Flight directive is retreated if it is not, then issuing to flight control modules；Fly if so, issuing hovering to flight control modules
Row instruction.
The flight control modules are connected with battery monitoring module, the battery monitoring module real time monitoring aircraft
Power-supply battery electricity, when not enough power supply, battery monitoring module informs that flight control modules make it control aircraft and independently return in advance
It navigates to charge point.
The ultrasonic distance measuring module is by being arranged in corresponding all around six ultrasonic waves on surface up and down of aircraft
Distance measuring unit composition.
Compared with the prior art, aerocraft system of the present invention has following advantageous effects:
(1) it is fixed to improve to form Beidou/GPS integrated navigation system with GPS by increasing Beidou navigation module by the present invention
Position precision, and the data exchange between aircraft and host computer is realized by a GPRS module, user is completed upper
Generator terminal controls the status monitoring storage of aircraft and real-time navigation, clicks through by using Voronoi diagram method to discrete coordinates
The mode that row feasible path calculates, reduces search space and the memory space of subsequent path searching algorithm, improves search effect
Rate.
(2) ultrasonic distance measuring module is respectively arranged the six direction upper and lower all around in aircraft by the present invention, is used to
Whether sense aircraft all directions have barrier and the distance between with barriers, using transfer control module according to ultrasound
The obstacle information that wave detects, autonomous avoiding obstacles are changed the heading of aircraft, and are communicated by GPRS
Updated position of aircraft is sent to host computer by module, plans aircraft path again.
(3) present invention employs the extractions that a kind of follow-on Hough transformation realizes power line profile, most according to part
The thought of optimization improves Hough transformation, can effectively choose in multiple suspect results confidence level it is highest as a result, mentioning
The accuracy of high testing result also avoids the problem of straight line is detected straight line similar at a plurality of inclination angle；Finally, root
The threshold value that factually now sets, that parameter determines whether there is power line is stranded.
(4) present invention utilizes battery monitoring module to monitor battery capacity in real time on the way in line walking, predicts to work as by calculating
Whether preceding aircraft needs to make a return voyage to charge point, can independently make a return voyage to charge point when not enough power supply, ensure that aircraft
Safe and reliable navigation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of aerocraft system of the present invention.
Fig. 2 is the workflow schematic diagram of aerocraft system of the present invention.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail.
As shown in Figure 1, power-line patrolling quadrotor system of the present invention includes ground monitoring station 1, flight control modules
2, avoiding obstacles by supersonic wave module 3, MSP430 module 4, serial ports expansion plate 5, GPRS module 6, camera and DSP module 7, Beidou module
8, battery monitoring module 9.
Ground monitoring station 1 is carried out telecommunication with GPRS module 6, can monitor aircraft data, including its flight in real time
The path crossed, current coordinate and flight attitude etc..Aircraft line walking path can be arranged in ground monitoring station 1, so that aircraft
It navigates along the autonomous path and completes line walking task, while aircraft parameters can be changed in real time, it in emergency circumstances can also be long-range
Aircraft takeoff and landing are controlled, guarantees flight safety.
Ground monitoring station 1 carries out path extraction using coordinate information of the Voronoi diagram method to acquisition, is searched using breadth First
Suo Fangfa scans for the routing information of extraction, the course of work are as follows:
Step 1): the coordinate points information (aircraft own coordinate) from remote communication module is received；
Step 2): barrier point and terminal point coordinate information are obtained；
Step 3): the rectangular geographic area of minimum including above-mentioned all discrete points delimited；
Step 4): on step 3) geographic area, based on Voronoi diagram method to step 1) and step 2) obtain it is all from
Scatterplot carries out modelling operation, establishes the Voronoi syntople net in step 3) geographical coverage area；
Step 5): extraction step 4) routing information in Voronoi syntople net, obtain feasible path network；
Step 6): it is searched for using breadth first search from the optimal of origin-to-destination coordinate in feasible path network
Path；
Step 7): the key point coordinate in optimal path is extracted, path is stored as discrete dot format, is sent to GPRS mould
Block 6.
Beidou module 8 is mainly used for obtaining the location information of current flight device, is sent to MSP430 mould through serial ports expansion plate 5
It is filtered after block 4, is then forwarded to flight control modules 2 and carries out assisted calibration.
Battery monitoring module 9 is used for real-time monitoring battery electric quantity state, predicts whether current flight device needs by calculating
It makes a return voyage to charge point, sends order of making a return voyage to flight control modules 2 when not enough power supply, aircraft is made independently to make a return voyage to charging
Point.
Flight control modules 2 are connected with battery monitoring module 9, MSP430 module 4, including master controller STM32 module,
GPS, Inertial Measurement Unit, magnetometer, barometer etc..Flight control modules are the brains of whole system, and control aircraft is normal
Work runs attitude algorithm algorithm, gesture stability algorithm, Beidou/GPS blending algorithm and the communication protocol of MSP430 etc., simultaneously
The control instruction that modules are sent by MSP430 must also be responded；Wherein Beidou/GPS blending algorithm is specific as follows:
Fused data are set as Y, and the general type of hypothesized model by us are as follows:
Y=kXB+(1-k)XG.
Wherein: XBFor the data that Beidou navigation module obtains, XGThe data obtained for GPS module.Due to what is obtained from module
It can be divided into truthful data in dataWith random error ∈ two parts, therefore we can be by XBAnd XGIt is expressed as shape
Formula:
Due to we assume that fused data are truthful data, then having:
We can calculate each error amount i.e. as a result, are as follows:
Under normal circumstances, random error ∈~N (0, σ2), we can be estimated by multiple groups (such as n=20) data
Its corresponding variance yields, shown in following formula:
When n takes the larger value, variance evaluation is more accurate.And variance reflects the extent of deviation of acquisition data and true value,
Therefore the specific gravity that the part data that we should make variance smaller in fused data account for is bigger.Based on this factor, we
Setting:
In addition, the number of number of satellite equally affects the data precision of acquisition, so, we are same by number of satellite s
Take into account to calibrate k value, when the number of satellite of Beidou is greater than GPS, weight is greater than 1, then the data of Beidou correspond to k value more
Greatly.
Finally, we calculate the fused data Y value for needing to obtain using this k value.
Avoiding obstacles by supersonic wave module 3 is connected with MSP430 module, is corresponded to up and down all around by being arranged in aircraft surface
6 ultrasonic distance measuring module US-100 compositions on direction realize automatic obstacle avoiding algorithm by detection peripheral obstacle distance.
MSP430 module 4 is used as transfer control module, with flight control modules 2, avoiding obstacles by supersonic wave module 3, serial ports expansion
Plate 4 is connected, and main task is the work of coordinated flight control module 2 Yu external connection module, passes through serial ports expansion plate 4 and external connection module
It is attached；MSP430 module 4 is connected by I/O mouthfuls with six ultrasonic distance measuring module US-100 simultaneously, passes through embedded volume
The mode of Cheng Caiyong poll acquires the result of six ultrasonic distance measurements.Barrier and obstacle are judged whether there is according to distance measurement result
The position of object and distance, to send flight directive accordingly far from barrier to flight control modules.Wherein MSP430 mould
Block 4 analyze based on the obstacle information that six ultrasonic distance measuring module US-100 are detected and the control algolithm of avoidance includes
Following steps:
Step 1) unmanned plane carries out autonomous flight according to pre-set path；
Whether there is barrier immediately ahead of step 2) detection unmanned plane during flying:
If step 2.1) front does not have barrier, step 1) is executed；
If there is barrier in step 2.2) front, step 3) is executed；
Step 3) judges whether unmanned plane left has barrier:
If the step 3.1) left side does not have barrier, automatic obstacle avoiding module issues instruction to winged control module；
If there is barrier on the step 3.2) left side, step 4) is executed；
Step 4) judges whether unmanned plane right has barrier:
If step 4.1) the right does not have barrier, automatic obstacle avoiding module issues instruction of turning right to winged control module；
If there is barrier on step 4.2) the right, step 5) is executed；
Step 5) judges whether there is barrier above unmanned plane:
If step 5.1) top does not have barrier, automatic obstacle avoiding module issues climb command to winged control module；
If there is barrier in step 5.2) top, step 6) is executed；
Step 6) judges whether there is barrier below unmanned plane:
If step 6.1) lower section does not have barrier, automatic obstacle avoiding module issues decline instruction to winged control module；
If there is barrier in step 6.2) lower section, step 7) is executed；
Step 7) judges whether unmanned plane rear has barrier:
If step 7.1) unmanned plane rear does not have barrier, automatic obstacle avoiding module issues to winged control module and retreats instruction；
If there is barrier at step 7.2) unmanned plane rear, step 8) is executed；
Step 8) hovering waits ground host computer to send flight path instruction.
Serial ports expansion plate 5 is connected to MSP430 module 4, will mainly to solve the problems, such as that MSP430 serial ports quantity is insufficient
The serial ports number of MSP430 is expanded, and to meet actual demand, what is connect with it further includes GPRS module 6, camera and DSP mould
Block 7, Beidou module 8 etc..
GPRS module 6 is responsible for obtaining flight control mould by MSP430 with 1 telecommunication of ground monitoring station, GPRS module 6
The flying quality of block 2 transmits these data in conjunction with the data of camera and DSP module 7 and battery monitoring module 9
Ground monitoring station 1, to realize telecommunication.
Camera and DSP module 7 pass through fault detection algorithm, real-time detection current location for shooting electric power exograph X
Power line whether there is failure, when there may be failure, send hovering order arrive flight control modules 2, keep flight
Device hovering, until fault detection finishes, however, it is determined that there are failures, then pass through the time of fault detection, place, fault type etc.
GPRS is sent to ground monitoring station 1, then proceedes to fly, and failure then releases floating state if it does not exist, continues to fly.
The fault detection algorithm integrated in DSP module 7, detailed process are as follows:
Firstly, carrying out the separation of prospect and background, the single, interference source according to sky background color to the video image of input
This few feature uses background subtraction distribution simultaneously and by the way of sky color models coupling to realize separating for prospect and background.By
Gray level image treatment effect is better than to Color Image Processing effect in background subtraction, therefore need to first establish sky color model
It realizes the gray processing of image, by color image converts monochrome image, on the one hand extracted the image information for needing to analyze,
On the other hand operand is decreased, method is made to can satisfy the real-time of detection.This treatment process is also considered as one kind
The conversion of color space, specific color notation conversion space mode are as follows:
If t > 150, p=(b-r)/2；
If t≤150, p=0；
Wherein: r, g, b are each pixel redgreenblue component values of image, and p is obtained according to three colouring component the constraint relationships
The monochrome image respective pixel point gray value obtained.Such a color notation conversion space mode reduces compared to common grey scale change
The calculation amount of floating-point operation, more suitable for the transplanting under embedded platform；On the other hand also special closer to the color of sky background
Sign, there is more accurate segmentation effect.
Then, background difference is carried out to the image after completion color space conversion, the specific steps are as follows:
(1) continuous two field pictures are chosen, wherein present frame is pk(x, y), former frame pk-1(x,y)；
(2) the poor f of present frame and background frames corresponding pixel points is calculatedd(x, y)=pk(x,y)-pk-1(x,y)；
(3) according to the threshold decision condition f of settingd(x, y) > T extracts suspicious pel as prospect.
Type Hough transformation is improved to the image of completion prospect separation, the specific implementation process is as follows:
(1) image is allow to obtain the parameter of there may be straight line to (P, θ), according to angle by traditional Hough transformation
The size of degree parameter θ is ranked up all parametric results；
(2) all parameters pair are successively traversed as a result, parameter current is to being denoted as (Pi,θi), previous parameter is to being denoted as (Pi-1,
θi-1)；
(3) judged, if | θi-θi-1| < Δ θ (Δ θ is differential seat angle threshold value, is usually set to 5 °) and | Pi-Pi-1|
< Δ P (Δ P is intercept difference threshold value) then compares A (Pi,θi) and Amax(P, θ) simultaneously takes the larger value to be updated to (Pmax,θmax)；Amax(P,
It is θ) in all satisfactions | θi-θi-1| < Δ θ and | Pi-Pi-1| the continuous (P of < Δ Pi,θi) parameter centering accumulator A (P, θ) value
It is maximum as a result, (Pmax,θmax) it is corresponding parameter；
(4) work as appearance | θi-θi-1| >=Δ θ or | Pi-Pi-1| then illustrate parameter current pair and previous ginseng when >=Δ P
It is several to differ greatly to represented straight line, it is impossible to be a variety of calculated results of same straight line, save (P at this timemax,θmax),
Amax(P, θ) zero setting, circulation carry out the operation of step (3) (4), until having traversed all parameters pair；
(5) by all (P being savedmax,θmax) parameter is to output, the maximum likelihood solution of straight line as in image.
Finally, combining the power line actual parameter being previously set to carry out logic analysis the parameter preserved, judgement is
No that there are power lines is stranded, due to the complexity of actual scene, sets following standard for differentiating:
1. output parameter is less than actual power line quantity to quantity, illustrates to have whole section of electric power thread breakage and disappear to camera
Except the visual field；
2. output parameter centering θ value is inconsistent, illustrate that power line intersects.
As shown in Fig. 2, the workflow of aerocraft system of the present invention is as follows:
(1) line walking path, aircraft parameters are arranged by ground monitoring station, then taken off, started autonomous along specified path
Navigate line walking；
(2) aircraft real time data is sent to ground monitoring station by GPRS module；
(3) power-line patrolling real-time monitoring battery electric quantity state on the way, it is determined whether needs make a return voyage, if so, executing step
(7), otherwise, continue line walking；
(4) power-line patrolling detect whether to receive on the way ground monitoring station promptly make a return voyage or instruction of landing, if so, executing step
Suddenly (7) otherwise continue line walking；
(5) avoiding obstacles by supersonic wave module detects whether that there are barriers to power-line patrolling on the way, and if it exists, then passes through obstacle avoidance algorithm
Aircraft avoiding obstacles are controlled, otherwise, continue line walking；
(6) shoot electric power exograph X, using DSP module fault detection algorithm real-time detection current location power line whether
There may be failures, if it does not exist, continue line walking, otherwise, send hovering order and arrive flight control modules, keep aircraft outstanding
Stop, until fault detection finishes, however, it is determined that there are failures, then by fault messages such as the time of fault detection, place, fault types
It is sent to ground monitoring station by GPRS module, if it does not exist failure, then releases floating state, continues line walking；
(7) it makes a return voyage, lands.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (9)
1. a kind of quadrotor system of independent navigation power-line patrolling fault detection, including be located at ground host computer and
It is installed on aircraft for controlling the flight control modules of aircraft flight state, includes to be used for inside flight control modules
The GPS module of current flight device GPS position information is obtained by GPS satellite system；It is characterized in that, the aerocraft system is also
Include:
It is installed on aircraft for acquiring the camera of video image；
Image detection module, for being detected to collected video image, to identify whether the power line in image is deposited
In abnormal conditions；
Beidou navigation module, for obtaining the Beidou location information of current flight device by Beidou satellite system；
Ultrasonic distance measuring module, for whether there are obstacles around sense aircraft and the distance between with barrier；
GPRS communication module for receiving the navigation route information of ground host computer transmission, while flight control modules being provided
State of flight information and fusion calibration after obtained location information be sent to host computer；
Transfer control module, for being sent after the Beidou location information and navigation route information are parsed and pre-processed
To flight control modules, while the obstacle information detected according to ultrasonic distance measuring module is by analyzing to flight control modules
Issue avoidance flight directive, be also used to the running parameter of image detection module, Beidou navigation module and GPRS communication module into
Row setting is to drive the work for coordinating these modules；
The flight control modules are by carrying out fusion calibration to the GPS position information and Beidou location information and combining institute
State of flight of the navigation route information to control aircraft is stated, while driving aircraft to make avoidance according to avoidance flight directive
Movement, and the location information obtained after state of flight information and fusion calibration is transmitted to GPRS by transfer control module and is led to
Believe module；
The flight control modules carry out fusion calibration to GPS position information and Beidou location information, and the specific method is as follows:
Firstly, carrying out fusion calibration to preceding n group Beidou location information and GPS position information by following formula:
Wherein:WithCorrespond to i-th group of Beidou location information and i-th group of GPS position information, YiCorrespond to i-th group of fusion school
Location information after standard, sBAnd sGThe number of satellite of Beidou satellite system and GPS satellite system is corresponded to, i is natural number and 1≤i
≤ n, n are the group number of setting；
Then, the variance of n group Beidou location information and GPS position information before calculating according to the following formula:
Wherein: ∈BAnd ∈GThe variance of n group Beidou location information and GPS position information before corresponding to；
Finally, by following formula to after n group Beidou location information and GPS position information carry out fusion calibration:
Wherein:WithCorrespond to jth group Beidou location information and jth group GPS position information, YjCorrespond to jth group fusion school
Location information after standard, j are natural number and j > n.
2. quadrotor system according to claim 1, it is characterised in that: the Beidou navigation module, image
Detection module and GPRS communication module are connect by serial ports expansion plate with transfer control module.
3. quadrotor system according to claim 1, it is characterised in that: the host computer includes:
Network receiving module, for connecting public network and carrying out network communication with carry-on GPRS communication module；
Host computer processing module uses Voronoi diagram method to aircraft current location, destination locations and all barrier points
Coordinate information carry out path operation, and then operation is obtained by navigation route information by network receiving module and is sent to flight
Device.
4. quadrotor system according to claim 3, it is characterised in that: the host computer processing module carries out road
Detailed process is as follows for diameter operation:
(1) aircraft current position coordinates point is remotely obtained by network receiving module, in conjunction with the destination locations coordinate of setting
These point storages are independent discrete point by point and all barrier points；
(2) the minimum square map region comprising above-mentioned all discrete points delimited；
(3) in the minimum square map region, path operation, meter are carried out to all discrete points using Voronoi diagram method
Calculate feasible path all in the map area；
(4) route searching is carried out to all feasible paths using breadth-first search, determined from current location to destination
The optimal path of position；
(5) to the optimal path carry out it is discrete reveal, extract optimal path on each discrete point coordinate information, and then by these
The coordinate information of discrete point is remotely sent to aircraft by network receiving module.
5. quadrotor system according to claim 1, it is characterised in that: described image detection module is to collecting
Video image detected, detailed process is as follows:
(1) gray processing processing is carried out to collected video image；
(2) background difference is carried out to the video image after gray processing and prospect separates, obtain difference foreground image；I.e. for current
Frame video image subtracts each other it with previous frame video image corresponding grey scale value, obtains current difference image；For current difference diagram
Any pixel point as in, if its gray value is greater than certain threshold value, marking the pixel is prospect, traverses all pixels according to this
Point, to obtain difference foreground image；
(3) type Hough transformation improved to the difference foreground image, output obtain corresponding to the parameter of a plurality of straight line to (P,
θ), wherein P and θ is respectively intercept and angle of the straight line in image coordinate system；Detailed process is as follows:
3.1 pairs of difference foreground images obtain the parameters of all possible corresponding straight lines to (P, θ) using traditional Hough transformations, according to
The size of angle theta is to these parameters to being ranked up；
3.2 for parameter current to (Pi,θi) and its previous parameter to (Pi-1,θi-1), if | θi-θi-1| < Δ θ and | Pi-Pi-1| <
Δ P then compares A (Pi,θi) and A (Pc,θc) size: if A (Pi,θi) > A (Pc,θc), then make parameter to (Pc,θc) be updated to
(Pi,θi)；If A (Pi,θi)≤A(Pc,θc), then make parameter to (Pc,θc) remain unchanged；
If | θi-θi-1| >=Δ θ or | Pi-Pi-1| >=Δ P is then saved and is exported parameter current to (Pi,θi), and make parameter to (Pc,
θc) and A (Pc,θc) it is set to 0；
Wherein, A (Pi,θi) it is parameter current to (Pi,θi) corresponding to pixel number on straight line, A (Pc,θc) it is parameter pair
(Pc,θc) corresponding to pixel number on straight line, the parameter is to (Pc,θc) and A (Pc,θc) initialization be 0, Δ P and Δ θ
The differential seat angle threshold value and intercept difference threshold value respectively set；
3.3 according to each parameter in step 3.2 successively judgment step 3.1 to (P, θ)；
(4) parameter obtained according to step (3) output carries out logic in conjunction with the power line actual parameter being previously set to (P, θ)
Analysis, to judge whether there is power line abnormal conditions；Following two situation if it exists then determines that current power line is abnormal；
1. the parameter that step (3) output obtains is less than actual power line quantity to the number of (P, θ)；
2. each parameter that step (3) output obtains is inconsistent to the angle theta of (P, θ).
6. quadrotor system according to claim 1, it is characterised in that: load in the transfer control module
There is following avoidance analysis strategy:
Whether there are obstacles within the scope of certain distance immediately ahead of real-time judge aircraft: if it is not, then sending out to flight control modules
Forward flight instruction out makes aircraft by predefined paths autonomous flight；If so, further judging aircraft left certain distance
Whether there are obstacles in range:
If it is not, then issuing left-hand rotation flight directive to flight control modules；If so, further judging aircraft right certain distance
Whether there are obstacles in range:
If it is not, then issuing right-hand rotation flight directive to flight control modules；If so, further judging certain distance above aircraft
Whether there are obstacles in range:
If it is not, then issuing upward flight instruction to flight control modules；If so, further judging aircraft following distance
Whether there are obstacles in range:
If it is not, then issuing descending flight instruction to flight control modules；If so, further judging aircraft rear certain distance
Whether there are obstacles in range:
Flight directive is retreated if it is not, then issuing to flight control modules；Refer to if so, issuing hovering flight to flight control modules
It enables.
7. quadrotor system according to claim 1, it is characterised in that: the flight control modules are connected with
Battery monitoring module, the power-supply battery electricity of the battery monitoring module real time monitoring aircraft, when not enough power supply, battery is supervised
Control module informs that flight control modules make it control aircraft and independently make a return voyage to charge point in advance.
8. quadrotor system according to claim 1, it is characterised in that: the ultrasonic distance measuring module is by cloth
Six ultrasonic distance measurement units that aircraft corresponds to up and down on surface all around are placed in form.
9. quadrotor system according to claim 2, it is characterised in that: if image detection module detects currently
There are abnormal conditions for power line in frame image, then by transfer control module make flight control modules control aircraft hovering with
Further confirm that abnormal conditions；After power line determines failure, flight control modules are by current time, current location and failure
Type passes sequentially through transfer control module and GPRS communication module is sent to host computer.
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| CN108871409A (en) * | 2018-05-02 | 2018-11-23 | 北京畅东科技有限公司 | A kind of fault detection method and system |
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