CN108983809A - The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane - Google Patents
The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane Download PDFInfo
- Publication number
- CN108983809A CN108983809A CN201810778093.9A CN201810778093A CN108983809A CN 108983809 A CN108983809 A CN 108983809A CN 201810778093 A CN201810778093 A CN 201810778093A CN 108983809 A CN108983809 A CN 108983809A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- positioning surrounding
- accurate identification
- measured
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000007689 inspection Methods 0.000 claims abstract description 30
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 70
- 238000004891 communication Methods 0.000 claims description 51
- 229910052742 iron Inorganic materials 0.000 claims description 35
- 230000015654 memory Effects 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 6
- 239000004020 conductor Substances 0.000 claims description 4
- 241001269238 Data Species 0.000 abstract 2
- 230000006870 function Effects 0.000 description 9
- 238000005259 measurement Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000003331 infrared imaging Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241001310793 Podium Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides the method and unmanned plane of a kind of accurate identification positioning surrounding based on unmanned plane.The method of the accurate identification positioning surrounding based on unmanned plane includes: that unmanned plane is obtained according to the longitude and latitude of target to be measured and inspection height positioning surrounding line map generated；According to the positioning surrounding line map, positioning surrounding flight is carried out to the target to be measured according to default rule；During positioning surrounding flight, the capture apparatus controlled on local equipment is taken pictures and/or is imaged to the target to be measured with preset angle, to obtain the live-pictures and/or real time video data of the target to be measured.The method of the accurate identification positioning surrounding based on unmanned plane utilizes the positioning surrounding line map and the default rule, object is surveyed to the band and realizes precisely identification, and realizes positioning surrounding with measuring and control datas such as the live-pictures and/or the real time video datas that obtain the target to be measured target to be measured.
Description
Technical field
The present invention relates to air vehicle technique fields, specifically, the present invention relates to a kind of accurate identification based on unmanned plane
The method and unmanned plane of positioning surrounding.
Background technique
With the development of domestic air mail industry, UAV technology tends to mature gradually, disappears for power circuit, public security
Anti-, extra large land patrol etc. provides the technical method and means of update, for the inspection project of communication iron tower, more especially
For high mountain website and the difficult website of some environment complexity, these projects are often required that " short, adaptable and fast ", and measurement period is short, appoints
Business weight, quality are high, and landform, landforms are complicated and changeable in region, and survey crew, instrument and equipment can not reach sometimes.Using traditional
Artificial prospecting routine inspection mode, condition is arduous, inefficiency, and the base station prospecting inspection work occasional of a line meets with " being driven away by dog "
The danger of " being stung by snake ".
Unmanned plane realizes electronization, information-based, intelligence inspection, improves the working efficiency of communication iron tower inspection, answers
The suddenly level of speedily carrying out rescue work and communication support reliability.Simultaneously running cost substantially reduce, landing site without limitation, it is easy to operate, can pacify
Have easy access to full target, can be examined completely by fortune maintenance unit voluntarily possess, and complete independently operation and O&M, can be quickly real
The field data of existing inspection target.And Freshets roar down from the mountains, earthquake disaster etc. in emergency circumstances, unmanned plane can be to the potential danger of steel tower
Danger, the problems such as such as column foot is subside, carry out exploration and urgent investigation, are not influenced by pavement behavior at all, both removed from climbing shaft tower it
Hardship, and the visual dead angle of human eye can be surveyed, it is helpful for restoring to communicate rapidly.
Currently, lack a kind of precisely identification communication iron tower in the industry, and to the unmanned plane of the communication iron tower positioning surrounding.
Summary of the invention
The purpose of the present invention be intended to provide a kind of accurate identification positioning surrounding based on unmanned plane method and it is a kind of nobody
Machine.
To achieve the goals above, the present invention the following technical schemes are provided:
A method of the accurate identification positioning surrounding based on unmanned plane comprising:
Unmanned plane is obtained according to the longitude and latitude of target to be measured and inspection height positioning surrounding line map generated；
According to the positioning surrounding line map, positioning surrounding flight is carried out to the target to be measured according to default rule；
During positioning surrounding flight, the capture apparatus on local equipment is controlled with preset angle to described to be measured
Object is taken pictures and/or is imaged, to obtain the live-pictures and/or real time video data of the target to be measured.
Specifically, the target to be measured is communication iron tower.
Specifically, further includes:
During positioning surrounding flight, control the remote sensing equipment on local equipment with preset angle obtain it is described to
Survey the remotely-sensed data of object.
Further, further includes:
Obtain the location data of the unmanned plane, with judge the unmanned plane according to when the positioning surrounding line map flight whether
Deviation route, if then adjusting the flying speed and heading of the unmanned plane according to the location data.
Specifically, comprising:
The control signal from ground control cabinet is received, and local equipment is controlled according to the control signal and executes control signal institute
Corresponding operation.
Further, further includes:
20ms is not more than with propagation delay time to the remote equipment connecting with local equipment, the bit error rate is not more than 10-6Transmit the reality
When photo and/or real time video data.
Further, the transmission live-pictures and/or real time video data use frequency hopping.
Specifically, the default rule includes: that spot hover, automatic obstacle-avoiding, inspection be autonomous and security strategy；Wherein,
The spot hover reaches the preset hovering point steadily hovering of the positioning surrounding line map, hovering control for unmanned plane
Variance level direction processed is not more than 0.75m no more than 1.5m, standard deviation, and vertical direction is not more than 1m no more than 2m, standard deviation;
The automatic obstacle-avoiding is used to detect the unmanned plane positioning surrounding route when the flying speed of unmanned plane is not more than 5m/s
Barrier within the scope of the flight line periphery 20m of figure, the barrier include the communication conductor that diameter is greater than 23.9mm；
The inspection at least has level and the capture apparatus of the rotating property of pitching both direction from control is mainly used to
The rotation maximum angular rate of all directions is not less than 30 °/s;
The security strategy is used for according to the state of flight of unmanned plane, communication state, motor of engine state, cell voltage parameter
Judge whether current unmanned plane is in controllable state, if it is not, then executing preset flight scenario and leading to establishing with unmanned plane
The external control devices of letter carry out early warning.
Specifically, further includes:
The threedimensional model of the target to be measured is constructed according to the live-pictures, real time video data and remotely-sensed data.
In addition, the present invention also provides a kind of unmanned planes.The unmanned plane includes:
One or more processors；
Memory；
One or more application program, wherein one or more of application programs are stored in the memory and are matched
It is set to and is executed by one or more of processors, one or more of programs are configured as being held when it by the processor
The step of method of the above-mentioned accurate identification positioning surrounding based on unmanned plane is executed when row.
Compared with the prior art, the solution of the invention has the following advantages:
The method of the accurate identification positioning surrounding based on unmanned plane in the present invention is obtained using unmanned plane according to object to be measured
The longitude and latitude of object and inspection height positioning surrounding line map generated；According to the positioning surrounding line map, according to preset
Rule carries out positioning surrounding flight to the target to be measured；
During positioning surrounding flight, the capture apparatus on local equipment is controlled with preset angle to described to be measured
Object is taken pictures and/or is imaged, to obtain the live-pictures and/or real time video data of the target to be measured.This hair
It is bright effectively to the target to be measured carry out positioning surrounding, and effectively obtain the target to be measured live-pictures and/
Or real time video data, facilitate the reality that the target to be measured is judged according to the live-pictures and/or real time video data
When state without manpower can realize the inspection and monitoring to target to be measured.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of embodiment of the method for the accurate identification positioning surrounding based on unmanned plane in the present invention；
Fig. 2 is a kind of structural schematic diagram of embodiment of unmanned plane in the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
For the problems of the prospecting inspection work of current communication iron tower, as landform, landforms are complicated more in region
Become, survey crew, instrument and equipment can not reach sometimes, and the present invention proposes a kind of accurate identification positioning surrounding based on unmanned plane
Method and a kind of unmanned plane.
It is understood that the solution of the present invention can be not only used for the work of the prospecting inspection to communication iron tower, it can also be with
The acquisition of measurement data for electric pole, sail, beacon, building etc..
In order to enable technical solution of the present invention is more removed, is more easily understood, it is below communication iron with target to be measured
Tower is illustrated and illustrates.
Such as Fig. 1, the method for accurate identification positioning surrounding of one of the present invention based on unmanned plane is shown.It is described to be based on
The method of the accurate identification positioning surrounding of unmanned plane comprising step S101, step S102 and step S103.
Wherein, step S101: unmanned plane is obtained according to the longitude and latitude of target to be measured and the positioning generated of inspection height
Around line map；
Step S102: according to the positioning surrounding line map, positioning ring is carried out to the target to be measured according to default rule
Around flight；
Step S103: during positioning surrounding flight, the capture apparatus on local equipment is controlled with preset angle
The target to be measured is taken pictures and/or imaged, to obtain the live-pictures and/or real-time video of the target to be measured
Data.
The method of the accurate identification positioning surrounding based on unmanned plane in the present invention is obtained using unmanned plane according to be measured
The longitude and latitude of object and inspection height positioning surrounding line map generated；According to the positioning surrounding line map, according to pre-
If rule to the target to be measured carry out positioning surrounding flight；
During positioning surrounding flight, the capture apparatus on local equipment is controlled with preset angle to described to be measured
Object is taken pictures and/or is imaged, to obtain the live-pictures and/or real time video data of the target to be measured.This hair
It is bright effectively to the target to be measured carry out positioning surrounding, and effectively obtain the target to be measured live-pictures and/
Or real time video data, facilitate the reality that the target to be measured is judged according to the live-pictures and/or real time video data
When state without manpower can realize the inspection and monitoring to target to be measured.
In order to enable the solution of the present invention can be easy to understand, below to the specific reality of each step of the solution of the present invention
Existing process makees detailed and specific description.
Step S101: unmanned plane is obtained according to the longitude and latitude of target to be measured and the positioning ring coiling generated of inspection height
Lu Tu.
Specifically, the target to be measured is communication iron tower.
For the inspection project of communication iron tower, the difficult website of especially some high mountain websites and some environment complexity and
Speech, these projects often require that " short, adaptable and fast " that measurement period is short, task is heavy, quality is high, and landform, landforms are complicated and changeable in region,
Sometimes survey crew, instrument and equipment can not reach.Therefore, it can solve survey crew using unmanned plane, instrument and equipment can not arrive
Up to the problem of.But it is replacing manually realizing prospecting to communication iron tower and check using unmanned plane, how to guarantee unmanned function to logical
Believe that steel tower carries out precisely effective measurement, is our technical problems to be solved.
It is well known that unmanned plane is flown using radio robot and the not manned of the presetting apparatus provided for oneself manipulation
Machine.
In an embodiment of the present invention, the unmanned plane is equipped with the signal receiving/transmission device for being able to achieve signal transmitting and receiving, leads to
It crosses the signal receiving/transmission device and establishes linking for data connection with external remote control equipment (such as ground control cabinet), to obtain
Control instruction, other external equipments from remote control equipment be sent to unmanned generator terminal data information and will be acquired in local equipment
Data information be back to and establish the external equipment that data link is connect with it.
Specifically, comprising:
Unmanned plane receives the control signal from ground control cabinet, and controls local equipment according to the control signal and execute control
Operation corresponding to signal.
In the present embodiment, ground control cabinet be mainly used for the monitoring and control of state of flight during unmanned plane during flying,
The navigator of flight, sensing data acquisition modes functions, the data that furthermore flight can also be obtained such as control tentatively be located
Reason.Unmanned generator terminal can receive the control signal from ground control cabinet, execute corresponding control operation according to the control signal.
The data link for establishing unmanned generator terminal and ground control cabinet helps to ensure that ground control station and unmanned plane during flying are flat
Data communication between platform ensures unmanned plane and ground especially under the communication conditions rugged environment such as mountain area with a varied topography
Between reliable communicating.
The upload of Unmanned Aerial Vehicle Data passed down in real time with control command has been effectively ensured in the foundation of data link, to complete
Unmanned plane working condition is tracked and controlled.The transmission rate of data link is customized according to actual needs, is generally existed
Under the rate of 4Mbps~8Mbps, can be realized real time picture data and real time video data in real time under pass, make ground observing and controlling
Personnel intuitively understand flight field condition, facilitate observing and controlling personnel according to unmanned plane and adjust unmanned plane to communication iron tower positioning surrounding
State of flight, thus guarantee the accurate identification positioning surrounding based on unmanned plane method validity with accuracy.
Meanwhile the unmanned plane in the present embodiment is equipped with the capture apparatus such as high-definition digital video camera and camera and GPS
Positioning system.In another embodiment, the high-definition digital video camera and camera can be integrated into nothing in the form of mould group
It is man-machine.The present invention constitutes unmanned plane mapping system using capture apparatus and GPS positioning system, can around communication iron tower into
Row positioning cruise, thus by the real-time transmission filmed image,
Communication iron tower is a fixed building, there is specific longitude and latitude.It is asked when communication failure etc. occurs in communication iron tower
When topic or daily prospecting inspection, prejudges and where partially being reconnoitred and being checked to communication iron tower needed, so that it is determined that described
The inspection height of communication iron tower.Using the longitude and latitude and inspection height of the communication iron tower, a unmanned plane can be generated to logical
Believe that steel tower carries out the positioning surrounding line map of positioning surrounding.
Unmanned plane can fly according to the positioning surrounding line map along tracks corresponding to the positioning surrounding line map
Row, and during flight, the capture apparatus and remote sensing equipment controlled thereon obtains the real-time photographic data of communication iron tower, view
Frequency evidence and remotely-sensed data.The unmanned plane flies along the tracks of the positioning surrounding line map, can be in the line
It hovers on rail mark, and receives the operational order execution corresponding operation of ground control cabinet.
Wherein, the positioning surrounding route map generalization can be external equipment generation and be sent to unmanned generator terminal, can also
It is generated on local equipment with being the data such as longitude and latitude and inspection height that unmanned plane termination receives communication iron tower.
Step S102: according to the positioning surrounding line map, the target to be measured is determined according to default rule
Position is around flight.
After unmanned generator terminal generates the positioning surrounding line map, by the test before taking off to unmanned plane, unmanned plane
It can use GPS positioning system thereon, enter in the middle of the corresponding tracks of the positioning surrounding line map, and along
The tracks flight, and execute corresponding shooting operation.
During the unmanned plane carries out positioning surrounding according to the positioning surrounding line map, the unmanned plane can be abided by
Follow default rule below.It is understood that the default rule can be by corresponding integrated circuit modules and default
Control instruction complete.Setting up for the rule, is in order to enable the positioning to communication iron tower can be better achieved in unmanned plane
It surround, obtains the high efficiency and stability of related measurement data to guarantee the positioning surrounding to communication iron tower.
Specifically, the default rule includes: that spot hover, automatic obstacle-avoiding, inspection be autonomous and security strategy；Wherein,
1) spot hover.In the present embodiment, the unmanned plane has head redirection function.On the positioning surrounding line map
Equipped with hovering point, unmanned plane reaches preset hovering point by full autonomous flight mode or passes through manually or increase steady offline mode
After reaching specified point, intervene without operator, it can steadily hovering.The control of Hovering control deviation is not more than in the horizontal direction
1.5m, standard deviation are not more than 0.75m, and vertical direction is not more than 1m no more than 2m, standard deviation.
2) automatic obstacle-avoiding.In the present embodiment, the automatic obstacle-avoiding is used to be not more than 5m/s when the flying speed of unmanned plane
When, the barrier within the scope of the flight line periphery 20m of the unmanned plane positioning surrounding line map is detected, the barrier includes
Diameter is greater than the communication conductor of 23.9mm.
3) inspection is autonomous.In the present embodiment, the inspection at least has horizontal and two sides of pitching from control is mainly used to
To rotating property the capture apparatus and remote sensing equipment all directions rotation maximum angular rate be not less than 30 °/s.It utilizes
The inspection is independently regular, and during to the communication iron tower positioning surrounding, the shooting adjusted thereon is set the unmanned plane
Standby and remote sensing equipment, effectively to obtain the real time picture, video and remotely-sensed data of communication iron tower.
4) security strategy.The security strategy is used for according to the state of flight of unmanned plane, communication state, motor of engine shape
State, cell voltage parameter judge whether current unmanned plane is in controllable state, if it is not, then executing preset flight scenario and right
The external control devices communicated are established with unmanned plane carries out early warning.
Further, during unmanned plane is according to the positioning surrounding line map positioning surrounding, further includes:
It obtains external equipment and is sent to a key of local equipment and make a return voyage instruction, one key of starting makes a return voyage after function, stops immediately currently
Task is simultaneously maked a return voyage.The parameters such as destination, speed of making a return voyage can be preset, and settable destination number is no less than 10.
It is understood that carrying out positioning surrounding to communication iron tower along the positioning surrounding line map in the unmanned plane
During, due to weather, topography, data-signal etc., the data established between the unmanned plane and ground control cabinet
Link is easy to happen interruption.Obviously, after data link interruption, the ground control cabinet is lost to the unmanned plane
Control, unmanned plane at this time is in no-console condition.
In the present invention, the method for the accurate identification positioning surrounding based on unmanned plane further includes following steps:
Confirm the data link interrupting information that current unmanned plane and the ground control cabinet are established；
And the link down on unmanned plane is started according to the link down information and is maked a return voyage function.
For example, having no progeny in a link, unmanned plane hovering waits communication signal to restore, and the waiting time can be preset.?
If communication signal restores in the waiting time, unmanned plane can continue to execute task, otherwise make a return voyage by default course line.Make a return voyage destination, speed
The parameters such as degree can be preset, and settable destination number is no less than 10.
Further, further includes:
Obtain the location data of the unmanned plane, with judge the unmanned plane according to when the positioning surrounding line map flight whether
Deviation route, if then adjusting the flying speed and heading of the unmanned plane according to the location data.
Due to existing and deviateing positioning surrounding route during unmanned plane carries out positioning surrounding to the communication iron tower
A possibility that figure corresponding tracks, therefore, the present embodiment is in order to guarantee that the unmanned plane without departing from route, and then guarantees
Unmanned plane obtains the location data of the unmanned plane to the accurate identification positioning surrounding of communication iron tower in real time, and described in comparison
When tracks corresponding to the location data of unmanned plane and the positioning surrounding line map deviate, pass through ground control cabinet
Issue control instruction in time to adjust the flight path of the unmanned plane or unmanned plane itself according to the data point reuse of the deviation
The state of flight of itself.
Step S103: during positioning surrounding flight, the capture apparatus on local equipment is controlled with preset
Angle is taken pictures and/or is imaged to the target to be measured, with obtain the target to be measured live-pictures and/or in real time
Video data.
Specifically, further includes:
During positioning surrounding flight, control the remote sensing equipment on local equipment with preset angle obtain it is described to
Survey the remotely-sensed data of object.
Using the unmanned plane to the target to be measured, that is, positioning surrounding is carried out to communication iron tower, is to obtain
The related measurement data of the communication iron tower.Therefore, it is necessary to control capture apparatus and the remote sensing equipment to obtain communication iron tower
Image data, video data and remotely-sensed data.
The present invention uses the stereogram technology of airphoto.For example, endlap control is for 55%-65%, at least
50%, generally 60%, sidelapping is controlled substantially 30%.Photo overlapping in different location separated by a distance it is meant that clap
Take the photograph same target.There are parallaxes may be constructed stereogram, and can further obtain three-dimensional model.
It is understood that the part of the measurement of communication iron tower might not with corresponding to the positioning surrounding line map
Tracks in same plane, the present embodiment, the angle of its shooting of capture apparatus and remote sensing equipment on the unmanned plane
It is adjustable.Meanwhile shooting angle, it can be preset.Such as, the capture apparatus is controlled with horizontal plane at preset
30 ° of angles shoot communication iron tower.
UAV flight's capture apparatus and remote sensing equipment in the present invention can include: optics digital camera, thermal infrared imaging
Instrument, ultraviolet imager, laser scanner etc..It is to be understood that the optics digital camera, thermal infrared imaging instrument, purple
Outer imager, laser scanner etc. are desirably integrated into the unmanned plane main body, with main body integrated with the unmanned plane.
Wherein, the optics digital camera be used for obtain shaft tower, communication conductor, power line corridor optical image, be used for
The diagnosis of the defects of pin missing, fitting corrosion missing, hidden danger；The thermal infrared imaging instrument is set for communication iron tower and its route
Standby infrared video acquires, and obtains the unusual condition of the equipment such as fitting, optical cable and insulator；The ultraviolet imager is for communicating
Steel tower equipment ultraviolet video information collection, the abnormality detection for fitting and the communications cable；The laser scanner is for obtaining
The high-precision point cloud data of communications cable corridor atural object is, it can be achieved that communication iron tower whole height, podium level, antenna amount, line
The detection of the data such as cable cable run distance generates line corridor true three-dimension model.
Further, further includes:
20ms is not more than with propagation delay time to the remote equipment connecting with local equipment, the bit error rate is not more than 10-6Transmit the reality
When photo and/or real time video data.
Further, the transmission live-pictures and/or real time video data use frequency hopping.
In addition, as shown in Fig. 2, the present invention also provides a kind of unmanned planes comprising:
One or more processors；
Memory；
One or more application program, wherein one or more of application programs are stored in the memory and are matched
It is set to and is executed by one or more of processors, one or more of programs are configured as being held when it by the processor
The step of method of the above-mentioned accurate identification positioning surrounding based on unmanned plane is executed when row.
Wherein, memory 10 can be used for storing software program and module, and processor 20 is stored in memory by operation
10 software program and module, thereby executing the various function application and data processing of the identifying system.Memory 10
It can mainly include storing program area and storage data area, wherein storing program area can storage program area, at least one function institute
The application program etc. needed；Storage data area, which can be stored, uses created data (such as audio number according to the identifying system
According to, phone directory etc.) etc..In addition, memory 10 may include high-speed random access memory, it can also include non-volatile memories
Device, for example, at least a disk memory, flush memory device or other volatile solid-state parts.
The processor 20 is the control centre of positioning device, utilizes the entire server of various interfaces and connection
Various pieces, by running or execute the software program and/or module that are stored in memory 10, and call and be stored in
Data in reservoir 10 execute the various functions and processing data of the positioning device, to carry out to the positioning device whole
Body monitoring.Optionally, processor 20 may include one or more processing units；Preferably, processor 20 can be integrated using processing
Device and modem processor, wherein the main processing operation system of application processor, user interface and application program etc., modulation
Demodulation processor mainly handles wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processing
In device 20.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of method of the accurate identification positioning surrounding based on unmanned plane characterized by comprising
Unmanned plane is obtained according to the longitude and latitude of target to be measured and inspection height positioning surrounding line map generated；
According to the positioning surrounding line map, positioning surrounding flight is carried out to the target to be measured according to default rule；
During positioning surrounding flight, the capture apparatus on local equipment is controlled with preset angle to described to be measured
Object is taken pictures and/or is imaged, to obtain the live-pictures and/or real time video data of the target to be measured.
2. the method for the accurate identification positioning surrounding according to claim 1 based on unmanned plane, which is characterized in that it is described to
Survey object is communication iron tower.
3. the method for the accurate identification positioning surrounding according to claim 1 based on unmanned plane, which is characterized in that also wrap
It includes:
During positioning surrounding flight, control the remote sensing equipment on local equipment with preset angle obtain it is described to
Survey the remotely-sensed data of object.
4. the method for the accurate identification positioning surrounding according to claim 1 based on unmanned plane, which is characterized in that also wrap
It includes:
Obtain the location data of the unmanned plane, with judge the unmanned plane according to when the positioning surrounding line map flight whether
Deviation route, if then adjusting the flying speed and heading of the unmanned plane according to the location data.
5. the method for the accurate identification positioning surrounding according to claim 1 based on unmanned plane characterized by comprising
The control signal from ground control cabinet is received, and local equipment is controlled according to the control signal and executes control signal institute
Corresponding operation.
6. the method for the accurate identification positioning surrounding according to claim 5 based on unmanned plane, which is characterized in that also wrap
It includes:
20ms is not more than with propagation delay time to the remote equipment connecting with local equipment, the bit error rate is not more than 10-6Transmit the reality
When photo and/or real time video data.
7. the method for the accurate identification positioning surrounding according to claim 6 based on unmanned plane, which is characterized in that the biography
The defeated live-pictures and/or real time video data use frequency hopping.
8. the method for the accurate identification positioning surrounding according to claim 1 based on unmanned plane, which is characterized in that described pre-
If rule include: that spot hover, automatic obstacle-avoiding, inspection be autonomous and security strategy；Wherein,
The spot hover reaches the preset hovering point steadily hovering of the positioning surrounding line map, hovering control for unmanned plane
Variance level direction processed is not more than 0.75m no more than 1.5m, standard deviation, and vertical direction is not more than 1m no more than 2m, standard deviation；
The automatic obstacle-avoiding is used to detect the unmanned plane positioning surrounding route when the flying speed of unmanned plane is not more than 5m/s
Barrier within the scope of the flight line periphery 20m of figure, the barrier include the communication conductor that diameter is greater than 23.9mm；
The inspection at least has level and the capture apparatus of the rotating property of pitching both direction from control is mainly used to
The rotation maximum angular rate of all directions is not less than 30 °/s；
The security strategy is used for according to the state of flight of unmanned plane, communication state, motor of engine state, cell voltage parameter
Judge whether current unmanned plane is in controllable state, if it is not, then executing preset flight scenario and leading to establishing with unmanned plane
The external control devices of letter carry out early warning.
9. the method for the accurate identification positioning surrounding according to claim 3 based on unmanned plane, which is characterized in that also wrap
It includes:
The threedimensional model of the target to be measured is constructed according to the live-pictures, real time video data and remotely-sensed data.
10. a kind of unmanned plane characterized by comprising
One or more processors；
Memory；
One or more application program, wherein one or more of application programs are stored in the memory and are matched
It is set to and is executed by one or more of processors, one or more of programs are configured as being held when it by the processor
Perform claim requires the step of method of the accurate identification positioning surrounding based on unmanned plane described in 1-9 when row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810778093.9A CN108983809A (en) | 2018-07-16 | 2018-07-16 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810778093.9A CN108983809A (en) | 2018-07-16 | 2018-07-16 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108983809A true CN108983809A (en) | 2018-12-11 |
Family
ID=64548668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810778093.9A Pending CN108983809A (en) | 2018-07-16 | 2018-07-16 | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108983809A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109671174A (en) * | 2018-12-20 | 2019-04-23 | 北京中飞艾维航空科技有限公司 | A kind of pylon method for inspecting and device |
| CN109782803A (en) * | 2019-01-30 | 2019-05-21 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane transmission pressure inspection system and method |
| CN109976370A (en) * | 2019-04-19 | 2019-07-05 | 深圳市道通智能航空技术有限公司 | The circumvolant control method of facade, device, terminal and storage medium |
| CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
| CN114419109A (en) * | 2022-03-29 | 2022-04-29 | 中航金城无人系统有限公司 | Aircraft positioning method based on visual and barometric information fusion |
| CN117041982A (en) * | 2023-06-26 | 2023-11-10 | 中国软件评测中心(工业和信息化部软件与集成电路促进中心) | System and method for detecting correctness of air interface transmission data |
Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203658825U (en) * | 2014-01-16 | 2014-06-18 | 西安博宇信息科技有限公司 | Remote controlling and measuring system used for unmanned planes |
| CN103886189A (en) * | 2014-03-07 | 2014-06-25 | 国家电网公司 | Patrolling result data processing system and method used for unmanned aerial vehicle patrolling |
| CN203951493U (en) * | 2014-01-20 | 2014-11-19 | 威海市公安局特巡警支队 | A kind of unmanned plane wireless image transmission system based on 340MHz multi-carrier modulation technology |
| CN105138126A (en) * | 2015-08-26 | 2015-12-09 | 小米科技有限责任公司 | Unmanned aerial vehicle shooting control method and device and electronic device |
| CN105242685A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane flight accompanying aerial photographing system and method |
| CN105511495A (en) * | 2016-02-15 | 2016-04-20 | 国家电网公司 | Control method and system for intelligent unmanned aerial vehicle patrol for power line |
| CN106027896A (en) * | 2016-06-20 | 2016-10-12 | 零度智控（北京）智能科技有限公司 | Video photographing control device and method, and unmanned aerial vehicle |
| CN205918206U (en) * | 2016-07-14 | 2017-02-01 | 衡水圣亚钢结构有限公司 | Communication tower safety monitoring system |
| CN106403948A (en) * | 2015-07-27 | 2017-02-15 | 国家电网公司 | Three-dimensional flight track planning method for electric transmission line inspection unmanned aerial vehicle |
| CN106428594A (en) * | 2016-10-19 | 2017-02-22 | 广东容祺智能科技有限公司 | Electric power line patrol multidimensional aerial photography system for unmanned aerial vehicle and using method thereof |
| CN106873627A (en) * | 2017-03-31 | 2017-06-20 | 湘潭大学 | A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity |
| CN106909172A (en) * | 2017-03-06 | 2017-06-30 | 重庆零度智控智能科技有限公司 | Around tracking, device and unmanned plane |
| CN107024941A (en) * | 2017-04-27 | 2017-08-08 | 广东容祺智能科技有限公司 | One kind is based on unmanned plane traffic accidents survey system |
| CN107065929A (en) * | 2017-05-05 | 2017-08-18 | 成都通甲优博科技有限责任公司 | A kind of unmanned plane is around flying method and system |
| CN107084725A (en) * | 2017-05-17 | 2017-08-22 | 成都翼比特自动化设备有限公司 | A kind of three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process |
| KR20170111921A (en) * | 2016-03-30 | 2017-10-12 | 팅크웨어(주) | Method and system for controlling unmanned air vehicle |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN107622525A (en) * | 2017-10-09 | 2018-01-23 | 贵州信鸽科技有限公司 | Threedimensional model preparation method, apparatus and system |
| CN207067019U (en) * | 2017-08-07 | 2018-03-02 | 三峡大学 | A kind of engineering construction Crack Detection unmanned plane |
| CN107925753A (en) * | 2015-09-25 | 2018-04-17 | 英特尔公司 | The method and system of 3D rendering seizure is carried out using dynamic camera |
| CN107943082A (en) * | 2017-12-01 | 2018-04-20 | 亿航智能设备（广州）有限公司 | Unmanned plane flies to control method, apparatus and computer-readable medium |
| CN108033015A (en) * | 2017-12-20 | 2018-05-15 | 西安科技大学 | A kind of unmanned plane device and method for the monitoring of coal gangue hill ignition point |
| CN108168554A (en) * | 2017-11-20 | 2018-06-15 | 国网山东省电力公司莱芜供电公司 | A kind of quick planing method of unmanned plane power-line patrolling system map |
| CN108196562A (en) * | 2018-01-31 | 2018-06-22 | 佛山市神风航空科技有限公司 | A kind of scenic spot monitoring system and method based on unmanned plane |
-
2018
- 2018-07-16 CN CN201810778093.9A patent/CN108983809A/en active Pending
Patent Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203658825U (en) * | 2014-01-16 | 2014-06-18 | 西安博宇信息科技有限公司 | Remote controlling and measuring system used for unmanned planes |
| CN203951493U (en) * | 2014-01-20 | 2014-11-19 | 威海市公安局特巡警支队 | A kind of unmanned plane wireless image transmission system based on 340MHz multi-carrier modulation technology |
| CN103886189A (en) * | 2014-03-07 | 2014-06-25 | 国家电网公司 | Patrolling result data processing system and method used for unmanned aerial vehicle patrolling |
| CN106403948A (en) * | 2015-07-27 | 2017-02-15 | 国家电网公司 | Three-dimensional flight track planning method for electric transmission line inspection unmanned aerial vehicle |
| CN105138126A (en) * | 2015-08-26 | 2015-12-09 | 小米科技有限责任公司 | Unmanned aerial vehicle shooting control method and device and electronic device |
| CN107925753A (en) * | 2015-09-25 | 2018-04-17 | 英特尔公司 | The method and system of 3D rendering seizure is carried out using dynamic camera |
| CN105242685A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane flight accompanying aerial photographing system and method |
| CN105511495A (en) * | 2016-02-15 | 2016-04-20 | 国家电网公司 | Control method and system for intelligent unmanned aerial vehicle patrol for power line |
| KR20170111921A (en) * | 2016-03-30 | 2017-10-12 | 팅크웨어(주) | Method and system for controlling unmanned air vehicle |
| CN106027896A (en) * | 2016-06-20 | 2016-10-12 | 零度智控（北京）智能科技有限公司 | Video photographing control device and method, and unmanned aerial vehicle |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN205918206U (en) * | 2016-07-14 | 2017-02-01 | 衡水圣亚钢结构有限公司 | Communication tower safety monitoring system |
| CN106428594A (en) * | 2016-10-19 | 2017-02-22 | 广东容祺智能科技有限公司 | Electric power line patrol multidimensional aerial photography system for unmanned aerial vehicle and using method thereof |
| CN106909172A (en) * | 2017-03-06 | 2017-06-30 | 重庆零度智控智能科技有限公司 | Around tracking, device and unmanned plane |
| CN106873627A (en) * | 2017-03-31 | 2017-06-20 | 湘潭大学 | A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity |
| CN107024941A (en) * | 2017-04-27 | 2017-08-08 | 广东容祺智能科技有限公司 | One kind is based on unmanned plane traffic accidents survey system |
| CN107065929A (en) * | 2017-05-05 | 2017-08-18 | 成都通甲优博科技有限责任公司 | A kind of unmanned plane is around flying method and system |
| CN107084725A (en) * | 2017-05-17 | 2017-08-22 | 成都翼比特自动化设备有限公司 | A kind of three-dimensional flight course planning method of multi-rotor unmanned aerial vehicle electric inspection process |
| CN207067019U (en) * | 2017-08-07 | 2018-03-02 | 三峡大学 | A kind of engineering construction Crack Detection unmanned plane |
| CN107622525A (en) * | 2017-10-09 | 2018-01-23 | 贵州信鸽科技有限公司 | Threedimensional model preparation method, apparatus and system |
| CN108168554A (en) * | 2017-11-20 | 2018-06-15 | 国网山东省电力公司莱芜供电公司 | A kind of quick planing method of unmanned plane power-line patrolling system map |
| CN107943082A (en) * | 2017-12-01 | 2018-04-20 | 亿航智能设备（广州）有限公司 | Unmanned plane flies to control method, apparatus and computer-readable medium |
| CN108033015A (en) * | 2017-12-20 | 2018-05-15 | 西安科技大学 | A kind of unmanned plane device and method for the monitoring of coal gangue hill ignition point |
| CN108196562A (en) * | 2018-01-31 | 2018-06-22 | 佛山市神风航空科技有限公司 | A kind of scenic spot monitoring system and method based on unmanned plane |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109671174A (en) * | 2018-12-20 | 2019-04-23 | 北京中飞艾维航空科技有限公司 | A kind of pylon method for inspecting and device |
| CN109782803A (en) * | 2019-01-30 | 2019-05-21 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane transmission pressure inspection system and method |
| CN109782803B (en) * | 2019-01-30 | 2022-06-10 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle transmission conductor line patrol system and method |
| CN109976370A (en) * | 2019-04-19 | 2019-07-05 | 深圳市道通智能航空技术有限公司 | The circumvolant control method of facade, device, terminal and storage medium |
| CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
| CN114419109A (en) * | 2022-03-29 | 2022-04-29 | 中航金城无人系统有限公司 | Aircraft positioning method based on visual and barometric information fusion |
| CN117041982A (en) * | 2023-06-26 | 2023-11-10 | 中国软件评测中心(工业和信息化部软件与集成电路促进中心) | System and method for detecting correctness of air interface transmission data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108983809A (en) | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane | |
| He et al. | Research of multi-rotor UAVs detailed autonomous inspection technology of transmission lines based on route planning | |
| CN108306217B (en) | Intelligent autonomous overhead high-voltage line wire flying inspection system and method | |
| CN105790155B (en) | A kind of autonomous cruising inspection system of power transmission line unmanned machine and method based on differential GPS | |
| CN102589524B (en) | Power line patrolling method | |
| CN103941746B (en) | Image processing system and method is patrolled and examined without man-machine | |
| JP2019194903A (en) | Information processing device, information processing method and computer program | |
| CN109376587A (en) | Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things | |
| WO2015163106A1 (en) | Control device, imaging device, control method, imaging method, and computer program | |
| CN111596297B (en) | Detection device and method for unmanned aerial vehicle in air based on panoramic imaging and ultrasonic rotation | |
| CN107367262A (en) | Positioning mapping in real time shows interconnection type control method to a kind of unmanned plane at a distance | |
| CN206077604U (en) | A kind of inspection system of the extra-high voltage grid construction project based on unmanned plane | |
| KR20170138225A (en) | The real time national imagery intelligence system or method based on the drone which hovering or surveillance flight around the drone docking station | |
| CN104118561B (en) | Method for monitoring large endangered wild animals based on unmanned aerial vehicle technology | |
| CN108400554A (en) | Utilize the method for unmanned plane inspection overhead transmission line | |
| CN112486199A (en) | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group | |
| JP6802599B1 (en) | Inspection system | |
| CN103675609A (en) | Power line patrol equipment and system | |
| CN113077561A (en) | Intelligent inspection system for unmanned aerial vehicle | |
| CN111244822B (en) | Fixed-wing unmanned aerial vehicle line patrol method, system and device in complex geographic environment | |
| CN110647170A (en) | Navigation mark inspection device and method based on unmanned aerial vehicle | |
| JP2018021865A (en) | Mobile body, method for controlling mobile body, program for controlling mobile body, control system, and information processor | |
| WO2021237618A1 (en) | Capture assistance method, ground command platform, unmanned aerial vehicle, system, and storage medium | |
| CN107730652A (en) | A kind of cruising inspection system, method and device | |
| CN108762307A (en) | Skyscraper natural gas standpipe safety pre-warning system based on unmanned machine testing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181211 |