CN109213196A - A kind of communication iron tower intelligent patrol detection unmanned plane device - Google Patents
A kind of communication iron tower intelligent patrol detection unmanned plane device Download PDFInfo
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- CN109213196A CN109213196A CN201811033222.8A CN201811033222A CN109213196A CN 109213196 A CN109213196 A CN 109213196A CN 201811033222 A CN201811033222 A CN 201811033222A CN 109213196 A CN109213196 A CN 109213196A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 106
- 238000004891 communication Methods 0.000 title claims abstract description 73
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 16
- 239000010959 steel Substances 0.000 claims abstract description 16
- 230000007547 defect Effects 0.000 claims abstract description 8
- 238000003860 storage Methods 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 238000012790 confirmation Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 13
- 238000003331 infrared imaging Methods 0.000 claims description 7
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 241001310793 Podium Species 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 3
- 239000004020 conductor Substances 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 239000012212 insulator Substances 0.000 description 3
- 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 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000005246 galvanizing Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of communication iron tower intelligent patrol detection unmanned plane devices, described device includes: unmanned aerial vehicle platform and ground surface platform, the unmanned aerial vehicle platform flies or hovers around communication iron tower and to communication iron tower progress inspection for controlling unmanned plane, status information capture simultaneously sends the data to ground surface platform, the ground surface platform is used to control unmanned aerial vehicle platform and receive the data of its transmission and handles data, analysis, storage and application, realize communication iron tower and line channel defect, hidden danger sentences knowledge, confirmation, and quick positioning and communicating steel tower accident point, the present invention, which can substitute, manually carries out inspection to communication iron tower, it is simple with structure, highly-safe advantage.
Description
Technical field
The present invention relates to air vehicle technique field, specially a kind of communication iron tower intelligent patrol detection unmanned plane device.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation, or fully or intermittently automatically operated by car-mounted computer.From technology
Angle definition can be divided into: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, rotation more than nobody
Rotor aircraft, unmanned parasol etc..
Communication steel tower be made of steel members such as tower body, platform, lightning rod, ladder, antenna mountings, and through hot galvanizing anti-corrosion at
Reason is mainly used for microwave, ultrashort wave, the transmission of wireless network signal and transmitting etc..
Communication steel tower is often provided on the position that field, suburb, high mountain etc. are far from the crowd, and is subjected to exposing to the sun and rain for a long time,
There are some potential safety problemss.If the personnel of arrangement periodically carry out inspection to communication steel tower, and face at high cost, high altitude operation danger
Dangerous high problem.If not inspection, but face communication steel tower may damage, influence the potential danger of normal use.
Summary of the invention
The purpose of the present invention is to provide a kind of communication iron tower intelligent patrol detection unmanned plane devices, have easy to use, maintenance
Simply, using intelligence, highly-safe advantage, solve the problems, such as that existing equipment routing inspection cost is high, high altitude operation risk is high.
To achieve the above object, the invention provides the following technical scheme: a kind of communication iron tower intelligent patrol detection unmanned plane device,
It include: unmanned aerial vehicle platform and ground surface platform, the unmanned aerial vehicle platform flies or hangs around communication iron tower for controlling unmanned plane
Stop and inspection, status information capture are carried out to communication iron tower and send the data to ground surface platform, including the acquisition of unmanned plane, data
Unit, servo-system, data transmission control unit, the first codec unit, positioning unit, power supply unit, first antenna:
The unmanned plane, for flying or hovering around communication iron tower and carry out inspection to communication iron tower；
The data acquisition unit is arranged on unmanned plane, is acquired for the status information to communication iron tower；
The first antenna, for carrying out instant messaging with ground surface platform；
First codec unit, for being coded and decoded to the data sent and received；
The data transmission control unit, for analyzing, executing communication data that first antenna receives and carried out to unmanned plane
Control；
The servo-system, for controlling the state of flight of unmanned plane；
The positioning unit, for the position of unmanned plane and the real time measure of posture information；
The power supply unit, for being powered to entire unmanned aerial vehicle platform,
The data acquisition unit (5), servo-system (6) and data transmission control unit (7) are placed in unmanned plane lower end, and described
One antenna (11), the first codec unit (8), positioning unit (9) are placed in servo-system upper end, and the wing is equipped with power supply list
First (10), and other units are connected internally to by wing and are powered.
The ground surface platform is used to control unmanned aerial vehicle platform and receive the data of its transmission and handled data, divided
Analysis, storage and application, comprising: ground data processing equipment and central station,
The ground data processing equipment, for state of flight during unmanned plane during flying, control data to be monitored and controlled
Acquisition modes and the data progress preliminary treatment that flight is obtained；
The central station, for receiving the data from the ground data processing equipment and carrying out later data
Processing, analysis, storage and application realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and quickly positioning is logical
Believe steel tower accident point.
Further, the data transmission control unit includes photographing module, for for acquiring communication iron tower picture number
According to the photographing module includes optics digital camera, thermal infrared imaging instrument, ultraviolet imager, laser scanner.
Further, the positioning unit is GPS module or POS module.
Further, the unmanned plane includes fixed-wing unmanned plane or rotor wing unmanned aerial vehicle.
Further, the unmanned aerial vehicle platform further includes stabilized platform, when for unmanned plane during flying operation to be isolated vibration and
Disturbance of the external environment to unmanned plane during flying posture.
Further, the unmanned aerial vehicle platform further includes autonomous early warning and obstacle avoidance system.
Further, the autonomous early warning and obstacle avoidance system include millimetre-wave radar sensor.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention is provided with unmanned aerial vehicle platform and ground surface platform, production simple, easy to use, easy to maintain with structure
Advantage at low cost.
2, the present invention is provided with unmanned aerial vehicle platform, and unmanned aerial vehicle platform can carry out surrounding analysis or be stopped around communication steel tower
It stays and passes through data acquisition unit and the working condition of communication steel tower is acquired, can substitute and manually communication steel tower is examined
It looks into, there is easy to use, the low advantage of staff's operating risk.
3, the present invention is provided with photographing module, and photographing module includes optics digital camera, thermal infrared imaging instrument, ultraviolet imagery
Instrument, laser scanner, optics digital camera be used for obtain shaft tower, communication conductor, power line corridor optical image, be used for pin
The diagnosis of the defects of missing, fitting corrosion missing, hidden danger；Thermal infrared imaging instrument is used for communication iron tower and its infrared view of line facility
Frequency acquires, and obtains the unusual condition of the equipment such as fitting, optical cable and insulator；Ultraviolet imager is ultraviolet for communication iron tower equipment
Video information acquisition, the abnormality detection for fitting and the communications cable；Laser scanner is for obtaining communications cable corridor atural object
High-precision point cloud data, it can be achieved that communication iron tower whole height, podium level, antenna amount, cable wiring distance etc. data
Detection, generate line corridor true three-dimension model.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic diagram of unmanned plane of the present invention；
In figure: 1- unmanned aerial vehicle platform；2- ground surface platform；3- ground data processing equipment；4- unmanned plane；5- data acquisition unit；
6- servo-system；7- data transmission control unit；The first codec unit of 8-；9- positioning unit；10- power supply unit；11- first
Antenna；12- central station.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-Fig. 2 is please referred to, a kind of embodiment provided by the invention: a kind of communication iron tower intelligent patrol detection unmanned plane device,
It include: unmanned aerial vehicle platform 1 and ground surface platform 2, the unmanned aerial vehicle platform 1 flies for controlling unmanned plane 4 around communication iron tower
Or it hovers and inspection, status information capture is carried out to communication iron tower and send the data to ground surface platform 2, including unmanned plane 4, number
According to acquisition unit 5, servo-system 6, data transmission control unit 7, the first codec unit 8, positioning unit 9, power supply unit 10,
First antenna 11:
The unmanned plane 4, for flying or hovering around communication iron tower and carry out inspection to communication iron tower；
The data acquisition unit 5 is arranged on unmanned plane, is acquired for the status information to communication iron tower；
The first antenna 11, for carrying out instant messaging with ground surface platform 2；
First codec unit 8, for being coded and decoded to the data sent and received；
The data transmission control unit 7, for analyzing, executing communication data that first antenna 11 receives and to unmanned plane 4
It is controlled；
The servo-system 6, for controlling the state of flight of unmanned plane 4；
The positioning unit 9, for the position of unmanned plane 4 and the real time measure of posture information.
The power supply unit 10, for being powered to entire unmanned aerial vehicle platform 1,
The data acquisition unit (5), servo-system (6) and data transmission control unit (7) are placed in unmanned plane lower end, and described
One antenna (11), the first codec unit (8), positioning unit (9) are placed in servo-system upper end, and the wing is equipped with power supply list
First (10), and other units are connected internally to by wing and are powered.
The ground surface platform 2 is used to control unmanned aerial vehicle platform 1 and receive the data of its transmission and handled data, divided
Analysis, storage and application, comprising: ground data processing equipment 3 and central station 12,
The ground data processing equipment 3, state of flight, control data for being monitored and controlled in 4 flight course of unmanned plane
Acquisition modes and to flight obtain data carry out preliminary treatment；
The central station 12, for receiving the data from the ground data processing equipment 3 and carrying out the later period
Data processing, analysis, storage and application realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and quickly fixed
Bit walk steel tower accident point.
The positioning unit 9 is mainly used for the position of unmanned plane 4 and the real time measure of posture information, is being based on remote sensing technology
Power circuit safety patrol inspection system in, be also used to unmanned plane 4 obtain data carry out telltale mark so that multiple sensors
Data can be unified into the same spatial coordinate system, convenient for carrying out the multi-source data collaboration identification and diagnosis of defect, hidden danger,
Improve the accuracy and the degree of automation of identification.The data that multiple inspection obtains are capable of forming the time by the matching of space coordinate
Line, convenient for carrying out the comparative analysis with historical data.
The data transmission control unit 7 includes photographing module, described to take the photograph for being used to acquire communication iron tower image data
As module includes optics digital camera, thermal infrared imaging instrument, ultraviolet imager, laser scanner.Optics digital camera is for obtaining
Take shaft tower, communication conductor, power line corridor optical image, the defects of for pin missing, fitting corrosion missing, hidden danger examines
It is disconnected；Thermal infrared imaging instrument is acquired for communication iron tower and its line facility infrared video, obtains fitting, optical cable and insulator etc.
The unusual condition of equipment；Ultraviolet imager is used for the ultraviolet video information collection of communication iron tower equipment, is used for fitting and the communications cable
Abnormality detection；Laser scanner is used to obtain the high-precision point cloud data of communications cable corridor atural object, it can be achieved that communication iron tower
The detection of the data such as whole height, podium level, antenna amount, cable wiring distance, generates line corridor true three-dimension model.
The positioning unit 9 is GPS module or POS module.
The unmanned plane 4 includes fixed-wing unmanned plane or rotor wing unmanned aerial vehicle.
The unmanned aerial vehicle platform 1 further includes stabilized platform, vibration and external environment when for 4 flight operation of unmanned plane to be isolated
Disturbance to 4 flight attitude of unmanned plane.Target imaging quality can be greatly improved using stabilized platform, it is ensured that wanted, can
Information reduces the technical requirements of unmanned aerial vehicle platform control.
The unmanned aerial vehicle platform 1 further includes autonomous early warning and obstacle avoidance system, for 4 flight front obstacle mesh of unmanned plane
Mark is detected, and carries out early warning to 4 control system of unmanned plane to evade flight risk.
The autonomous early warning and obstacle avoidance system include millimetre-wave radar sensor.
Working principle: the present apparatus includes unmanned aerial vehicle platform 1 and ground surface platform 2.Unmanned aerial vehicle platform 1 is for controlling unmanned plane
4 fly or hover around communication iron tower and carry out inspection, status information capture to communication iron tower and to send the data to ground flat
Platform 2, ground surface platform 2 are used to control unmanned aerial vehicle platform 1 and receive the data of its transmission and handled data, analyzed, stored
And application.
It, can be according to specific requirements such as patrol task, flying distance, flying speeds when being measured to communication iron tower
Difference should select different unmanned planes 4, such as carry out the fast inspection of visible light shooting, and small-sized multi-rotor unmanned aerial vehicle may be selected；
The fine inspection including infrared, ultraviolet, visible light etc. for another example is carried out to each base station shaft tower, and needs to have simultaneously enough
Flying distance, then should select large-scale rotor wing unmanned aerial vehicle.
When carrying out inspection to communication steel tower, photographing module can be acquired the status information of steel tower unmanned plane 4.Its
In, optics digital camera be used for obtain shaft tower, communication conductor, power line corridor optical image, for pin missing, fitting rust
The diagnosis of the defects of erosion missing, hidden danger；Thermal infrared imaging instrument is acquired for communication iron tower and its line facility infrared video, is obtained
The unusual condition of the equipment such as fitting, optical cable and insulator；Ultraviolet imager is adopted for communication iron tower equipment ultraviolet video information
Collection, the abnormality detection for fitting and the communications cable；Laser scanner is used to obtain the high-precision dot of communications cable corridor atural object
Cloud data, it can be achieved that communication iron tower whole height, podium level, antenna amount, cable wiring distance etc. data detection, generate
Line corridor true three-dimension model.
After information collection, unmanned aerial vehicle platform 1 passes data to ground surface platform 2 again, is analyzed, is stored.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Present invention is mainly applied to unmanned planes.Such as: the patrol unmanned machine of communication iron tower, but it is not limited to this, it can be with
It is other patrol unmanned machines, such as the patrol unmanned machine of the wooded mountain fire protection, the patrol unmanned machine of high-tension cable steel tower.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of module and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with controlling relevant hardware by program instruction, which can be stored in a computer readable storage medium,
Storage medium may include: read-only memory, random access memory, disk or CD etc..
The present invention is described in detail in conjunction with the embodiments above, for those of ordinary skill in the art according to this hair
Bright design, the change made in specific embodiments and applications should all include protecting model in claim of the invention
Within enclosing.
Claims (9)
1. a kind of communication iron tower intelligent patrol detection unmanned plane device, which is characterized in that described device include: unmanned aerial vehicle platform (1) with
And ground surface platform (2), the unmanned aerial vehicle platform (1) are flown or hover around communication iron tower and to logical for controlling unmanned plane (4)
Letter steel tower carries out inspection, status information capture and sends the data to ground surface platform (2), including the acquisition of unmanned plane (4), data is single
First (5), servo-system (6), data transmission control unit (7), the first codec unit (8), positioning unit (9), power supply unit
(10), first antenna (11):
The unmanned plane (4), for flying or hovering around communication iron tower and carry out inspection to communication iron tower；
The data acquisition unit (5) is arranged on unmanned plane, is acquired for the status information to communication iron tower；
The first antenna (11), for carrying out instant messaging with ground surface platform (2)；
First codec unit (8), for being coded and decoded to the data sent and received；
The data transmission control unit (7), for analyzing, executing communication data that first antenna (11) receives and to nobody
Machine (4) is controlled；
The servo-system (6), for controlling the state of flight of unmanned plane (4)；
The positioning unit (9), for the position of unmanned plane (4) and the real time measure of posture information；
The power supply unit (10), for being powered to entire unmanned aerial vehicle platform (1).
2. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 1, it is characterised in that: the data are adopted
Collection unit (5), servo-system (6) and data transmission control unit (7) are placed in unmanned plane lower end, the first antenna (11), the
One codec unit (8), positioning unit (9) are placed in servo-system upper end, and the wing is equipped with power supply unit (10), and leads to
It crosses wing and is connected internally to other units and be powered.
3. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 1 or 2, it is characterised in that: describedly
Face platform (2) be used for control unmanned aerial vehicle platform (1) and receive its transmission data and data are handled, are analyzed, store with
And application, comprising: ground data processing equipment (3) and central station (12),
The ground data processing equipment (3), state of flight, control for being monitored and controlled in unmanned plane (4) flight course
The acquisition modes of data and the data progress preliminary treatment that flight is obtained；
The central station (12), for receiving the data from the ground data processing equipment (3) and progress
Later data processing, analysis, storage and application realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and fast
Fast positioning and communicating steel tower accident point.
4. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 3, it is characterised in that: the data pass
Defeated control unit (7) includes photographing module, for for acquiring communication iron tower image data, the photographing module to include optics number
Code camera, thermal infrared imaging instrument, ultraviolet imager, laser scanner.
5. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 3, it is characterised in that: the positioning is single
First (9) are GPS module or POS module.
6. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 3, it is characterised in that: the unmanned plane
It (4) include fixed-wing unmanned plane or rotor wing unmanned aerial vehicle.
7. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 3, it is characterised in that: the unmanned plane
Platform (1) further includes stabilized platform, and vibration and external environment fly unmanned plane (4) when for unmanned plane (4) flight operation to be isolated
The disturbance of row posture.
8. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 3, it is characterised in that: the unmanned plane
Platform (1) further includes autonomous early warning and obstacle avoidance system.
9. a kind of communication iron tower intelligent patrol detection unmanned plane device according to claim 8, it is characterised in that: described autonomous pre-
Alert and obstacle avoidance system includes millimetre-wave radar sensor.
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Cited By (3)
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| CN110879615A (en) * | 2019-12-25 | 2020-03-13 | 上海市南电力（集团）有限公司 | Traction pay-off system and method based on automatic flight of multi-rotor unmanned aerial vehicle |
| CN111537515A (en) * | 2020-03-31 | 2020-08-14 | 国网辽宁省电力有限公司朝阳供电公司 | Iron tower bolt defect display method and system based on three-dimensional live-action model |
| 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 |
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