CN109376587A - Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things - Google Patents
Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things Download PDFInfo
- Publication number
- CN109376587A CN109376587A CN201811032637.3A CN201811032637A CN109376587A CN 109376587 A CN109376587 A CN 109376587A CN 201811032637 A CN201811032637 A CN 201811032637A CN 109376587 A CN109376587 A CN 109376587A
- Authority
- CN
- China
- Prior art keywords
- data
- iron tower
- communication iron
- unmanned plane
- data processing
- 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
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
Abstract
The present invention discloses a kind of detection based on Internet of Things and surveys communication iron tower intelligent inspection system and method, and wherein system includes ground data processing equipment, central station and several unmanned helicopter platforms；Unmanned helicopter platform includes unmanned plane and the UAV system that is mounted on unmanned plane, ground data processing equipment, carries out preliminary treatment for the state of flight during unmanned plane during flying and data to be monitored and controlled；Unmanned plane includes for controlling the winged control module that this unmanned plane flies and/or hovers around communication iron tower according to ground data processing equipment；UAV system, detection surveys and acquires the Data Concurrent of communication iron tower to be measured and send to the ground data processing equipment, and carries out two-way information interaction by Internet of Things with ground data processing equipment；Central station, for receiving the data from the ground data processing equipment and carrying out later data processing, and quickly positioning and communicating steel tower accident point.
Description
Technical field
The present invention relates to Aeronautics fields, survey communication iron tower more particularly, to the detection based on Internet of Things
Intelligent inspection system and method.
Background technique
Unmanned plane (Unmanned Aerial Vehicle, UAV) is using radio robot and to provide for oneself excessively program-controlled
The not manned aircraft of device manipulation processed.Aerial survey of unmanned aerial vehicle remote sensing system is high-resolution and high-precision remote sensing image obtains and processing
Brand-new technology.It is using unmanned vehicle as flying platform, the digital remote sensing equipment such as load digital camera, digital video camcorder
It is shot and is recorded, the synchronous transfer of image is carried out by Remote Sensing Data Processing technology, to realize to the real-time of geography information
Investigation and monitoring.
The maturation of unmanned air vehicle technique provides the technical side of update for power circuit, public security fire-fighting, extra large land patrol etc.
Method and means, for the inspection project of communication iron tower, the difficult website of especially some high mountain websites and some environment complexity
For, these projects often require that " short, adaptable and fast ", and measurement period is short, task is heavy, quality is high, and landform, landforms are complicated more in region
Become, traditionally using artificial prospecting routine inspection mode, condition is arduous, inefficiency, and inspection work is reconnoitred once in a while in a line base station
The danger of " being driven away by dog " " being stung by snake " can be met with, or even survey crew, instrument and equipment can not reach corresponding region sometimes.
By above-mentioned conventional method, test device can not often be moved to communication iron tower position to be measured, it is also difficult to real
Now the communication iron tower of specific complex environment (communication iron tower, high mountain steel tower on such as thunderstorm weather, high-rise building) is carried out complete
Face is accurately tested and analysis.Unmanned plane realizes electronization, information-based, intelligence inspection, improves the work of communication iron tower inspection
Make efficiency, emergency repair level and communication support reliability.Running cost substantially reduces simultaneously, landing site is without limitation, operation
Simply, can safely and conveniently can be examined by fortune close to target, completely maintenance unit voluntarily possess, and complete independently operation and fortune
Tie up the field data, it can be achieved that inspection target.And Freshets roar down from the mountains, earthquake disaster etc. in emergency circumstances, unmanned plane can be to communication
The problems such as hidden danger of steel tower, such as column foot are subside carries out exploration and urgent investigation, is not influenced by pavement behavior at all, both removes from and climbing
The hardship of climbing pole tower, and the visual dead angle of human eye can be surveyed, it is of great advantage for restoring communication or exclusion hidden danger rapidly.
However, how using unmanned plane fast and efficiently, low delay, energy conservation to communication iron tower carry out inspection be mesh
One key points and difficulties of preceding industry research.
Summary of the invention
It is an object of the invention to provide the detection based on Internet of Things and survey for at least one aspect deficiency present on
Communication iron tower intelligent inspection system and method realize the intelligent patrol detection to communication iron tower.
To achieve the goals above, the present invention adopts the following technical scheme that:
On the one hand, a kind of detection based on Internet of Things is provided in the embodiment of the present invention survey detection and survey communication iron tower intelligently patrol
Check system, including ground data processing equipment, central station and several unmanned helicopter platforms；Unmanned helicopter is flat
Platform includes unmanned plane and the UAV system that is mounted on unmanned plane, the ground data processing equipment, for monitoring and controlling
The acquisition modes of state of flight, control data during unmanned plane during flying processed and the data obtained to flight are tentatively located
Reason；
The unmanned plane include for according to the ground data processing equipment control this unmanned plane around communication iron tower flight and/
Or the winged control module of hovering；The UAV system, detection survey and acquire the Data Concurrent of communication iron tower to be measured and send to described
Ground data processing equipment, and two-way information interaction is carried out by Internet of Things with the ground data processing equipment；
The central station, for receiving the data from the ground data processing equipment and carrying out later data
Processing, storage and application realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and quick positioning and communicating steel tower
Accident point.
Further, the UAV system includes, for acquiring the photographing module of communication iron tower image data, Yi Jiyong
The induction module of the bearing data of unmanned plane corresponding orientation when obtaining characterization acquisition described image data.
Further, the UAV system further includes the first antenna list for communicating with ground data processing equipment
Member, the first codec unit for being coded and decoded to the data sent and received, for carrying out transmission control to data
The data transmission control unit of system, and the servo-system for controlling unmanned plane during flying state, the first antenna unit are logical
It crosses the first codec unit and is connected to the data transmission control unit, the data transmission control unit is connected to the servo
System, photographing module and induction module.
Specifically, the photographing module includes: optics digital camera, thermal infrared imaging instrument, ultraviolet imager, laser scanning
Instrument, the induction module are GPS module.
Preferably, the ground data processing equipment includes the second antenna list for communicating with unmanned helicopter platform
Member, the second codec unit that the data for sending and receiving to ground data processing equipment are coded and decoded, is used for
The main controller of control, and the data recording unit of admission data, second antenna element are connected by the second codec unit
It is connected to the main controller, the main controller is connected to the central station by the data recording unit.
Further, the ground data processing equipment controls the unmanned plane along inspection for sending to the unmanned plane
Course line acquires the control signal of the corresponding communication iron tower image data in multiple azimuthal points, and receives the image that unmanned plane is passed back
Data and bearing data.
Further, the central station includes, for receiving the image data passed back and orientation number
According to receiving module, the life of the three-dimensional information for generating the communication iron tower according to described image data and the bearing data
At module, and for carrying out pattern-recognition to the three-dimensional information to determine the identification module of accident information.
Preferably, the intelligent inspection system includes by the first antenna unit and the second antenna element and Internet of Things
The communication link that transceiver module is constituted, wherein Internet of Things transceiver module is respectively embedded in the unmanned helicopter platform and ground number
According in processing equipment, the first antenna unit and the second antenna element be NB-IOT, LoRa, SigFox, RPMA, LTE-M,
The Internet of Things antenna such as NWave.
Further, the bearing data includes one in altitude information, longitude and latitude data, attitude data and speed data
Kind is several；The generation module according to multiple images data of the corresponding bearing data to same communication iron tower for standing
Body matching, camera parameter when acquiring described image data in conjunction with the photographing module generate the three-dimensional information of the steel tower；It is described
Identification module is used to carry out pattern-recognition according to the three-dimensional information to the communication iron tower, and matching obtains multiple default hidden danger models
At least one of, the corresponding hidden danger information of the communication iron tower is determined according to the hidden danger model being matched to.
On the other hand, communication iron tower intelligence is surveyed in the detection based on Internet of Things that the present invention also provides a kind of according to
The communication iron tower intelligent polling method of cruising inspection system, includes the following steps:
It controls ground data processing equipment and sends control unmanned plane along inspection course line in multiple azimuthal points to unmanned helicopter platform
Acquire the control signal of the corresponding communication iron tower image data；
Unmanned helicopter platform controls the unmanned plane according to the control signal and flies and/or hover around communication iron tower, adopts
Collect communication iron tower image data, the bearing data of unmanned plane corresponding orientation when obtaining characterization acquisition described image data, and to ground
Face data processing equipment transmits described image data and bearing data by Internet of Things；
The described image data and bearing data progress preliminary treatment that the ground data processing equipment obtains flight；
Image data and bearing data of the central station Jing Guo preliminary treatment, according to described image data and the side
Position data generate the three-dimensional information of the communication iron tower, and to three-dimensional information progress pattern-recognition to determine hidden danger information,
And later data processing, storage and application are carried out, realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and fast
Fast positioning and communicating steel tower accident point.
Compared with the existing technology, technical solution provided by the invention at least has the advantages that
A kind of detection based on Internet of Things is provided in the embodiment of the present invention surveys communication iron tower intelligent inspection system and method, benefit
It is corresponding described in the acquisition of multiple azimuthal points along inspection course line to unmanned plane transmission control unmanned plane with ground data processing equipment
The control signal of communication iron tower image data allows the operator to that unmanned plane during flying mistake is monitored and controlled by surface units
State of flight in journey.In turn, unmanned plane controls this unmanned plane according to the control signal and flies and/or hang around communication iron tower
Stop, acquires communication iron tower image data, the bearing data of unmanned plane corresponding orientation when obtaining characterization acquisition described image data, and
Data processing centre's transmission described image data and bearing data are, it can be achieved that the intelligent three-dimensional to communication iron tower detects to the ground.
The present invention is communicated between unmanned plane and ground data processing equipment using Internet of Things, and realization is rapidly controlled
It makes, be delayed small, it is good to reach real-time, and data transmission is fast, steel tower failure can be efficiently found, simultaneously as using Internet of Things Network Communication,
Low energy consumption, and therefore, unmanned function works longer.
I have much more to say than I can write in this letter, and the additional aspect of the present invention and advantage will be set forth in part in the description, these will be from following
Description in become more straightforward, or practice through the invention is recognized.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is that the structure of communication iron tower intelligent inspection system is surveyed in the detection based on Internet of Things of one embodiment of the invention
Block diagram；
Fig. 2 is the intelligent inspection system schematic diagram of internal structure of one embodiment of the invention；
Fig. 3 is that the process signal of communication iron tower intelligent polling method is surveyed in the detection based on Internet of Things of one embodiment of the invention
Figure.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
It will appreciated by the skilled person that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
It will appreciated by the skilled person that " communication link " used herein above includes being equipped on unmanned plane, control
Signal on unit processed and/or data cell receive/emit equipment (such as antenna) and UAV Communication trunking (including
Small drone carrier) etc..In a kind of embodiment, communication link is mainly responsible for the data ensured between control unit and unmanned plane
Communication is especially ensureing the authentic data between unmanned plane and ground under the communication conditions rugged environment such as mountain area with a varied topography
Communication." communication iron tower " abbreviation communications tower used herein above, is not limited to its specific material and form, can by tower body, platform, keep away
The steel members such as thunder needle, ladder, antenna mounting composition, mainly realizes base station functions, is used for microwave, ultrashort wave, wireless network signal
Transmission and transmitting etc..
System and method of the present invention are primarily adapted for use in the terminal that unmanned plane or smart machine etc. have communication function,
It is not limited to the type of its operating system, can be the operating systems such as Linux, Windows, Mac, Android, IOS, or insertion
Formula operating system.
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 in which the same or similar labels are throughly indicated same or similar element or has same or like function
Element.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
As shown in Figs. 1-2, in one embodiment of the invention, it provides a kind of detection based on Internet of Things and surveys detection
Survey communication iron tower intelligent inspection system, including ground data processing equipment 2, central station 3 and several nobody is straight
Rise machine platform 1；Unmanned helicopter platform 1 includes unmanned plane 4 and the UAV system being mounted on unmanned plane, the ground number
According to processing equipment 2, state of flight for being monitored and controlled in 4 flight course of unmanned plane, control data acquisition modes and
Preliminary treatment is carried out to the data that flight obtains；
The unmanned plane 4 includes flying for controlling this unmanned plane 4 according to the ground data processing equipment 2 around communication iron tower
And/or the winged control module of hovering；The UAV system, detection survey and acquire the Data Concurrent of communication iron tower to be measured and send to institute
Ground data processing equipment 2 is stated, and two-way information interaction is carried out by Internet of Things with the ground data processing equipment 2；
The central station 3, for receiving the data from the ground data processing equipment 2 and carrying out later period number
According to processing, storage and application, realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and quickly positioning and communicating iron
Tower accident point.
Further, the UAV system includes, for acquiring the photographing module of communication iron tower image data, Yi Jiyong
The induction module of the bearing data of unmanned plane corresponding orientation when obtaining characterization acquisition described image data.
Further, the UAV system further includes the first antenna list for communicating with ground data processing equipment
Member 11, the first codec unit 8 for being coded and decoded to the data sent and received, for being transmitted to data
The data transmission control unit 7 of control, and the servo-system 6 for controlling unmanned plane during flying state, the first antenna list
Member 11 is connected to the data transmission control unit 7 by the first codec unit 8, and the data transmission control unit 7 connects
To the servo-system 6, photographing module and induction module.
Specifically, the photographing module is data acquisition unit 5, is specifically included: optics digital camera, thermal infrared imaging
Instrument, ultraviolet imager, laser scanner, the induction module positioning unit 9 specifically include GPS module or POS module.
The unmanned plane 4 of the embodiment of the present invention can be fixed-wing unmanned plane or rotor wing unmanned aerial vehicle, be communication iron tower and communication
The network facilities inspection data acquisition obtain main platform, unmanned plane during flying platform be responsible for carry UAV system, stabilized platform,
Positioning and orientation system, autonomous early warning and obstacle avoidance system and other necessary airborne equipments.According to patrol task, flying distance,
The difference of the specific requirements such as flying speed should select different flying platforms, such as carry out the fast inspection of visible light shooting, can
Select small-sized multi-rotor unmanned aerial vehicle platform；The essence including infrared, ultraviolet, visible light etc. is for another example carried out to each base station shaft tower
Thin inspection, and need that there is enough flying distances simultaneously, then it should select large-scale rotor wing unmanned aerial vehicle platform.
The sensor of the photographing module usually may include optics digital camera, thermal infrared imaging instrument, ultraviolet imager, swash
Photoscanner etc..Wherein, 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 nail missing, fitting corrosion missing, hidden danger；Thermal infrared imaging instrument is infrared for communication iron tower and its line facility
Video acquisition obtains the unusual condition of the equipment such as fitting, optical cable and insulator；Ultraviolet imager is purple for communication iron tower equipment
Outer video information acquisition, the abnormality detection for fitting and the communications cable；Laser scanner is for obtaining communications cable corridor
The high-precision point cloud data of object is, it can be achieved that the number such as communication iron tower whole height, podium level, antenna amount, cable wiring distance
According to detection, generate line corridor true three-dimension model.
The vibration of aircraft and external environment are to platform flight attitude when stabilized platform is used to that unmanned plane during flying operation to be isolated
Disturbance, partially stabilized platform also have the function of target following.Target imaging quality can be greatly improved using stabilized platform, it is ensured that
Wanted, available information, reduces the technical requirements of unmanned aerial vehicle platform control.
Positioning and orientation system is mainly used for the position of unmanned plane and the real time measure of posture information, based on remote sensing technology
In power circuit safety patrol inspection system, it is also used to carry out telltale mark to the data that unmanned plane obtains, so that multiple sensors number
According to can unify into the same spatial coordinate system, convenient for carrying out the multi-source data collaboration identification and diagnosis of defect, hidden danger, mention
The accuracy and the degree of automation of height 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.
Autonomous early warning and obstacle avoidance system carry out unmanned plane during flying front obstacle target by millimetre-wave radar sensor
Detection, and early warning is carried out to unmanned aerial vehicle control system to evade flight risk.
Preferably, the ground data processing equipment 2 includes the second antenna list for communicating with unmanned helicopter platform
Member 12, the second codec unit 13 that the data for sending and receiving to ground data processing equipment 2 are coded and decoded,
It is compiled for the main controller 14 of control, and the data recording unit 16 of admission data, second antenna element 12 by second
Decoding unit 13 is connected to the main controller 14, and the main controller 14 is connected to the ground by the data recording unit 16
Data processing centre 3.
Further, the ground data processing equipment 2 controls the unmanned plane along inspection for sending to the unmanned plane
Course line acquires the control signal of the corresponding communication iron tower image data in multiple azimuthal points, and receives the figure that unmanned plane 4 is passed back
As data and bearing data.
Further, the central station 3 includes, for receiving the image data passed back and orientation number
According to receiving module, the life of the three-dimensional information for generating the communication iron tower according to described image data and the bearing data
At module, and for carrying out pattern-recognition to the three-dimensional information to determine the identification module of accident information.
Preferably, the intelligent inspection system includes by the first antenna unit 11 and the second antenna element 12 and object
The communication link that transceiver module of networking is constituted, wherein Internet of Things transceiver module is respectively embedded in 1 He of unmanned helicopter platform
In ground data processing equipment 2, the first antenna unit 11 and the second antenna element 12 be NB-IOT, LoRa, SigFox,
The Internet of Things antenna such as RPMA, LTE-M, NWave.
It is constituted between above-mentioned unmanned helicopter platform 1, ground data processing equipment 2 and central station 3
Data link system is the key that whole system communication connection, including airborne and ground control station signal reception/transmitting
Equipment and UAV Communication trunking (including small drone carrier) etc., it includes institute that wherein signal, which receives/emit equipment,
It states first antenna unit 11 and the second antenna element 12 and Internet of Things transmits/receives and send machine.The data link system is mainly born
Duty ensures the data communication between ground data processing equipment 2 and unmanned helicopter platform 1, especially in mountain area with a varied topography
The reliable communicating between unmanned plane and ground is ensured under equal communication conditions rugged environment.
Data link should first ensure that the upload of unmanned plane positioning and orientation data passed down in real time with control command, so as to complete
Pairs of unmanned plane working condition is tracked and is controlled.The transmission rate of data link is customized according to actual needs, generally
Under the rate of 4Mbps~8Mbps, can be realized video data in real time under pass, so that ground observing and controlling personnel is intuitively understood flight
Field condition.
Further, the bearing data includes one in altitude information, longitude and latitude data, attitude data and speed data
Kind is several；The generation module according to multiple images data of the corresponding bearing data to same communication iron tower for standing
Body matching, camera parameter when acquiring described image data in conjunction with the photographing module generate the three-dimensional information of the steel tower；It is described
Identification module is used to carry out pattern-recognition according to the three-dimensional information to the communication iron tower, and matching obtains multiple default hidden danger models
At least one of, the corresponding hidden danger information of the communication iron tower is determined according to the hidden danger model being matched to.
The central station 3 is later data processing, storage and application system, including passing through photographing module
Multi-sensor data pretreatment and geometric manipulations system, the communication iron based on the multiple sensors such as laser, optics, infrared, ultraviolet
Tower and its pole line safety patrol inspection intelligent expert system and the three-dimension visible sysem of line corridor etc..Ground Data Processing System
Using photogrammetric, remote sensing data processing method and techniqueflow, to various images, point cloud, video, coordinate, attitude data
Carry out high-precision geometric manipulations.On this basis, for communications optical cable, steel tower, corridor atural object etc. and its appendicular feature, lead to
Artificial intelligence, pattern-recognition and a variety of visualization techniques of expert system are crossed, realizes communication iron tower and line channel defect, hidden danger
Sentence knowledge, confirmation, quick positioning and communicating steel tower accident point, realize communication iron tower line security situation it is timely diagnosis and failure arrange
It looks into.
On the other hand, referring to Fig. 3, the detection based on Internet of Things that the present invention also provides a kind of according to survey it is logical
The communication iron tower intelligent polling method for believing steel tower intelligent inspection system, includes the following steps:
S11: control ground data processing equipment 2 sends control unmanned plane along inspection course line multiple to unmanned helicopter platform 1
Azimuthal point acquires the control signal of the corresponding communication iron tower image data；
S12: unmanned helicopter platform 1 controls the unmanned plane 4 according to the control signal and flies and/or hang around communication iron tower
Stop, acquires communication iron tower image data, the bearing data of unmanned plane corresponding orientation when obtaining characterization acquisition described image data, and
Data processing equipment 2 transmits described image data and bearing data by Internet of Things to the ground；
In example of the embodiment of the present invention, by taking rotor wing unmanned aerial vehicle as an example, the bearing data that induction module obtains includes altitude information, longitude and latitude
One or more of degree evidence, attitude data and speed data, inspection in one embodiment are in-flight, corresponding to fly
Record sheet is exemplified below:
| Spot | GPS_Lat | GPS_Lng | GPS_Alt | GPS_Spd |
| B1 | 26.0078593 | 119.2248379 | 6.78 | 0.009000001 |
| B2 | 26.007859 | 119.2248377 | 6.8 | 0.036000002 |
| B3 | 26.0078388 | 119.2248264 | 84.75 | 1.657000065 |
| B4 | 26.0078303 | 119.2248212 | 84.63 | 2.132000208 |
| B5 | 26.0068483 | 119.2243641 | 84.91 | 4.953000069 |
| B6 | 26.0068234 | 119.2243532 | 85.01 | 5.06400013 |
| B7 | 26.0060408 | 119.2239824 | 85.39 | 1.158000112 |
| B8 | 26.0060376 | 119.2239815 | 85.33 | 0.407000005 |
| B9 | 26.0078569 | 119.2248334 | 6.11 | 0.083000004 |
| B10 | 26.0078564 | 119.2248336 | 6.11 | 0.015000001 |
| B11 | 26.0078543 | 119.2248284 | 60.14 | 0.957000017166 |
| B12 | 26.0077145 | 119.2247654 | 60.69 | 4.152000427 |
Spot indicates record point in table, and it is current that GPS_Lat characterizes latitude, GPS_Lng characterization longitude, GPS_Alt characterization unmanned plane 4
Highly, GPS_Spd characterizes 4 present level speed of unmanned plane, when GPS_Spd tends to 0, characterizes unmanned plane and moves almost without level
It is dynamic, that is, it is in VTOL or floating state.Unmanned plane 4, which is put according to inspection course line in B1 and B2 record, to take off, hovers, and reaches pre-
The preset bearing in inspection course line is reached in B8 along the inspection airline operation in B3-B7 after fixed height (such as 84.75 meters)
Point, hovering reduce flying height to being suitable for acquiring the height (such as 6.11 meters) of communication iron tower image, and adopt in multiple predetermined angulars
Collect image data,
For example, first face communication iron tower acquires communication data, then, photographing module upward direction is rotated 60 °, is acquired at this time
Communication iron tower image data；Photographing module is recovered to and faces the communication iron tower and is parallel to the horizontal plane, is rotated still further below
60 degree, acquire communication iron tower image data at this time；Photographing module is recovered to and faces the communication iron tower and and horizontal plane
In parallel, it then turns left 60 degree, acquires communication iron tower image data at this time；Photographing module is recovered to and faces the communication
It steel tower and is parallel to the horizontal plane, then turns right 60 degree, acquire communication iron tower image data at this time；And so on, rotation
Angle recordings are in attitude data, and the image data of acquisition keeps the sidelapping degree in preset range, such as 15%-45%, in order to
Subsequent three-dimensional imaging processing.
It has acquired and has drawn high unmanned plane to predetermined height in B11 after the communication iron tower image data of the predetermined angular of present orientation point
Degree (such as 60.14 meters) flies to carry out image data acquiring as above to next azimuthal point afterwards, until completing corresponding in the communication iron tower
All azimuthal points image data acquiring.In the inspection course line to the communication network being made of multiple communication iron towers, nobody
4 predetermined order of machine is after the image data for having acquired present communications steel tower (such as A1), and similarly, that is, fly to next communication iron tower
Carry out image data acquiring (such as A2 A3 A4).Unmanned plane 4 completes the flight in inspection course line and the image data of communication iron tower is adopted
After collection, default collection site can be returned along scheduled inspection course line.
In the image data of above-mentioned unmanned plane 4 acquisition communication iron tower, characterization is also obtained by the sensor of induction module
The bearing data of 4 corresponding orientation of unmanned plane when acquiring described image data, and data processing equipment transmits described image to the ground
Data and bearing data.
The described image data and bearing data that S13: 2 pairs of ground data processing equipment flights obtain tentatively are located
Reason；
The preliminary treatment includes encoding and decoding, filters out noise, improves the processing of the Primary Stage Datas such as clarity.
S14: image data and bearing data of the central station 3 Jing Guo preliminary treatment, according to described image number
Pattern-recognition is carried out according to the three-dimensional information for generating the communication iron tower with the bearing data, and to the three-dimensional information with determination
Hidden danger information, and carry out later data processing, storage and application, realize communication iron tower and line channel defect, hidden danger sentence knowledge,
Confirmation, and quickly positioning and communicating steel tower accident point.
Central station 3 receives after the communication iron tower image data of preliminary treatment and corresponding bearing data,
The three-dimensional information that the communication iron tower is generated according to described image data and the bearing data, specifically, at ground data
Reason center 3 carries out Stereo matching according to multiple images data of the corresponding bearing data to same communication iron tower, in conjunction with the figure
Camera parameter when as data generates the three-dimensional information of the steel tower.For example, if image data is acquired by stereoscopic camera, ground
Data processing centre 3 passes through three-dimensional imaging algorithm for same communication iron tower according to camera parameter, depth information and bearing data
The three-dimensional information of multiple images Data Synthesis communication iron tower；If image data is the scan data of laser sensor acquisition,
Different positions and angle are scanned the image data collected to communication iron tower and are processed to by face data processing center 3
For three dimensional point cloud, matching forms the three-dimensional information of communication iron tower.
In turn, central station 3 carries out mode knowledge according to three-dimensional information of the preset rules to the communication iron tower
Not, matching obtains at least one of multiple default hidden danger models, determines the communication iron according to the hidden danger model being matched to
The corresponding hidden danger information of tower.In some embodiments, the process of the pattern-recognition includes central station 3 to described logical
The three-dimensional information of letter steel tower is analyzed to extract characteristic pattern data, which may include three information
Shape and size feature, and then extracted characteristic pattern data and preset multiple default hidden danger models are described into data and carried out
Matching, the successful match when reaching preset confidence level determine the communication iron tower phase according to the hidden danger model being matched to
The hidden danger information answered when such as recognizing the gradient of communication iron tower greater than 13 °, determines that hidden danger information is that tower body is abnormal；It recognizes
When communication antenna is lost or is detached from original position, determine that hidden danger information is that antenna is abnormal.It similarly, further include the hidden danger such as cable exception
Information, those skilled in the art can carry out flexible setting in the actual operation process to reach inspection purpose.
In the embodiment for carrying out inspection to multiple communication iron towers, the present invention can also further comprise following subsequent step:
The security information of the communication network is determined according to the hidden danger information of the communication iron towers multiple in same communication network.A kind of reality
It applies in example, central station 3 is according to the quantity or ratio of the communication iron tower for detecting hidden danger information in same communication network
Example, can determine corresponding security information, such as security level.Such as in the communication network being made of communication iron tower A1-A4, work as inspection
The communication iron tower for measuring hidden danger information is greater than 2, that is, detects that the ratio of the communication iron tower of hidden danger information reaches 50%, it is determined that
The security level of the communication network is high-risk status, can be by location informations such as hidden danger information, security information and corresponding longitudes and latitudes
Corresponding personnel or terminal are issued, to be overhauled in time, maintenance communication is stablized.Realize communication iron tower and communication network hidden danger
It is quick identification, positioning and diagnosis.
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.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.
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 (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
Communication iron tower intelligent inspection system is surveyed to detection provided by the present invention above and method is described in detail,
For those of ordinary skill in the art, thought according to an embodiment of the present invention, in specific embodiments and applications
It will change, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of detection based on Internet of Things surveys detection and surveys communication iron tower intelligent inspection system, which is characterized in that including ground
Face data processing equipment, central station and several unmanned helicopter platforms；Unmanned helicopter platform includes unmanned plane
And it is mounted in the UAV system on unmanned plane, the ground data processing equipment, for unmanned plane during flying to be monitored and controlled
The acquisition modes of state of flight, control data in the process and the data progress preliminary treatment that flight is obtained；
The unmanned plane include for according to the ground data processing equipment control this unmanned plane around communication iron tower flight and/
Or the winged control module of hovering；The UAV system, detection survey and acquire the Data Concurrent of communication iron tower to be measured and send to described
Ground data processing equipment, and two-way information interaction is carried out by Internet of Things with the ground data processing equipment；
The central station, for receiving the data from the ground data processing equipment and carrying out later data
Processing, storage and application realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and quick positioning and communicating steel tower
Accident point.
2. communication iron tower intelligent inspection system is surveyed in detection according to claim 1, it is characterised in that: the unmanned plane system
System includes, when for acquiring the photographing module of communication iron tower image data, and acquire described image data for obtaining characterization
The induction module of the bearing data of unmanned plane corresponding orientation.
3. communication iron tower intelligent inspection system is surveyed in detection according to claim 2, it is characterised in that: the unmanned plane system
System further includes the first antenna unit for communicating with ground data processing equipment, for carrying out to the data sent and received
First codec unit of coding and decoding and is used for for data to be carried out with the data transmission control unit of transmission control
The servo-system of unmanned plane during flying state is controlled, the first antenna unit is connected to the data by the first codec unit
Transmission control unit, the data transmission control unit are connected to the servo-system, photographing module and induction module.
4. communication iron tower intelligent inspection system is surveyed in detection according to claim 3, it is characterised in that: the photographing module
It include: optics digital camera, thermal infrared imaging instrument, ultraviolet imager, laser scanner, the induction module is GPS module.
5. communication iron tower intelligent inspection system is surveyed in detection according to claim 3, it is characterised in that: the ground data
Processing equipment includes the second antenna element for communicating with unmanned helicopter platform, for sending to ground data processing equipment
The second codec unit coded and decoded with received data, for the main controller of control, and the number of admission data
According to admission unit, second antenna element is connected to the main controller by the second codec unit, and the main controller passes through
The data recording unit is connected to the central station.
6. communication iron tower intelligent inspection system is surveyed in detection according to claim 5, it is characterised in that: the ground data
Processing equipment, it is corresponding described logical in the acquisition of multiple azimuthal points along inspection course line for sending the control unmanned plane to the unmanned plane
Believe the control signal of steel tower image data, and receives image data and bearing data that unmanned plane is passed back.
7. communication iron tower intelligent inspection system is surveyed in detection according to claim 6, it is characterised in that: the ground data
Processing center includes, for receiving the receiving module of the image data and bearing data passed back, for according to described image
Data and the bearing data generate the generation module of the three-dimensional information of the communication iron tower, and for the three-dimensional information
Pattern-recognition is carried out to determine the identification module of accident information.
8. communication iron tower intelligent inspection system is surveyed in detection according to claim 5, it is characterised in that: the intelligent patrol detection
System includes the communication link being made of the first antenna unit and the second antenna element and Internet of Things transceiver module, wherein
Internet of Things transceiver module is respectively embedded in the unmanned helicopter platform and ground data processing equipment, the first antenna list
Member and the second antenna element are the Internet of Things antennas such as NB-IOT, LoRa, SigFox, RPMA, LTE-M, NWave.
9. communication iron tower intelligent inspection system is surveyed in detection according to claim 7, it is characterised in that:
The bearing data includes one or more of altitude information, longitude and latitude data, attitude data and speed data；It is described
Generation module is used to carry out Stereo matching according to multiple images data of the corresponding bearing data to same communication iron tower, in conjunction with institute
Camera parameter when stating photographing module acquisition described image data generates the three-dimensional information of the steel tower；The identification module is used for root
Pattern-recognition is carried out according to the three-dimensional information to the communication iron tower, matching obtains at least one of multiple default hidden danger models, root
The corresponding hidden danger information of the communication iron tower is determined according to the hidden danger model being matched to.
10. a kind of detection according to claim 1 described in any one of -9 based on Internet of Things is surveyed communication iron tower and is intelligently patrolled
The communication iron tower intelligent polling method of check system, which comprises the steps of:
It controls ground data processing equipment and sends control unmanned plane along inspection course line in multiple azimuthal points to unmanned helicopter platform
Acquire the control signal of the corresponding communication iron tower image data；
Unmanned helicopter platform controls the unmanned plane according to the control signal and flies and/or hover around communication iron tower, adopts
Collect communication iron tower image data, the bearing data of unmanned plane corresponding orientation when obtaining characterization acquisition described image data, and to ground
Face data processing equipment transmits described image data and bearing data by Internet of Things；
The described image data and bearing data progress preliminary treatment that the ground data processing equipment obtains flight；
Image data and bearing data of the central station Jing Guo preliminary treatment, according to described image data and the side
Position data generate the three-dimensional information of the communication iron tower, and to three-dimensional information progress pattern-recognition to determine hidden danger information,
And later data processing, storage and application are carried out, realize that communication iron tower and line channel defect, hidden danger sentence knowledge, confirmation, and fast
Fast positioning and communicating steel tower accident point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811032637.3A CN109376587A (en) | 2018-09-05 | 2018-09-05 | Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811032637.3A CN109376587A (en) | 2018-09-05 | 2018-09-05 | Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109376587A true CN109376587A (en) | 2019-02-22 |
Family
ID=65405310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811032637.3A Pending CN109376587A (en) | 2018-09-05 | 2018-09-05 | Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109376587A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901100A (en) * | 2019-03-15 | 2019-06-18 | 南京烽火星空通信发展有限公司 | A kind of beaconing nodes localization method and Internet of Things application |
| CN110222919A (en) * | 2019-04-18 | 2019-09-10 | 天津科技大学 | Emergency management and rescue platform |
| CN110266359A (en) * | 2019-06-25 | 2019-09-20 | Oppo广东移动通信有限公司 | Antenna switching method and Related product |
| CN111010246A (en) * | 2019-11-15 | 2020-04-14 | 中睿通信规划设计有限公司 | System and method for analyzing and identifying operator to which base station antenna belongs through three-dimensional data |
| CN111262341A (en) * | 2020-01-19 | 2020-06-09 | 广东卓维网络有限公司 | Tower monitoring system |
| CN111291648A (en) * | 2020-01-19 | 2020-06-16 | 广东卓维网络有限公司 | Tower image monitoring system |
| CN111311778A (en) * | 2020-02-28 | 2020-06-19 | 西安众恒科技有限公司 | Application system and method based on unmanned aerial vehicle honeycomb technology |
| CN111561934A (en) * | 2020-06-24 | 2020-08-21 | 平湖市中地测绘规划有限公司 | Geological exploration planning method based on unmanned aerial vehicle |
| CN112734970A (en) * | 2020-12-22 | 2021-04-30 | 沈阳工程学院 | Automatic inspection system and method for wind power plant unmanned aerial vehicle based on LoRaWAN positioning technology |
| CN113074698A (en) * | 2021-03-25 | 2021-07-06 | 涵涡智航科技(玉溪)有限公司 | Intelligent tower inclination detection system based on machine vision |
| CN113256837A (en) * | 2021-04-28 | 2021-08-13 | 宁波思高信通科技有限公司 | Machine room patrol inspection method and system, storage medium and intelligent terminal |
| CN113411117A (en) * | 2021-05-17 | 2021-09-17 | 上海电机学院 | Link communication method and system for unmanned aerial vehicle inspection |
| CN113538847A (en) * | 2021-07-13 | 2021-10-22 | 金华高等研究院 | Artificial intelligence monitoring device that can automatically regulated |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104049625A (en) * | 2014-07-09 | 2014-09-17 | 华南农业大学 | Internet-of-things irrigation facility regulating and controlling platform and method based on unmanned aerial vehicle |
| CN105743017A (en) * | 2016-04-19 | 2016-07-06 | 平玉兰 | Unmanned aerial vehicle inspection ground measurement and control station and transportation safeguard system used for power transmission line |
| CN108255189A (en) * | 2018-01-31 | 2018-07-06 | 佛山市神风航空科技有限公司 | A kind of power patrol unmanned machine system |
| US20180203467A1 (en) * | 2015-09-15 | 2018-07-19 | SZ DJI Technology Co., Ltd. | Method and device of determining position of target, tracking device and tracking system |
-
2018
- 2018-09-05 CN CN201811032637.3A patent/CN109376587A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104049625A (en) * | 2014-07-09 | 2014-09-17 | 华南农业大学 | Internet-of-things irrigation facility regulating and controlling platform and method based on unmanned aerial vehicle |
| US20180203467A1 (en) * | 2015-09-15 | 2018-07-19 | SZ DJI Technology Co., Ltd. | Method and device of determining position of target, tracking device and tracking system |
| CN105743017A (en) * | 2016-04-19 | 2016-07-06 | 平玉兰 | Unmanned aerial vehicle inspection ground measurement and control station and transportation safeguard system used for power transmission line |
| CN108255189A (en) * | 2018-01-31 | 2018-07-06 | 佛山市神风航空科技有限公司 | A kind of power patrol unmanned machine system |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901100A (en) * | 2019-03-15 | 2019-06-18 | 南京烽火星空通信发展有限公司 | A kind of beaconing nodes localization method and Internet of Things application |
| CN110222919A (en) * | 2019-04-18 | 2019-09-10 | 天津科技大学 | Emergency management and rescue platform |
| CN110266359A (en) * | 2019-06-25 | 2019-09-20 | Oppo广东移动通信有限公司 | Antenna switching method and Related product |
| CN110266359B (en) * | 2019-06-25 | 2021-05-18 | Oppo广东移动通信有限公司 | Antenna switching method and device, electronic equipment and computer readable storage medium |
| CN111010246A (en) * | 2019-11-15 | 2020-04-14 | 中睿通信规划设计有限公司 | System and method for analyzing and identifying operator to which base station antenna belongs through three-dimensional data |
| CN111010246B (en) * | 2019-11-15 | 2021-08-27 | 中睿通信规划设计有限公司 | System and method for analyzing and identifying operator to which base station antenna belongs through three-dimensional data |
| CN111262341B (en) * | 2020-01-19 | 2020-12-11 | 广东卓维网络有限公司 | Tower monitoring system |
| CN111291648B (en) * | 2020-01-19 | 2020-12-18 | 广东卓维网络有限公司 | Tower image monitoring system |
| CN111291648A (en) * | 2020-01-19 | 2020-06-16 | 广东卓维网络有限公司 | Tower image monitoring system |
| CN111262341A (en) * | 2020-01-19 | 2020-06-09 | 广东卓维网络有限公司 | Tower monitoring system |
| CN111311778A (en) * | 2020-02-28 | 2020-06-19 | 西安众恒科技有限公司 | Application system and method based on unmanned aerial vehicle honeycomb technology |
| CN111561934A (en) * | 2020-06-24 | 2020-08-21 | 平湖市中地测绘规划有限公司 | Geological exploration planning method based on unmanned aerial vehicle |
| CN112734970A (en) * | 2020-12-22 | 2021-04-30 | 沈阳工程学院 | Automatic inspection system and method for wind power plant unmanned aerial vehicle based on LoRaWAN positioning technology |
| CN113074698A (en) * | 2021-03-25 | 2021-07-06 | 涵涡智航科技(玉溪)有限公司 | Intelligent tower inclination detection system based on machine vision |
| CN113256837A (en) * | 2021-04-28 | 2021-08-13 | 宁波思高信通科技有限公司 | Machine room patrol inspection method and system, storage medium and intelligent terminal |
| CN113256837B (en) * | 2021-04-28 | 2022-05-31 | 宁波思高信通科技有限公司 | Machine room patrol inspection method and system, storage medium and intelligent terminal |
| CN113411117A (en) * | 2021-05-17 | 2021-09-17 | 上海电机学院 | Link communication method and system for unmanned aerial vehicle inspection |
| CN113538847A (en) * | 2021-07-13 | 2021-10-22 | 金华高等研究院 | Artificial intelligence monitoring device that can automatically regulated |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109376587A (en) | Communication iron tower intelligent inspection system and method are surveyed in detection based on Internet of Things | |
| CN107131877B (en) | Unmanned aerial vehicle route construction method and system | |
| US11287835B2 (en) | Geo-fiducials for UAV navigation | |
| He et al. | Research of multi-rotor UAVs detailed autonomous inspection technology of transmission lines based on route planning | |
| AU2017206097B2 (en) | Systems and methods for taking, processing, retrieving, and displaying images from unmanned aerial vehicles | |
| US11017228B2 (en) | Method and arrangement for condition monitoring of an installation with operating means | |
| Qi et al. | Search and rescue rotary‐wing uav and its application to the lushan ms 7.0 earthquake | |
| CN106687878B (en) | System and method for monitoring with visual indicia | |
| CN108255189A (en) | A kind of power patrol unmanned machine system | |
| CN111537515A (en) | Iron tower bolt defect display method and system based on three-dimensional live-action model | |
| WO2018208995A1 (en) | Self-localized mobile sensor network for autonomous robotic inspection | |
| KR20170111921A (en) | Method and system for controlling unmanned air vehicle | |
| KR20170101776A (en) | Method and system for providing route of unmanned air vehicle | |
| CN114373138A (en) | Full-automatic unmanned aerial vehicle inspection method and system for high-speed railway | |
| KR20170126637A (en) | Method and system for providing route of unmanned air vehicle | |
| CN110333735A (en) | A kind of system and method for realizing the secondary positioning in unmanned plane land and water | |
| CN108983809A (en) | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane | |
| CN113077561A (en) | Intelligent inspection system for unmanned aerial vehicle | |
| CN110647170A (en) | Navigation mark inspection device and method based on unmanned aerial vehicle | |
| CN109213196A (en) | A kind of communication iron tower intelligent patrol detection unmanned plane device | |
| Andreev et al. | Flight safety sensor and auto-landing system of unmanned aerial system | |
| KR102575000B1 (en) | System for ai drone platform using a crack diagnosis of plant | |
| Cheng | Research on the application of computer vision technology in power system UAV line inspection | |
| Smaoui et al. | Automated scanning of concrete structures for crack detection and assessment using a drone | |
| CN114379802A (en) | Automatic safe landing place selection for unmanned flight system |
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: 20190222 |