CN110208270A - A kind of unmanned plane chimney automatic detecting method - Google Patents
A kind of unmanned plane chimney automatic detecting method Download PDFInfo
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- CN110208270A CN110208270A CN201910466874.9A CN201910466874A CN110208270A CN 110208270 A CN110208270 A CN 110208270A CN 201910466874 A CN201910466874 A CN 201910466874A CN 110208270 A CN110208270 A CN 110208270A
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- 238000007689 inspection Methods 0.000 claims abstract description 33
- 238000009434 installation Methods 0.000 claims abstract description 4
- 230000007423 decrease Effects 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 2
- 230000003628 erosive effect Effects 0.000 description 2
- 238000005273 aeration Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9009—Non-optical constructional details affecting optical inspection, e.g. cleaning mechanisms for optical parts, vibration reduction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9072—Investigating the presence of flaws or contamination in a container or its contents with illumination or detection from inside the container
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/909—Investigating the presence of flaws or contamination in a container or its contents in opaque containers or opaque container parts, e.g. cans, tins, caps, labels
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- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- 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
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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Abstract
The invention discloses a kind of unmanned plane chimney automatic detecting methods, the described method comprises the following steps: step 1: installation four sides or multi-panel distance measuring sensor on unmanned plane, for detecting obstacle distance；Step 2: installing lighting apparatus on unmanned plane, light source is supplemented when for shooting, guarantee is bright and clear, and inner wall of stack details is high-visible；Step 3: camera is installed on unmanned plane；Step 4: paddle is installed on unmanned plane and protects structure；Step 5: the relevant parameter of automatic inspection function is configured by earth station；Step 6: realize that a key takes off by remote controler or ground station control instruction.This programme only need to do simple operations in chimney bottom, relevant parameter is set, control unmanned plane takes off, it is switched to chimney automatic detecting pattern, automatic detecting can be carried out, earth station's prompt inspection finishes after inspection, can unmanned plane be landed and be withdrawn, the image or video recording material for fetching this inspection recording, improve routing inspection efficiency, increase safety.
Description
Technical field
The present invention relates to chimney inspection technical field more particularly to a kind of unmanned plane chimney automatic detecting methods.
Background technique
Aeration structure of the chimney as equipment such as thermal power generation, plays a crucial role, and is responsible for industrial gasses are defeated
It is sent to extraneous responsibility, but will receive the erosion of industrial waste gas during transportation, leads to corrosion etc., so need to periodically be examined
It looks into and safeguards.
Currently carrying out safety inspection to inner wall of stack is manually to check, this mode with the following drawback that: due to cigarette
The height of chimney is higher, and inspection process has personnel safety, furthermore checks that operation is also quite cumbersome, it is therefore desirable to existing
Routine inspection mode improve.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of unmanned plane chimney proposed is automatic
Method for inspecting.
To achieve the goals above, present invention employs following technical solutions:
A kind of unmanned plane chimney automatic detecting method, the described method comprises the following steps:
Step 1: installation four sides or multi-panel distance measuring sensor on unmanned plane, for detecting obstacle distance；
Step 2: installing lighting apparatus on unmanned plane, light source is supplemented when for shooting, guarantee is bright and clear, in chimney
Wall details is high-visible；
Step 3: camera is installed on unmanned plane；
Step 4: paddle is installed on unmanned plane and protects structure；
Step 5: the relevant parameter of automatic inspection function is configured by earth station；
Step 6: realize that a key takes off by remote controler or ground station control instruction；
Step 7: the range data that unmanned plane is got by the infrared distance measurement module of horizontal direction, by comparing one by one
The range data of two distance measuring sensors of every a pair of relative angle, establishes multidimensional coordinate, by adjusting target position to unmanned plane
Position be adjusted, so that unmanned plane is centered at chimney center always；
Step 8: it is carried out automatically in the case that unmanned plane course is fixed with the every rising certain distance of the speed set
Shooting, until chimney top unmanned plane rotates 180 ° counterclockwise, hovering is switched to after a certain period of time carries out downwards inspection, with certain
It is shot or is recorded a video automatically after speed decline certain distance, can accomplish that the inner wall not taken when will rise supplement is clapped
It photographs and, until inspection to chimney bottom；
Step 9: unmanned plane automatic steady lands and locks, and completes inspection operation.
Preferably, in the step 3, panorama camera or the shooting comprehensively of multiple cameras composition can be used, it is possible to use two
Wide angle camera, back-to-back form assembling, the super 180 degree of covering surface, to meet video shooting requirement, for acquiring inner wall of stack letter
Breath.
In the preferably described step 5, the parameter of setting includes the up and down speed of automatic detecting, up and down height
It spends, take pictures reserved time etc. of recording a video.
Preferably, it in the step 7, when there are a face sensor no data, can be carried out by the sensor of relative angle
Positioning is without influencing positioning function.
Compared with the prior art, the beneficial effects of the present invention are:
1, it is not required to manually hang carry out inspection from chimney top, manual inspection need to climb up one two hundred meters of height, climbing
When there is huge safety problem, into chimney inside belong to high altitude operation when hanging, equally exist huge safety
Problem；
2, it in the case where manually carrying out inspection, when inspection suffers erosion to inner wall, is recorded, is needed at this time
Height is taken pictures and records, operation is very inconvenient at high-altitude, also causes efficiency relatively low.
In conclusion this programme only need to do simple operations in chimney bottom, relevant parameter is set, control unmanned plane takes off,
It is switched to chimney automatic detecting pattern, automatic detecting can be carried out, earth station's prompt inspection finishes after inspection, can be by nobody
Machine lands and withdraws, and fetches the image or video recording material of this inspection recording, improves routing inspection efficiency, increase safety.
Detailed description of the invention
Fig. 1 is a kind of operating process schematic diagram of unmanned plane chimney automatic detecting method proposed by the present invention.
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.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Referring to Fig.1, a kind of unmanned plane chimney automatic detecting method, method the following steps are included:
Step 1: installation four sides or multi-panel distance measuring sensor on unmanned plane, for detecting obstacle distance；
Step 2: installing lighting apparatus on unmanned plane, light source is supplemented when for shooting, guarantee is bright and clear, in chimney
Wall details is high-visible；
Step 3: camera is installed on unmanned plane；
Step 4: paddle is installed on unmanned plane and protects structure；
Step 5: the relevant parameter of automatic inspection function is configured by earth station；
Step 6: realize that a key takes off by remote controler or ground station control instruction；
Step 7: the range data that unmanned plane is got by the infrared distance measurement module of horizontal direction, by comparing one by one
The range data of two distance measuring sensors of every a pair of relative angle, establishes multidimensional coordinate, by adjusting target position to unmanned plane
Position be adjusted, so that unmanned plane is centered at chimney center always；
Step 8: it is carried out automatically in the case that unmanned plane course is fixed with the every rising certain distance of the speed set
Shooting, until chimney top unmanned plane rotates 180 ° counterclockwise, hovering is switched to after a certain period of time carries out downwards inspection, with certain
It is shot or is recorded a video automatically after speed decline certain distance, can accomplish that the inner wall not taken when will rise supplement is clapped
It photographs and, until inspection to chimney bottom；
Decline process without shooting if being panorama camera if carrying but switches to RECORD mode, uniform descent process
In record a video, human intervention is supported during automatic detecting.
Step 9: unmanned plane automatic steady lands and locks, and completes inspection operation.
In step 3, panorama camera or the shooting comprehensively of multiple cameras composition can be used, it is possible to use two wide angle cameras, back
The form of backrest assembles, the super 180 degree of covering surface, to meet video shooting requirement, for acquiring inner wall of stack information.
In step 5, the parameter of setting includes up and down speed, the up and down height, video recording of taking pictures of automatic detecting
The reserved time etc..
In step 7, when there are a face sensor no data, it can be positioned by the sensor of relative angle without shadow
Ring positioning function.
The photo shot during inspection of the present invention has been named according to height and direction automatically, after taking-up photo just
In patrol officer's investigation, orientation problem in position.
Due to chimney inspection height, space reasons, more safety measures are then needed compared with spacious place:
1, it is remotely controlled lost-control protection data link: earth station's prompt remote control disconnection when triggering remote control lost-control protection, if open
It is remotely controlled lost-control protection, otherwise unmanned plane then does inspection work for selection, remaining patrol worker is completed, the unmanned plane if selection is
Remain a constant speed decline, cancels until being remotely controlled lost-control protection in remote control connection, when in connection, the Wait Orders such as unmanned plane hovering, this
When operator can fall unmanned plane safely；
2, number passes disconnection protection: when number biography disconnects, debugging window and earth station can prompt number to pass disconnection, it is proposed that decline.
3, unmanned plane paddle is protected: protection is done on unmanned plane paddle, arc etc. protects structure；
4, maximum height limits: addition maximum height limitation, and unmanned plane rising hovers the several seconds i.e. after reaching maximum height
Decline and carries out inspection operation.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of unmanned plane chimney automatic detecting method, which is characterized in that the described method comprises the following steps:
Step 1: installation four sides or multi-panel distance measuring sensor on unmanned plane, for detecting obstacle distance；
Step 2: installing lighting apparatus on unmanned plane, light source is supplemented when for shooting, guarantee is bright and clear, and inner wall of stack is detailed
Details condition is high-visible；
Step 3: camera is installed on unmanned plane；
Step 4: paddle is installed on unmanned plane and protects structure；
Step 5: the relevant parameter of automatic inspection function is configured by earth station；
Step 6: realize that a key takes off by remote controler or ground station control instruction；
Step 7: the range data that unmanned plane is got by the infrared distance measurement module of horizontal direction, it is each by comparing one by one
To the range data of two distance measuring sensors of relative angle, multidimensional coordinate is established, by adjusting target position to the position of unmanned plane
It sets and is adjusted, unmanned plane is made to be centered at chimney center always；
Step 8: it is clapped automatically in the case that unmanned plane course is fixed with the every rising certain distance of the speed set
It takes the photograph, until chimney top unmanned plane rotates 180 ° counterclockwise, hovering is switched to after a certain period of time carries out downwards inspection, with a constant speed
It is shot or is recorded a video automatically after degree decline certain distance, can accomplish the inner wall not taken when will rise supplement shooting
Get off, until inspection to chimney bottom；
Step 9: unmanned plane automatic steady lands and locks, and completes inspection operation.
2. a kind of unmanned plane chimney automatic detecting method according to claim 1, which is characterized in that in the step 3,
Panorama camera or the shooting comprehensively of multiple cameras composition can be used, it is possible to use two wide angle cameras, back-to-back form assembling are covered
The super 180 degree of capping, to meet video shooting requirement, for acquiring inner wall of stack information.
3. a kind of unmanned plane chimney automatic detecting method according to claim 1, which is characterized in that in the step 5,
The parameter of setting includes the up and down speed of automatic detecting, up and down height, takes pictures reserved time etc. of recording a video.
4. a kind of unmanned plane chimney automatic detecting method according to claim 1, which is characterized in that in the step 7,
When there are a face sensor no data, it can be positioned by the sensor of relative angle without influencing positioning function.
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| CN201910466874.9A CN110208270A (en) | 2019-05-31 | 2019-05-31 | A kind of unmanned plane chimney automatic detecting method |
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| CN201910466874.9A CN110208270A (en) | 2019-05-31 | 2019-05-31 | A kind of unmanned plane chimney automatic detecting method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113326752A (en) * | 2021-05-20 | 2021-08-31 | 淮阴工学院 | Unmanned aerial vehicle-based photovoltaic power station identification method and system |
| CN115826596A (en) * | 2022-09-19 | 2023-03-21 | 国家能源集团宝庆发电有限公司 | Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle |
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| CN109747824A (en) * | 2019-01-14 | 2019-05-14 | 中国计量大学 | Device and barrier-avoiding method for unmanned plane avoidance inside chimney |
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2019
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| CN206772848U (en) * | 2017-04-06 | 2017-12-19 | 侯思明 | A kind of assembly detection apparatus applied to thermal power plant |
| CN109747824A (en) * | 2019-01-14 | 2019-05-14 | 中国计量大学 | Device and barrier-avoiding method for unmanned plane avoidance inside chimney |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113326752A (en) * | 2021-05-20 | 2021-08-31 | 淮阴工学院 | Unmanned aerial vehicle-based photovoltaic power station identification method and system |
| CN113326752B (en) * | 2021-05-20 | 2024-04-30 | 淮阴工学院 | Unmanned aerial vehicle-based photovoltaic power station identification method and system |
| CN115826596A (en) * | 2022-09-19 | 2023-03-21 | 国家能源集团宝庆发电有限公司 | Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle |
| CN115826596B (en) * | 2022-09-19 | 2023-08-25 | 国家能源集团宝庆发电有限公司 | Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle |
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