CN110940320A - Open stock ground monitored control system based on unmanned aerial vehicle cruises - Google Patents
Open stock ground monitored control system based on unmanned aerial vehicle cruises Download PDFInfo
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- CN110940320A CN110940320A CN201910673955.6A CN201910673955A CN110940320A CN 110940320 A CN110940320 A CN 110940320A CN 201910673955 A CN201910673955 A CN 201910673955A CN 110940320 A CN110940320 A CN 110940320A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
Abstract
The invention discloses an open-air stock ground monitoring system based on unmanned aerial vehicle cruising, which consists of a control area, a sensing area and an image processing area, wherein the control area comprises a solar power supply unit, a main control unit, a navigation unit, a wireless transmission unit and a starting unit, the sensing area comprises an optical flow sensor, an air pressure sensor, a displacement sensor and an inertial sensor, the image processing area comprises an oblique photography module, a fixed-point photography module, image processing software, an image screening module, a three-dimensional model generation module and a material characteristic extraction module, the unmanned aerial vehicle is controlled to cruise through the main control unit, a three-dimensional model is generated through software processing to extract material characteristics, and open-air stock ground monitoring is realized. According to the invention, the unmanned aerial vehicle fixed-point aerial photography is combined with the three-dimensional model generation software, so that the storage condition of spare parts on an open stock ground can be rapidly and accurately acquired, and the efficiency of checking materials is improved.
Description
Technical Field
The invention relates to the technical field of open-air stock ground monitoring of a thermal power plant by combining unmanned aerial vehicle cruising, two-dimensional image acquisition, image data communication, three-dimensional model establishment, model feature extraction and classification and the like, in particular to an open-air stock ground monitoring system based on unmanned aerial vehicle cruising.
Background
The problem that the quantity statistics work of spare parts stored in an existing open stock ground of a thermal power plant is difficult to expand is solved, most of spare parts cruise at fixed points on a specified path through an unmanned aerial vehicle to obtain aerial pictures, a three-dimensional model is built, material type judgment and quantity statistics are further carried out, and automatic warehousing, comparison and correction of material data are achieved. At present, spare parts of most thermal power plants are checked in a manual mode, so that the efficiency is low, the required time is long, the workload is large, and the automation degree is low.
Disclosure of Invention
The invention aims to provide an open-air stock ground monitoring system based on unmanned aerial vehicle cruising, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an open-air stock ground monitored control system based on unmanned aerial vehicle cruises, includes by control area, sensing district and image processing district triplex, the control area includes solar energy power supply unit, main control unit, navigation unit, wireless transmission unit and start unit, the sensing district includes light stream sensor, baroceptor, displacement sensor and inertial sensor, the image processing district includes oblique photography module, fixed point photography module, image processing software, image screening module, three-dimensional model generation module and material characteristic extraction module.
Furthermore, the solar power supply unit is electrically connected with the main control unit.
Further, the main control unit is a 51-chip microcomputer.
Further, the specific navigation route of the navigation unit comprises presets for flying in the current direction and steering flying.
Furthermore, the navigation unit and the starting unit are respectively electrically connected with the main control unit, and the main control unit is connected with the input end of the wireless transmission unit through a wireless network.
Furthermore, the optical flow sensor, the air pressure sensor, the displacement sensor and the inertial sensor are respectively and electrically connected with the output end of the wireless transmission unit, and the optical flow sensor, the air pressure sensor, the displacement sensor and the inertial sensor are connected in parallel and connected with the oblique photography module and the fixed-point photography module through wires.
Further, the image processing software is based on algorithms such as a lens distortion correction algorithm of an IACPSO algorithm, a cubic B-spline interpolation algorithm, Wallis transformation and the like.
Furthermore, the image screening module is electrically connected with one end of the three-dimensional model generation module, and the other end of the three-dimensional model generation module is electrically connected with the material characteristic extraction module through programming software.
Compared with the prior art, the invention has the beneficial effects that:
the open stock ground monitoring system based on unmanned aerial vehicle cruising utilizes unmanned aerial vehicle oblique photography, fixed point aerial photography and image processing software, and can efficiently and accurately realize automatic generation from a two-dimensional image to a three-dimensional model.
Secondly, this kind of open-air stock ground monitored control system based on unmanned aerial vehicle cruises is according to the external surface shape of different materials whether regular, does the feature extraction to regular material, statistics its kind, quantity, calculates the model volume to irregular material, converts into concrete quantity.
Drawings
FIG. 1 is an overall system block diagram of an open yard monitoring system based on unmanned aerial vehicle cruising;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle of an open-air stock ground monitoring system based on unmanned aerial vehicle cruising.
In the reference symbols: 1-a solar power supply unit; 2-a main control unit; 3-a navigation unit; 4-a wireless transmission unit; 5-a start-up unit; 6-optical flow sensor; 7-a barometric sensor; 8-a displacement sensor; 9-an inertial sensor; 10-oblique photography module; 11-fixed point photography module; 12-image processing software; 13-an image screening module; 14-a three-dimensional model generation module; 15-material feature extraction module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: an open-air stock ground monitoring system based on unmanned aerial vehicle cruising comprises a control area, a sensing area and an image processing area, wherein the control area comprises a solar power supply unit 1, a main control unit 2, a navigation unit 3, a wireless transmission unit 4 and a starting unit 5, the influence overlapping degree of the unmanned aerial vehicle in low altitude aerial photography is higher than that in the general flight condition, the course overlapping degree in the navigation unit 3 is set to reach 70-85%, the side overlapping degree is set to reach 35-55%, the sensing area comprises an optical flow sensor 6, an air pressure sensor 7, a displacement sensor 8 and an inertial sensor 9, the image processing area comprises an oblique photography module 10, a fixed-point photography module 11, image processing software 12, an image screening module 13, a three-dimensional model generation module 14 and a material characteristic extraction module 15, and the oblique photography module 10, the image screening module 13, the three-dimensional model generation module 14 and the material characteristic extraction module 15 are, After the fixed-point photographing module 11 obtains the image data, the obtained images need to be inspected one by one on site, and a test area with seriously unqualified image quality needs to be compensated for flying and photographed again.
Furthermore, the solar power supply unit 1 is electrically connected with the main control unit 2, and the solar power supply unit can supply power for a long time without pollution and can be recycled.
Further, the main control unit 2 is a 51-chip microcomputer, the 51-chip microcomputer is a general name for all the chip microcomputers compatible with the Intel8031 instruction system, and the main control unit 2 can also be operated in cooperation with a miniaturized and integrated high-level computer.
Further, the specific navigation route of the navigation unit 3 comprises presets for flying in the current direction and steering, and the cruising safety rate of the unmanned aerial vehicle is improved through a preset navigation channel.
Further, the navigation unit 3 and the starting unit 5 are respectively electrically connected with the main control unit 2, the main control unit 2 is connected with the input end of the wireless transmission unit 4 through a wireless network, and the unmanned aerial vehicle is controlled to operate through the wireless network.
Further, the optical flow sensor 6, the air pressure sensor 7, the displacement sensor 8 and the inertial sensor 9 are electrically connected with the output end of the wireless transmission unit 4 respectively, the optical flow sensor 6, the air pressure sensor 7, the displacement sensor 8 and the inertial sensor 9 are connected in parallel and connected with the oblique photography module 10 and the fixed point photography module 11 through wires, and more complete and comprehensive ground feature information is completed through cooperative work of the sensors.
Further, the image processing software 12 is based on the lens distortion correction algorithm, cubic B-spline interpolation algorithm, Wallis transformation algorithm and other algorithms of the IACPSO algorithm, the image processing software 12 converts the two-dimensional image after the aerial image processing into the three-dimensional model, and uses the drift bilateral filtering to perform the denoising processing, wherein the aerial image processing should mainly focus on the image distortion correction, the gray level reconstruction, the color equalization and the like, and the lens distortion correction algorithm, the cubic B-spline interpolation algorithm, the Wallis transformation algorithm and other algorithms based on the IACPSO algorithm are respectively used.
Further, the image screening module 13 is electrically connected to one end of the three-dimensional model generating module 14, wherein the image screening module 13 processes and rejects irrelevant objects such as ground, fences and the like, and removes noise; the image screening module 13 is electrically connected with one end of the three-dimensional model generating module 14, the other end of the three-dimensional model generating module 14 is electrically connected with the material feature extracting module 15 through programming software, the material feature extracting module 15 performs feature extraction on regular materials according to whether the shapes of the outer surfaces of different materials are regular or not, the types and the quantity of the regular materials are counted, the model volume of irregular materials is calculated, and the specific quantity is converted.
The working principle is as follows: firstly, an unmanned aerial vehicle aerial image is utilized, an oblique photography module 10 and a fixed point photography module 11 are used for calculating and planning an aerial path and a shooting point, the aerial image is subjected to distortion correction, gray level enhancement, color equalization, format conversion and other processing through image processing software 12, the obtained processed image is guided into a three-dimensional model generation module 14 to obtain a three-dimensional model, different types of spare parts are always stored in a classified mode, and a certain distance also exists between the spare parts, so that the spare parts can be separated according to the spatial discontinuity of the whole three-dimensional model to obtain the three-dimensional model of a single object, the models are numbered in sequence, the obtained three-dimensional model of the single object is simplified, and the three-dimensional model is replaced by the combination of simpler and regular geometric bodies. The normal line or the outer contour of the outer surface is extracted as the characteristic, and is compared with models of various spare parts stored in a database of the main control unit 2 in sequence, matching is carried out according to the similarity, and all objects stored in the open-air stock ground are classified correctly. For some spare parts with more regular shapes, the spare parts or the classes of the spare parts to which the model belongs can be directly obtained after matching and classification, and the number of the spare parts of various kinds is obtained through accumulation. For some spare parts with irregular shapes or placed in piles, the volume of the simplified model can be calculated, and the number of the spare parts can be further calculated according to the volume.
After the statistics is completed, the data of the types and the number of the spare parts transported into the open stock ground each time is automatically stored into the database of the main control unit 2 by using the material characteristic extraction module 15. The database of the main control unit 2 is required to include the warehousing time, the type and quantity of the warehoused articles, the type and quantity of the articles stored in the whole open-air stock ground and other information.
Each time a spare part is transported out of the open yard, the main control unit 2 is required to record the type and number of spare parts. When the types and the quantity of articles stored in the open-air stock ground need to be checked, the system can be used for checking, the quantity of various spare parts can be checked, the respective placing positions of the spare parts can be compared front and back, if the situation that the position of a certain spare part has large deviation or the spare part is lost is found, the situation is fed back to the image processing software 12, the three-dimensional model generation module 14 circles out a suspicious model by a wire frame in the model, and a detailed analysis report is generated. According to the invention, the unmanned aerial vehicle fixed-point aerial photography is combined with the three-dimensional model generation software, so that the storage condition of spare parts on an open stock ground can be rapidly and accurately acquired, and the efficiency of checking materials is improved; by using software, the automatic generation from a two-dimensional image to a three-dimensional model can be efficiently and accurately realized; its kind, quantity can be makeed statistics of, to irregular material calculation model volume, convert concrete quantity, convenient operation not only, work efficiency is high moreover, can the open-air stock ground of real time monitoring, and the practicality is strong.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an open-air stock ground monitored control system based on unmanned aerial vehicle cruises comprises control area, sensing area and image processing district triplex, its characterized in that: the control area comprises a solar power supply unit (1), a main control unit (2), a navigation unit (3), a wireless transmission unit (4) and a starting unit (5), the sensing area comprises an optical flow sensor (6), an air pressure sensor (7), a displacement sensor (8) and an inertial sensor (9), and the image processing area comprises an oblique photography module (10), a fixed-point photography module (11), image processing software (12), an image screening module (13), a three-dimensional model generation module (14) and a material feature extraction module (15).
2. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the solar power supply unit (1) is electrically connected with the main control unit (2).
3. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the main control unit (2) is a 51-chip microcomputer.
4. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the specific navigation route of the navigation unit (3) comprises presets for flying in the current direction and steering flying.
5. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the navigation unit (3) and the starting unit (5) are respectively electrically connected with the main control unit (2), and the main control unit (2) is connected with the input end of the wireless transmission unit (4) through a wireless network.
6. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the device is characterized in that the optical flow sensor (6), the air pressure sensor (7), the displacement sensor (8) and the inertial sensor (9) are respectively electrically connected with the output end of the wireless transmission unit (4), and the optical flow sensor (6), the air pressure sensor (7), the displacement sensor (8) and the inertial sensor (9) are connected in parallel and are connected with the oblique photography module (10) and the fixed-point photography module (11) through wires.
7. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the image processing software (12) is based on an IACPSO algorithm-based lens distortion correction algorithm, a cubic B-spline interpolation algorithm, Wallis transformation and other algorithms.
8. The open yard monitoring system based on unmanned aerial vehicle cruises of claim 1, characterized in that: the image screening module (13) is electrically connected with one end of the three-dimensional model generating module (14), and the other end of the three-dimensional model generating module (14) is electrically connected with the material characteristic extracting module (15) through programming software.
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