CN111131768A - Device and method for detecting image return time delay of unmanned aerial vehicle - Google Patents
Device and method for detecting image return time delay of unmanned aerial vehicle Download PDFInfo
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- CN111131768A CN111131768A CN201911202114.3A CN201911202114A CN111131768A CN 111131768 A CN111131768 A CN 111131768A CN 201911202114 A CN201911202114 A CN 201911202114A CN 111131768 A CN111131768 A CN 111131768A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
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Abstract
The invention discloses a device and a method for detecting image return time delay of an unmanned aerial vehicle, wherein the method comprises the following steps: the LED1 and the photosensitive diode D1 are arranged in the LED module, and the D1 is connected with the controller; the LED2 and the photosensitive diode D2 are externally arranged, and the D2 is connected with the controller; the LED1 and the LED2 emit light simultaneously, and the D1 captures the light emitted by the LED1 and feeds the light sensing back to the controller; the LED2 is aligned with the camera of the unmanned aerial vehicle, the light emitted by the LED2 is transmitted to the display screen of the remote controller, and the D2 captures the light emitted by the LED2 on the display screen of the remote controller and feeds the light sensation back to the controller; the controller calculates the time difference between the light sensing feedback time of the D1 on the LED1 and the light sensing feedback time of the D2 on the LED 2; the touch screen displays the detection result of the image return delay of the unmanned aerial vehicle, and solves the problems that the prior art cannot realize dynamic test after the unmanned aerial vehicle takes off and cannot meet the requirement of the measurement precision of the image return delay index ms level of the data link of the unmanned aerial vehicle specified by the relevant standard of the power industry.
Description
Technical Field
The application relates to the field of function and performance detection of an unmanned aerial vehicle data link system for power transmission line inspection, in particular to a detection device for unmanned aerial vehicle image return time delay, and also relates to a detection method for unmanned aerial vehicle image return time delay.
Background
With the development of socio-economic, the scale of power grid equipment is rapidly developed, and the length of 110(66) kilovolt and above overhead transmission lines in 2018 company reaches 99.2 kilo kilometers. Aiming at the high-quality development requirement of a traditional manual inspection mode for a power grid, each unit in the power industry is popularizing the application of an unmanned aerial vehicle, technical support systems such as unmanned aerial vehicle technical standards, test detection, key technology attack, personnel training and the like are established, and the intelligent level of power transmission operation and inspection is continuously improved.
According to a three-year work plan (2019-2021) for the construction of an unmanned aerial vehicle intelligent inspection operation system of an overhead transmission line of national grid limited company, the configuration rate of a demonstration unit unmanned aerial vehicle is not lower than 2 frames/hundred kilometers in 2021, the configuration rate of the unmanned aerial vehicle in three China is not lower than 1.5 frames/hundred kilometers, and the configuration rates of the unmanned aerial vehicles in other areas are not lower than 1 frame/hundred kilometers. Therefore, the test detection capability of the unmanned aerial vehicle inspection system of the power transmission line is improved continuously, the configuration of the unmanned aerial vehicle is enhanced, the quality of equipment is strictly closed, and the unmanned aerial vehicle inspection system is one of key work tasks of the unmanned aerial vehicle inspection application at present and in the future.
At present, a power transmission line unmanned aerial vehicle inspection system performance test field is built by depending on a national network extra-high voltage alternating current test base, the first unmanned aerial vehicle CNAS/CMA certification qualification in the domestic power industry is obtained, and the performance test detection work of the unmanned aerial vehicle inspection system is carried out in a normalized mode.
In the practical application of unmanned aerial vehicle routing inspection, the problems of large time delay of image return and the like easily occur, and each application unit provides more urgent detection requirements. However, when the electric power industry standard DL/T1578-2016 unmanned helicopter inspection system for overhead transmission lines is compiled by the lead of China electric academy of sciences, the problem of quantitative detection of image return is not solved due to the limitation of the technical level at that time.
With the technical progress and continuous exploration and research, the quantitative detection of the image return of the unmanned aerial vehicle inspection system of the power transmission line can be technically realized at present. Therefore, development of unmanned aerial vehicle data link system image return delay detection equipment and research on a detection method are urgently needed on the basis of the existing detection capability.
Regarding the image return delay test of the inspection unmanned aerial vehicle, a static test method of a mobile phone stopwatch is mainly adopted in the past, so that the dynamic test of the unmanned aerial vehicle after takeoff is difficult to realize, and the ms-level measurement precision requirement specified by the related standard of the power industry is not met.
Disclosure of Invention
The application provides a detection device and a detection method for image return time delay of an unmanned aerial vehicle, which solve the problems that the prior art can not realize dynamic test after the unmanned aerial vehicle takes off and can not meet the requirement of measurement precision of data link transmission time delay indexes ms level of the unmanned aerial vehicle specified by the power industry standard DL/T1578 and 2016.
The application provides a detection device of unmanned aerial vehicle image passback time delay, include: a light source LED1 and LED2, a photodiode D1 and photodiode D2, a controller, and a touch screen;
the LED1 and the photosensitive diode D1 are arranged in the test box, and the photosensitive diode D1 is connected with the controller;
the LED2 and the photosensitive diode D2 are externally arranged, and the photosensitive diode D2 is connected with the controller;
the LED1 and the LED2 emit light simultaneously, the photosensitive diode D1 captures the light emitted by the LED1 and feeds the light sensing back to the controller; the LED2 is aligned with the camera of the unmanned aerial vehicle, the light emitted by the LED2 is transmitted to the display screen of the remote controller, and the light-sensitive diode D2 captures the light emitted by the LED2 displayed on the display screen of the remote controller and feeds the light back to the controller;
the controller records the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, and calculates the time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED 2;
and the touch screen is used for displaying the detection result of the image return time delay of the unmanned aerial vehicle.
Preferably, the controller is a programmable logic controller.
Preferably, the controller calculates a time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, returns the time delay for the image of the unmanned aerial vehicle, and sends the time delay to the touch screen for display.
Preferably, the photodiode D1 and the photodiode D2 are both connected to the controller through aerial leads.
Preferably, the light emitted by the LED2 is transmitted to the display screen of the remote controller, specifically, through a map-based communication link between the drone and the remote controller.
Preferably, the touch screen is further used for displaying a detection interface of the return delay of the unmanned aerial vehicle image and receiving the operation of a user on the touch screen; the controller is further used for responding to the operation on the touch screen and controlling the detection process of the unmanned image return time delay.
The application also provides a detection method for the image return time delay of the unmanned aerial vehicle, which comprises the following steps:
controlling the LED1 and the LED2 to emit light simultaneously, capturing the light emitted by the LED1 by the photosensitive diode D1, transmitting the light emitted by the LED2 to a display screen of a remote controller and capturing the light by the photosensitive diode D2; the LED1 and the photosensitive diode D1 are arranged inside the test box, the LED2 and the photosensitive diode D2 are arranged outside the test box, and the LED2 is aligned with the camera of the unmanned aerial vehicle;
receiving the light sensing feedback of the photodiode D1 to the LED1 and the light sensing feedback of the photodiode D2 to the LED 2;
and calculating the time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, and determining the image return time delay of the unmanned aerial vehicle according to the time difference.
Preferably, the method further comprises the following steps:
and responding to the operation of the user on the touch screen, and controlling the detection process of the unmanned image return time delay.
Preferably, the method further comprises the following steps:
and displaying the detection process of the return time delay of the unmanned image and/or the detection result of the return time delay of the unmanned image on the touch screen.
Preferably, the light emitted by the LED2 is transmitted to the display screen of the remote controller, specifically, through a map-based communication link between the drone and the remote controller.
The application provides a detection device and a detection method for image return time delay of an unmanned aerial vehicle, which have the function of quantitative detection of the image return time delay of the unmanned aerial vehicle, have the test precision of ms level, and meet the requirement of image return time delay indexes of data links of the unmanned aerial vehicle specified by the relevant standards of the power industry.
Drawings
Fig. 1 is a schematic diagram of an apparatus for detecting image return delay of an unmanned aerial vehicle according to the present application;
fig. 2 is a schematic flowchart of a method for detecting an image return delay of an unmanned aerial vehicle according to the present application;
fig. 3 is a schematic view of an image return delay test function interface of an unmanned aerial vehicle according to the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
Example 1
The application provides a detection device of unmanned aerial vehicle image passback time delay, as shown in fig. 1, include: a light source LED1 and LED2, a photodiode D1 and photodiode D2, a controller, and a touch screen;
the LED1 and the photosensitive diode D1 are arranged in the test box, and the photosensitive diode D1 is connected with the controller;
the LED2 and the photosensitive diode D2 are externally arranged, and the photosensitive diode D2 is connected with the controller; the photosensitive diode D1 and the photosensitive diode D2 are both connected with the controller through aerial leads;
the LED1 and the LED2 emit light simultaneously, the photosensitive diode D1 captures the light emitted by the LED1 and feeds the light sensing back to the controller; the LED2 is aligned with the camera of the unmanned aerial vehicle, the light emitted by the LED2 is transmitted to the display screen of the remote controller, and the light-sensitive diode D2 captures the light emitted by the LED2 displayed on the display screen of the remote controller and feeds the light back to the controller; the light emitted by the LED2 is transmitted to a display screen of the remote controller, and is specifically transmitted through a map transmission communication link between the unmanned aerial vehicle and the remote controller;
the controller records the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, and calculates the time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED 2;
and the touch screen is used for displaying the detection result of the image return time delay of the unmanned aerial vehicle. The touch screen is further used for displaying a detection interface of the return delay of the unmanned aerial vehicle image and receiving the operation of a user on the touch screen; the controller is further used for responding to the operation on the touch screen and controlling the detection process of the unmanned image return time delay;
and the controller is a programmable logic controller, is used for transmitting the time delay back to the unmanned aerial vehicle image by the time difference between the light sensing feedback time of the light sensitive diode D1 on the LED1 and the light sensing feedback time of the light sensitive diode D2 on the LED2, and transmits the time delay to the touch screen for displaying.
In fig. 1, two paths of high-brightness white LED lamps are simultaneously controlled by an output terminal of a PLC (programmable logic controller), and then detected by two paths of photodiodes, respectively.
The LED light source for the image return time delay test has two paths, one path is internally arranged, and the other path is externally arranged; the photosensitive detector also has two paths, one path is internally arranged, and the other path is externally arranged. The LED1 and the photosensitive diode D1 are arranged in the test box, and the photosensitive diode D1 is connected with the controller; the LED2 and the photosensitive diode D2 are externally arranged, and the photosensitive diode D2 is connected with the controller. The LED1 and the LED2 emit light simultaneously, the photosensitive diode D1 captures the light emitted by the LED1 and feeds the light sensing back to the input end of the PLC; LED2 then aims at the unmanned aerial vehicle camera, is passed back to the remote controller display screen by unmanned aerial vehicle picture biography communication link, shows a very bright facula, and reuse photodiode D2 aims at the facula and detects to the sensitization repays to the PLC input. The photosensitive diode D1 and the photosensitive diode D2 are both connected with the controller through aerial leads.
The response time of the LED and the photosensitive diode in the figure 1 is nanosecond, and the high-speed high-precision measurement is suitable for being carried out. Because the built-in LED1 and the external LED2 are luminous at the same time, and the light sensing time of the two photodiodes is also nanosecond level, the loop time difference between the built-in LED1 and the photodiode D1, and between the external LED2 and the photodiode D2 is just equal to the time difference from the light sensing of the unmanned aerial vehicle camera to the display light spot of the display screen of the remote controller, namely the image return time delay.
Example 2
Based on the same inventive concept, the invention provides a method for detecting the time delay of an operation instruction of an unmanned aerial vehicle, the flow of which is shown in fig. 2, and the method comprises the following steps:
step S201, controlling the LED1 and the LED2 to emit light simultaneously, capturing the light emitted by the LED1 by the photosensitive diode D1, transmitting the light emitted by the LED2 to a display screen of a remote controller and capturing the light by the photosensitive diode D2; the LED1 and the photosensitive diode D1 are arranged inside the test box, the LED2 and the photosensitive diode D2 are arranged outside the test box, and the LED2 is aligned with the camera of the unmanned aerial vehicle;
step S202, receiving the light sensing feedback of the photodiode D1 to the LED1 and the light sensing feedback of the photodiode D2 to the LED 2;
step S203, calculating a time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, and determining the image return time delay of the unmanned aerial vehicle according to the time difference.
The light emitted by the LED2 is transmitted to a display screen of the remote controller, and is transmitted through a map transmission communication link between the unmanned aerial vehicle and the remote controller. And controlling the detection process of the unmanned image return time delay by responding to the operation of the user on the touch screen. And displaying the detection process of the return time delay of the unmanned image and/or the detection result of the return time delay of the unmanned image on the touch screen.
When the system is implemented, the controller firstly receives the light sensing feedback which is directly transmitted by the photosensitive diode D1 through the built-in circuit board when the LED1 emits light, and the light sensing feedback which is transmitted back to a light spot on a display screen of a remote controller by the unmanned aerial vehicle image transmission communication link and is detected by the photosensitive diode D2 when the LED2 emits light; and then calculating the loop time difference between the light sensing feedback of the photodiode D1 and the light sensing feedback of the photodiode D2, wherein the time difference is the unmanned aerial vehicle image return time delay.
The invention provides a device and a method for detecting image return time delay of an unmanned aerial vehicle, which are used for detecting operation instruction time delay and image return time delay of a sample quad-rotor unmanned aerial vehicle respectively, wherein the detection result is shown in figure 3, the transmission time delay of an operation instruction is 25.6ms, and the test precision is ms level; the image return time delay is 268.5ms, and the test precision is ms level.
By adopting the device and the method for detecting the image return time delay of the unmanned aerial vehicle, the device and the method have the quantitative detection function of the image return time delay of the unmanned aerial vehicle, the test precision is in the ms level, and the requirement of the image return time delay index of the data link of the unmanned aerial vehicle specified by the relevant standards of the power industry is met.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a detection apparatus for unmanned aerial vehicle image passback time delay which characterized in that includes: a light source LED1 and LED2, a photodiode D1 and photodiode D2, a controller, and a touch screen;
the LED1 and the photosensitive diode D1 are arranged in the test box, and the photosensitive diode D1 is connected with the controller;
the LED2 and the photosensitive diode D2 are externally arranged, and the photosensitive diode D2 is connected with the controller;
the LED1 and the LED2 emit light simultaneously, the photosensitive diode D1 captures the light emitted by the LED1 and feeds the light sensing back to the controller; the LED2 is aligned with the camera of the unmanned aerial vehicle, the light emitted by the LED2 is transmitted to the display screen of the remote controller, and the light-sensitive diode D2 captures the light emitted by the LED2 displayed on the display screen of the remote controller and feeds the light back to the controller;
the controller records the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, and calculates the time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED 2;
and the touch screen is used for displaying the detection result of the image return time delay of the unmanned aerial vehicle.
2. The apparatus of claim 1, wherein the controller is a programmable logic controller.
3. The device of claim 1, wherein the controller calculates a time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, transmits the time delay back to the drone image, and transmits the time delay to the touch screen for display.
4. The device of claim 1, wherein the photodiode D1 and the photodiode D2 are connected to the controller by aerial leads.
5. The device of claim 1, wherein the light emitted by the LED2 is transmitted to a display screen of a remote controller, in particular, through a graphical communication link between the drone and the remote controller.
6. The apparatus according to claim 1, wherein the touch screen is further configured to display a detection interface of the drone image return delay, and receive an operation of a user on the touch screen; the controller is further used for responding to the operation on the touch screen and controlling the detection process of the unmanned image return time delay.
7. The method for detecting the image return time delay of the unmanned aerial vehicle is characterized by comprising the following steps:
controlling the LED1 and the LED2 to emit light simultaneously, capturing the light emitted by the LED1 by the photosensitive diode D1, transmitting the light emitted by the LED2 to a display screen of a remote controller and capturing the light by the photosensitive diode D2; the LED1 and the photosensitive diode D1 are arranged inside the test box, the LED2 and the photosensitive diode D2 are arranged outside the test box, and the LED2 is aligned with the camera of the unmanned aerial vehicle;
receiving the light sensing feedback of the photodiode D1 to the LED1 and the light sensing feedback of the photodiode D2 to the LED 2;
and calculating the time difference between the light sensing feedback time of the photodiode D1 to the LED1 and the light sensing feedback time of the photodiode D2 to the LED2, and determining the image return time delay of the unmanned aerial vehicle according to the time difference.
8. The method of claim 7, further comprising:
and responding to the operation of the user on the touch screen, and controlling the detection process of the unmanned image return time delay.
9. The method of claim 8, further comprising:
and displaying the detection process of the return time delay of the unmanned image and/or the detection result of the return time delay of the unmanned image on the touch screen.
10. The method of claim 7, wherein the emission of the LED2 is transmitted to a display screen of the remote control, in particular via a graphical communication link between the drone and the remote control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911202114.3A CN111131768A (en) | 2019-11-29 | 2019-11-29 | Device and method for detecting image return time delay of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911202114.3A CN111131768A (en) | 2019-11-29 | 2019-11-29 | Device and method for detecting image return time delay of unmanned aerial vehicle |
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| CN104349163A (en) * | 2014-11-26 | 2015-02-11 | 电子科技大学 | Measurement display device and measurement system for end-to-end video transmission delay |
| CN105974359A (en) * | 2016-06-30 | 2016-09-28 | 成都理想境界科技有限公司 | Positioning device, positioning base station, spatial positioning system and method |
| CN109031330A (en) * | 2018-07-12 | 2018-12-18 | 维沃移动通信有限公司 | A kind of method and terminal device measuring object distance |
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2019
- 2019-11-29 CN CN201911202114.3A patent/CN111131768A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0094999A1 (en) * | 1982-05-25 | 1983-11-30 | John William Herbert Freeman | Improvements in photoelectric position transducers |
| CN203422849U (en) * | 2013-09-02 | 2014-02-05 | 昆明利亚德科技开发有限公司 | Automatic opening/closing system for time-delay calculating processing type LED traffic signal denoter |
| CN104349163A (en) * | 2014-11-26 | 2015-02-11 | 电子科技大学 | Measurement display device and measurement system for end-to-end video transmission delay |
| CN105974359A (en) * | 2016-06-30 | 2016-09-28 | 成都理想境界科技有限公司 | Positioning device, positioning base station, spatial positioning system and method |
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