CN113092499A - Chimney inner wall positioning method based on multiple sensors - Google Patents
Chimney inner wall positioning method based on multiple sensors Download PDFInfo
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- CN113092499A CN113092499A CN202110395757.5A CN202110395757A CN113092499A CN 113092499 A CN113092499 A CN 113092499A CN 202110395757 A CN202110395757 A CN 202110395757A CN 113092499 A CN113092499 A CN 113092499A
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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
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8861—Determining coordinates of flaws
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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
- G01N2021/8887—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 based on image processing techniques
Abstract
The invention discloses a chimney inner wall positioning method based on multiple sensors. Recording the initial posture of the holder, enabling the unmanned aerial vehicle device to enter a chimney in a hanging mode, changing the position of the device in the chimney, turning on a light source module, rotating the holder, and shooting an image; the positions of the chimney defects in the image are shot through the position of the real-time calculating device in the chimney, and then the seriously corroded area corresponds to the positions of the actual chimney inner wall defects through coordinate conversion, so that the function of chimney inner wall image positioning is achieved. The method improves the efficiency of image acquisition in the chimney, and can quickly and effectively determine the position of the seriously corroded area in the chimney.
Description
Technical Field
The invention relates to an unmanned aerial vehicle image processing and positioning method, in particular to a chimney inner wall positioning device and method based on multiple sensors.
Background
In recent years, although solar power generation, wind power generation, nuclear power generation, and the like have been rapidly developed, thermal power generation, which is a conventional power generation method, accounts for 80% or more of the total power generation amount. The inner wall of the chimney of the power plant is gradually corroded with the lapse of time, which becomes a big problem of thermal power generation. Aiming at the problem, the existing thermal power plant mainly adopts a mode that the people reach the top of the chimney and enter the chimney through a lifting rope or a lifter to collect images. This approach can only roughly determine the corrosion situation from the acquired images afterwards, and cannot locate the corrosion site at a specific position of the chimney. This results in the corruption condition detection inefficiency of chimney inner wall, and personnel's safety can't guarantee to there is the condition of single repeated detection or omission. The repair of the inner wall of the chimney is more difficult to implement.
With the development of industrial automation, the measurement accuracy of sensors gradually rises, for example, laser radar and inertial sensors are widely used in unmanned aerial vehicles, geographical mapping and the like. At present, in the chimney application field, use unmanned aerial vehicle to hang the platform and get into inside the chimney and carry out image acquisition among the current device. However, the existing device and processing method cannot position the acquired image to the position inside the actual chimney, and the situation of image acquisition omission still exists.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a chimney inner wall positioning method based on multiple sensors. The positioning device enters the chimney in a hanging mode, and the accurate position of the positioning device in the chimney is obtained through calculation by utilizing a plurality of sensors carried by the positioning device; the position of the device in the chimney is adjusted by the airborne processor according to the obtained distance, so that the shot image is clear; and converting pixel coordinates in the image into actual geographic position coordinates by using an image processing mode. This practically solves the problem of matching the captured image with the position inside the chimney. The problem of image acquisition omission is solved by resolving the size occupied by the shot image in the actual chimney and moving the device through an onboard processor. The improvement has a good promoting effect on the detection of the inner wall of the chimney.
The technical scheme adopted by the invention is as follows:
a chimney internal positioning method comprises the following steps:
step 1: the unmanned aerial vehicle device records the orientation direction of the holder under the initial condition, the unmanned aerial vehicle device enters the chimney in a hanging mode by binding a Kevlar wire at the upper end, and the laser radar monitors the distance from each angle direction to the inner wall of the chimney in real time;
step 2: according to the distance detected by the laser radar, the onboard processor sends an instruction to control each propeller to rotate, and the distance detected by the laser radar is within a preset range, so that an image acquired by the camera can be clear;
and step 3: the holder rotates to a certain angle w1, the light source module is turned on, and the camera shoots the picture of the inner wall of the chimney;
and 4, step 4: continuously repeating the step 3 to shoot;
and 5: the descending device drives the shooting height of the holder to descend, and the steps 3 and 4 are repeated for shooting; in the process, the position of the cradle head in the chimney is calculated in real time, and the rotating angle w1 of the cradle head is adjusted, so that the continuity between each image shooting of the inner wall of the camera chimney is realized;
the image shooting integrity of the inner wall of the chimney in the horizontal direction is ensured through the calculation of the angle of view of the camera and the conversion of the actual central angle of the angle of view in the chimney.
Step 6: and finding the serious corrosion area on the picture, and converting the image from an image two-dimensional coordinate system to a world three-dimensional coordinate system so as to obtain the real position of the serious corrosion area in the chimney.
The step 5 specifically comprises the following steps:
5.1, by obtaining the initial orientation w of the holder0And the angle w of rotation of the head1And processing to obtain the current tripod head orientation w2；
5.2, placing the laser radar and the holder in the same vertical direction at different heights of the device, wherein the distance between the holder and the inner wall of the chimney is regarded as the distance between the laser radar and the inner wall of the chimney, and the same circumference of the inner wall of the chimney is regarded as a circle;
5.3, detecting and collecting distances by the laser radar from any initial orientation angle, sequentially rotating for three times by 90 degrees, recording the collected distances for four times, adding the distances collected by every two symmetrical orientation angles to form a chord length of a chord on a circle, so as to obtain two perpendicular crossed chord lengths, wherein the laser radar is positioned at the intersection point of the two chord lengths and is long, so that the radius of the circle and the plane position relation of the circle center relative to the laser radar are obtained according to the geometric relation processing, and the radius of the circle is the radius r of the inner wall circumference of the chimney at the plane height of the device;
5.4, controlling the orientation of the laser radar and the holder to pass through the circle center through the current orientation angle of the laser radar and the holder, and recording the distance collected by the laser radar in real time as the vertical distance d of the holder reaching the inner wall of the chimney along the radial directionm；
5.5, obtaining the field angles alpha of the camera in different directions according to the following formula by obtaining the marking focal length f, the magnification factor m and the length h x d of the size of the imaging surface of the camera:
αh＝2tan-1(h/2f(1+m))
αd＝2tan-1(d/2f(1+m))
5.6 at angle of view α, according to vertical distance dmAnd the radius r of the inner wall of the chimney, and obtaining the central angle alpha of the circle occupying the inner wall of the chimney by the shot imagemSize and chord length L size:
and (3) controlling the rotation angle w1 of the cloud platform in the step (3) to be less than or equal to the central angle alpha m, and controlling the descending height of the unmanned aerial vehicle device in the step (5) to be lower than the chord length L each time, so that the continuity between image shooting of the inner wall of the camera chimney each time is realized.
Secondly, a chimney inner wall positioner based on multisensor:
the unmanned aerial vehicle device is mainly formed by fixedly connecting an upper-layer acrylic plate and a lower-layer acrylic plate, the lower end of a Kevlar wire is fixedly tied to four corners of the upper-layer acrylic plate, and the upper end of the Kevlar wire is connected with a lifting device above the outside; the laser radar is installed on the upper layer of acrylic plate, the lithium battery, the onboard processor, the data transmission module, the inertial sensor and the image transmission module are installed on the lower layer of acrylic plate, the barometer is installed below the lower layer of acrylic plate, the light source module and the camera are installed on the bottom surface of the lower layer of acrylic plate through a cradle head, the light source module and the camera are arranged in the same direction, four arms are arranged on the side portion of the upper layer of acrylic plate in a stretching mode towards the periphery, a motor is installed on each arm, an output shaft of the motor is horizontally arranged and coaxially connected with a propeller, the propeller faces towards the outer inner wall of a chimney, an ultrasonic obstacle avoidance module is installed in the center of the propeller, and a control end of the motor is electrically connected; the onboard processor is respectively connected with the laser radar, the lithium battery, the inertial sensor, the data transmission module, the ultrasonic obstacle avoidance module and the image transmission module, the image transmission module is connected with the camera, and the light source module is connected with the lithium battery.
The holder can be rotatably arranged on the bottom surface of the lower acrylic plate.
The laser radar and the holder are positioned in the same vertical direction.
The method comprises the steps of firstly recording the initial posture of the holder, then enabling the device to enter the chimney in a hanging mode, then enabling the onboard processor to change the position of the device in the chimney, turning on the light source module, rotating the holder and shooting images. The position of the device in the chimney is calculated, the position of the chimney defect in the image is shot, and then the seriously corroded area corresponds to the position of the actual chimney inner wall defect through coordinate conversion, so that the function of positioning the chimney inner wall image is achieved.
Compared with the prior art, the invention has the beneficial effects that:
the invention reduces the cost of chimney inner wall image acquisition, reduces the risk of the traditional manual operation in the chimney, improves the efficiency of chimney inner wall image acquisition, and brings higher safety reliability and high efficiency to industrial production.
The method reduces the possibility of image shooting omission in the chimney and improves the integrity of image acquisition on the inner wall of the chimney.
The method correlates the chimney corrosion position on the image with the actual chimney corrosion position, is beneficial to recording the chimney corrosion condition at different time, and lays a cushion for the subsequent chimney inner wall repairing work.
Drawings
FIG. 1 is a hardware block diagram of the present invention;
FIG. 2 is a flow chart of the present invention.
In fig. 1: 1. the system comprises a propeller, 2, a motor, 3, an electric controller, 4, an ultrasonic obstacle avoidance module, 5, a Kevlar wire, 6, a data transmission module, 7, a barometer, 8, a camera, 9, a light source module, 10, a holder, 11, a lithium battery, 12, an onboard processor, 13, a laser radar, 14, an inertial sensor, 15 and a map transmission module.
Detailed Description
Hereinafter, preferred examples of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
As shown in fig. 1, the device mainly comprises an upper acrylic plate and a lower acrylic plate which are fixedly connected through a surrounding bracket, the lower end of a kevlar line 5 is fixedly tied to four corners of the upper acrylic plate, and the upper end of the kevlar line 5 is connected with a lifting device above the outside; install laser radar 13 on the inferior gram force board of upper strata, install lithium cell 11, machine-borne processor 12, data transmission module 6, inertial sensor 14 and picture transmission module 15 above the inferior gram force board of lower floor, install barometer 7 below the inferior gram force board of lower floor, light source module 9 and camera 8 are installed through cloud platform 10 to the inferior gram force board bottom surface of lower floor, and cloud platform 10 can be followed horizontal circumference and rotationally installed in inferior gram force board bottom surface of lower floor, and is rotatory around self center. The laser radar 13 and the pan/tilt head 10 are located in the same vertical direction.
The light source module 9 and the camera 8 are arranged in the same direction, four arms are arranged on the side portion of the upper acrylic plate in a stretching mode towards the periphery, a motor 2 is installed on each arm, an output shaft of each motor 2 is horizontally arranged and coaxially connected with a propeller 1, the propeller 1 faces towards the inner wall of an outward chimney, an ultrasonic obstacle avoidance module 4 is installed in the center of the propeller 1, the ultrasonic obstacle avoidance module 4 and the propeller 1 face in the same direction, and a control end of the motor 2 is electrically connected with a lithium battery 11 through an electric regulator 3; the onboard processor 12 is respectively connected with the laser radar 13, the lithium battery 11, the inertial sensor 14, the data transmission module 6, the ultrasonic obstacle avoidance module 4 and the image transmission module 15, the image transmission module 15 is connected with the camera 8, and the light source module 9 is connected with the lithium battery 11 and used for illuminating images.
As shown in fig. 2, the specific implementation process of the present invention is as follows:
step 1: the device records the orientation direction of a holder 10 under the initial condition, the device enters the chimney in a hanging mode by binding a Kevlar wire 5 at the upper end, and a laser radar 13 monitors the distance from each angle direction to the inner wall of the chimney in real time;
the chimney of the example was examined in the field, and the inner diameter of the chimney was 7m, the height of the chimney was 220m, and the inner wall of the chimney was cylindrical. The ultrasonic obstacle avoidance module of the positioning device detects the distance from the ultrasonic obstacle avoidance module to the inner wall of the chimney and sends the distance to the onboard processor.
Step 2: according to the distance detected by the laser radar 13, the onboard processor 12 sends an instruction to control each propeller 1 to rotate, and the distance detected by the laser radar 13 is within a preset range, so that the image acquired by the camera 8 can be clear; the preset range is a distance range in which the image acquired by the camera 8 is clear.
And then opening the data transmission module, and transmitting information such as the laser radar, the holder, the barometer and the like to other equipment. The barometer at the bottom of the device acquires real-time altitude changes. The laser radar at the top of the device acquires the distance around the inner wall of the chimney in real time. And step 3: the cloud platform 10 rotates to a certain angle w1, the light source module 9 is turned on to illuminate the area to be shot right in front of the cloud platform, the camera 8 finely adjusts the focal length according to the distance of the shooting distance, and the picture of the inner wall of the chimney is shot;
and 4, step 4: continuously repeating the step 3 to shoot, so that the cloud deck 10 finishes shooting after rotating for a circle;
and 5: the descending device drives the cloud deck 10 to lower the shooting height, and the steps 3 and 4 are repeated to shoot; in the process of the repeated steps, the position of the cloud deck 10 in the chimney is calculated in real time, and the rotation angle w1 of the cloud deck 10 is adjusted, so that continuity and integrity of each image shooting of the inner wall of the chimney of the camera 8 are guaranteed; and finally, transmitting the obtained image result to other equipment through the data transmission module and the image transmission module.
And 5.1, turning on the light source module to shoot, and transmitting the acquired image to other equipment in real time by the image transmission module. The head 10 is rotated. By obtaining the initial orientation w of the head 100And the angle w of rotation of the head1And processing to obtain the current tripod head orientation w2；
5.2, placing the laser radar 13 and the cloud platform 10 at different heights of the device in the same vertical direction, and regarding the distance between the cloud platform 10 and the inner wall of the chimney as the distance between the laser radar 13 and the inner wall of the chimney, and regarding the same circumference of the inner wall of the chimney as a circle; i.e. the chimney interior is approximately cylindrical or conical.
5.3, the laser radar 13 detects and collects distances from any initial orientation angle, rotates for three times by 90 degrees in sequence, records four collection distances, adds the distances collected by every two symmetrical orientation angles to form a chord length of a chord on a circle, so as to obtain two perpendicular crossed chord lengths, the laser radar 13 is positioned at the intersection point of the two chord lengths to be long, so that the radius of the circle and the plane position relation of the circle center relative to the laser radar 13 are obtained according to the geometric relation processing, the radius of the circle is the radius r of the inner wall circumference of the chimney at the plane height of the device, and the plane position relation of the circle center relative to the laser radar 13 is the position relation of the tripod head 10 on the inner wall circumference of the chimney at the plane height of the device;
the distances collected by the lidar 13 at each angular position of orientation are d1,d2,d3,d4And calculating the radius r of the inner part of the chimney by intersecting the perpendicular bisector through the four distances.
And taking the position of the laser radar as an origin, taking the straight lines of d1 and d3 as an x axis, taking the straight lines of d2 and d4 as a y axis, wherein the length of d1 is greater than d3, and the length of d4 is greater than d2, and obtaining the position of a circle center, thereby obtaining the real-time radius r through calculation.
5.4, controlling the orientations of the laser radar 13 and the cloud platform 10 to pass through the circle center through the current orientation angles of the laser radar 13 and the cloud platform 10, and recording the distance collected by the laser radar 13 in real time as the vertical distance d from the cloud platform 10 to the inner wall of the chimney along the radial directionm；
5.5, obtaining the field angles alpha of the camera 8 in different directions according to the following formula by obtaining the marking focal length f, the magnification factor m and the length and width h x d of the size of the imaging surface of the camera 8:
αh＝2tan-1(d/2f(1+m))
αd＝2tan-1(d/2f(1+m))
5.6 at angle of view α, according to vertical distance dmAnd the radius r of the inner wall of the chimney, and obtaining the central angle alpha of the circle occupying the inner wall of the chimney by the shot imagemSize and chord length L size:
under different direction field angles alpha, the rotating angle w1 of the cloud deck 10 in the control step 3 is smaller than or equal to the component of the central angle alpha m in the horizontal direction, the height of each device descending in the control step 5 is lower than the component of the chord length L in the vertical direction, the shot images are not missed, and the continuity between each image shooting of the inner wall of the chimney of the camera 8 is realized.
The integrity of image shooting in the horizontal direction of the inner wall of the chimney is ensured by calculating the angle of view of the camera 8 and converting the actual central angle of the angle of view in the chimney.
Step 6: and finding the serious corrosion area on the picture, and converting the image from an image two-dimensional coordinate system to a world three-dimensional coordinate system so as to obtain the real position of the serious corrosion area in the chimney.
So far the picture shot by the camera corresponds to the actual position of the inner wall of the chimney. And repeating the rotation and the descending of the holder, judging whether the height reaches the bottom by the barometer in the process, and continuing to repeat the process if the height does not reach the bottom. If so, the data transmission module sends a signal to inform other equipment and then leaves the chimney.
Therefore, the invention not only improves the efficiency and the integrity of image acquisition, but also associates the image data with the actual chimney data through processing and analyzing the data such as the laser radar, the image and the like, thereby facilitating the development of subsequent work.
Compared with the traditional manual operation of entering the chimney, the invention ensures the safety of people in the operation process; the efficiency of image acquisition in the chimney is improved; the position of the area with serious corrosion in the chimney is determined, and the subsequent repairing work of the inner wall surface of the chimney is laid.
The embodiments of the present invention are not limited to the above-described embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
Claims (5)
1. A chimney internal positioning method based on multiple sensors is characterized in that: the method comprises the following steps:
step 1: the unmanned aerial vehicle device records the orientation direction of a holder (10) under the initial condition, the unmanned aerial vehicle device enters the chimney in a hanging mode by binding a Kevlar (5) at the upper end, and a laser radar (13) monitors the distance from each angle direction to the inner wall of the chimney in real time;
step 2: according to the distance detected by the laser radar (13), the onboard processor (12) sends an instruction to control each propeller (1) to rotate, and the distance detected by the laser radar (13) is within a preset range, so that an image acquired by the camera (8) can be clear;
and step 3: the cloud deck (10) rotates to a certain angle w1, the light source module (9) is turned on, and the camera (8) shoots a picture of the inner wall of the chimney;
and 4, step 4: continuously repeating the step 3 to shoot;
and 5: the descending device drives the shooting height of the cradle head (10) to descend, and the steps 3 and 4 are repeated for shooting; in the process, the position of the cradle head (10) in the chimney is calculated in real time, and the rotation angle w1 of the cradle head (10) is adjusted, so that the continuity between each image shooting of the inner wall of the chimney of the camera (8) is realized;
step 6: and finding the serious corrosion area on the picture, and converting the image from an image two-dimensional coordinate system to a world three-dimensional coordinate system so as to obtain the real position of the serious corrosion area in the chimney.
2. The chimney internal positioning method according to claim 1, characterized in that: the step 5 specifically comprises the following steps:
5.1, by obtaining the initial orientation w of the pan-tilt (10)0And the angle w of rotation of the head1And processing to obtain the current tripod head orientation w2；
5.2, placing the laser radar (13) and the cloud deck (10) on the same vertical direction at different heights of the unmanned aerial vehicle device, taking the distance between the cloud deck (10) and the inner wall of the chimney as the distance between the laser radar (13) and the inner wall of the chimney, and taking the same circumference of the inner wall of the chimney as a circle;
5.3, detecting and collecting distances by the laser radar (13) from any initial orientation angle, sequentially rotating for three times by 90 degrees, recording the four collection distances, adding the distances collected by every two symmetrical orientation angles to form a chord length of a chord on a circle, so as to obtain two perpendicular crossed chord lengths, wherein the laser radar (13) is positioned at the intersection point of the two chord lengths, so that the radius of the circle and the plane position relation of the circle center relative to the laser radar (13) are obtained according to the geometric relation processing, and the radius of the circle is the radius r of the circumference of the inner wall of the chimney at the plane height of the unmanned aerial vehicle device;
5.4, controlling the orientation of the laser radar (13) and the holder (10) to pass through the circle center through the current orientation angle of the laser radar (13) and the holder (10), and recording the orientation of the laser radar (13) and the holder (10) in real timeRecording the distance collected by the laser radar (13) as the vertical distance d of the cradle head (10) reaching the inner wall of the chimney along the radial directionm；
5.5, obtaining the field angle alpha of the camera (8) in different directions according to the following formula by obtaining the marked focal length f, the magnification factor m and the length and width h x d of the size of the imaging surface of the camera (8):
αh＝2tan-1(h/2ff(1+m))
αd＝2tan-1(d/2f(1+m))
5.6, under the view angle alpha, according to the vertical distance dm and the radius r of the chimney inner wall, obtaining the central angle alpha of the circle occupying the chimney inner wall by the shot imagemSize and chord length L size:
and controlling the rotating angle w1 of the cloud deck (10) in the step 3 to be smaller than or equal to the central angle alpha m, and controlling the descending height of the unmanned aerial vehicle device in the step 5 to be lower than the chord length L each time, so that the continuity between each image shooting of the inner wall of the chimney of the camera (8) is realized.
3. The chimney internal positioning method according to claim 1, characterized in that: the unmanned aerial vehicle device in the method adopts a chimney inner wall positioning device, the device mainly comprises an upper layer acrylic plate and a lower layer acrylic plate which are fixedly connected, the lower end of a Kevlar wire (5) is fixedly tied to four corners of the upper layer acrylic plate, and the upper end of the Kevlar wire (5) is connected with a lifting device above the outside; a laser radar (13) is arranged on the upper acrylic plate, a lithium battery (11) and an onboard processor (12) are arranged on the lower acrylic plate, the device comprises a data transmission module (6), an inertial sensor (14) and a picture transmission module (15), wherein a barometer (7) is installed below a lower-layer acrylic plate, a light source module (9) and a camera (8) are installed on the bottom surface of the lower-layer acrylic plate through a holder (10), the light source module (9) and the camera (8) are arranged in the same direction, four arms are arranged on the side portion of an upper-layer acrylic plate in a stretching mode towards the periphery, a motor (2) is installed on each arm, an output shaft of the motor (2) is horizontally arranged and coaxially connected with a propeller (1), the inner wall of a chimney facing the outside of the propeller (1) is provided with an ultrasonic obstacle avoidance module (4), and a control end of the motor (2) is electrically connected with a lithium battery (11) through an electric regulator (3); the onboard processor (12) is respectively connected with the laser radar (13), the lithium battery (11), the inertial sensor (14), the data transmission module (6), the ultrasonic obstacle avoidance module (4) and the image transmission module (15), the image transmission module (15) is connected with the camera (8), and the light source module (9) is connected with the lithium battery (11).
4. A chimney internal positioning method according to claim 3, characterised in that: the holder (10) is rotatably arranged on the bottom surface of the lower acrylic plate.
5. A chimney internal positioning method according to claim 3, characterised in that: the laser radar (13) and the holder (10) are positioned in the same vertical direction.
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| CN110040244A (en) * | 2019-04-19 | 2019-07-23 | 中国计量大学 | Inner wall of stack image collecting device and method based on unmanned plane suspension platform |
| CN111238477A (en) * | 2019-03-25 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Method and device for positioning unmanned aerial vehicle in chimney |
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2021
- 2021-04-13 CN CN202110395757.5A patent/CN113092499A/en active Pending
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| JP2019036269A (en) * | 2017-08-10 | 2019-03-07 | ミスギ工業株式会社 | Flight control method of pilotless small flying object, and inspection method of condition of internal space and condition of wall surface thereof |
| JP6475377B1 (en) * | 2018-03-14 | 2019-02-27 | 株式会社サンメイ | Inspection system for inspecting chimney interior and method for inspecting chimney interior |
| 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 |
| CN111238477A (en) * | 2019-03-25 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Method and device for positioning unmanned aerial vehicle in chimney |
| CN110040244A (en) * | 2019-04-19 | 2019-07-23 | 中国计量大学 | Inner wall of stack image collecting device and method based on unmanned plane suspension platform |
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