CN113256840B - Port equipment inspection system based on unmanned aerial vehicle - Google Patents
Port equipment inspection system based on unmanned aerial vehicle Download PDFInfo
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- CN113256840B CN113256840B CN202110792233.XA CN202110792233A CN113256840B CN 113256840 B CN113256840 B CN 113256840B CN 202110792233 A CN202110792233 A CN 202110792233A CN 113256840 B CN113256840 B CN 113256840B
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
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- 238000003384 imaging method Methods 0.000 claims abstract description 12
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- 230000008569 process Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
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- 230000010365 information processing Effects 0.000 description 2
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- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/194—Transmission of image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses a port equipment inspection system based on an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicle application and comprises the following components: the inspection unit comprises an inspection unmanned aerial vehicle which is provided with an imaging scanning module and an information transmission module; the central control unit comprises a ground data processing platform, an information receiving module, a data processing module and an instruction transmission module; and a tarpaulin covering unit which comprises a multi-frame traction unmanned aerial vehicle and tarpaulin. Patrol and examine unmanned aerial vehicle and patrol and examine in the stack field at the harbour to confirm the position and the shape of stack, data processing platform calculates the cover cross center of stack according to the position and the shape of stack, cover cross center is located the intersection of the longest space distance and the widest space distance of stack, it is for covering the most suitable point, cover cross center has not only confirmed the position that the tarpaulin covered, has still confirmed the angle that the tarpaulin covered, well accuse unit commander draws unmanned aerial vehicle to implement the action of covering of tarpaulin to the stack.
Description
Technical Field
The invention relates to the technical field of port unmanned aerial vehicle application, in particular to a port equipment inspection system based on an unmanned aerial vehicle.
Background
With the increasing of the environmental protection, as an important pivot point for dry bulk cargo, ports, docks and storage yards have clear requirements for stacking of the cargo, and the requirements of stacking of the cargo at the ports and the air pollution prevention and control law of the people's republic of China are required to be followed. The wharf yard is generally divided into a plurality of storage areas in a grid form, each storage area is rectangular, and stacks are stored in the designated storage area. The periphery of a stacking field is generally provided with a windproof net and fixed spraying measures, but according to the requirements of an atmospheric environmental protection method, materials which are easy to dust and the like such as coal ores stacked in the open air need to be effectively covered to prevent dust pollution under the condition that the materials cannot be stored in a sealed manner, and according to industrial experience, the effective covering measures are mainly measures for manually covering tarpaulins.
In the manual work adopts tarpaulin to realize the cover process to the stack, many people command from many angles on needs ground and the stack, and a plurality of workman mutually support and turn over the stack together to adopt the haulage rope to pull the tarpaulin corner, thereby make tarpaulin one end can pull the buttress top from the buttress foot of stack, uncovered area adopts above-mentioned step to repeat many times, and the stack is finally accomplished and is covered completely. In practical situations, personnel on the stacks have risks of stack collapse and loss of life when falling into a pit in operation engineering, and carbon monoxide can be generated on the surfaces of the coal stacks under the influence of high temperature in summer, so that the operators are easily poisoned; in addition, because personnel are in a relatively local position to command the movement operation of arranging a large-area tarpaulin, the problem of low-efficiency operation such as azimuth error rework and the like exists; the tarpaulin also has the characteristics of great self-weight and large unfolding area, and the moving difficulty is large. Therefore, an unmanned technology is urgently needed to replace the existing manual tarpaulin operation mode in port dry bulk cargo storage yards, and based on the problems, a set of unmanned aerial vehicle plus informatization plus mechanical automation means is researched and developed to solve the problem that the port manually covers the tarpaulin.
Disclosure of Invention
The invention aims to realize the combination of unmanned aerial vehicle and informatization and mechanical automation in the tarpaulin covering process by combining the advantages of the existing unmanned aerial vehicle and mainly based on the informatization means substitution of tarpaulin environmental protection measures after stacking and forming materials in a dry bulk cargo wharf yard.
The invention is realized by the following technical scheme:
a port equipment system of patrolling and examining based on unmanned aerial vehicle includes: the inspection unit comprises an inspection unmanned aerial vehicle which is provided with an imaging scanning module and an information transmission module, wherein the imaging scanning module scans the stacks in the appointed storage area to form a three-dimensional space image and transmits the three-dimensional space image through the information transmission module; the central control unit comprises a ground data processing platform, a data processing module and an instruction transmission module, wherein the ground data processing platform comprises an information receiving module, the data processing module and the instruction transmission module, the information receiving module receives the three-dimensional space image output by the information transmission module, the data processing module carries out information processing on the three-dimensional space image and marks the center of a covered cross, and instruction information is output through the instruction transmission module; and a tarpaulin covering unit, including many frames of unmanned aerial vehicle and tarpaulin of pulling, pull unmanned aerial vehicle and carry instruction receiving module and jettison ware, pull unmanned aerial vehicle and carry after receiving the instruction information of instruction transmission module output that tarpaulin flies to support appointed storage area to confirm that tarpaulin cross center is located behind the central top of tarpaulin covering cross, jettison ware is loosened tarpaulin and is made the tarpaulin cover stack surface completely.
By adopting the technical scheme, the inspection unmanned aerial vehicle performs high-altitude inspection in a wharf yard of a port so as to determine the position and the shape of an appointed stack, the ground data processing platform calculates the position and the shape of the stack to obtain the cross center of the tarpaulin of the stack, the cross center of the tarpaulin not only determines the position of a drop point required by the tarpaulin covering, but also determines the azimuth angle covered by the tarpaulin, and the central control unit commands the traction unmanned aerial vehicle to implement the covering action of the tarpaulin on the stack. According to the optimal drop point obtained by the data processing module, the outer surface of the stack can be effectively covered by the tarpaulin in the length direction and the width direction of the tarpaulin in the covering process of the tarpaulin, and the edge position of the tarpaulin is finally folded manually, so that the edge of the tarpaulin is attached to the stacking foot. The invention has the advantages that: visual remote operation in backstage, the problem that there is the blind area in the on-the-spot commander of original personnel has been solved, adopt the cooperation of patrolling and examining unmanned aerial vehicle and ground data processing platform, obtain the best drop point position of tarpaulin, implement the cover of tarpaulin through pulling unmanned aerial vehicle, maximum utilization tarpaulin self length and width and surface area, it is higher to cover reasonable degree, original personnel's cover time and the commander degree of difficulty have been shortened greatly, and is more swift high-efficient, and simultaneously, also liberate the labour, the workman can keep away from the stack and the danger area who collapses the buttress, the place security obtains the promotion of matter.
Further setting the following steps: the data processing module is in a working mode that the data processing module establishes a space coordinate system according to the appointed storage area, performs space modeling on the three-dimensional space image of the stack and generates a plurality of space coordinate points on the outer surface of the stack;
marking a stacking height 0 point as a boundary point in a space coordinate point on the outer surface of the stack, and taking n boundary points, wherein the n boundary points are respectively as follows:
in the space model, the plane projection point of the space coordinate point on the outer surface of the partial stack falls into
On the straight line, the space coordinate point mark of the outer surface of the stack is a length intermediate point, and m length intermediate points are taken and respectively:
the spatial distance between any adjacent length intermediate points is
，
=
；
The maximum spatial length of the stacking surface is
，
max
；
According to
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space length, and respectively marking the coordinates as
，
，
；
In the space model, the plane projection point of the space coordinate point on the outer surface of the partial stack falls into
On the vertical line of the straight line, the space coordinate point on the outer surface of the stack is marked as a width middle point, m width middle points are taken, the above mode is repeated, and the maximum space width on the surface of the stack is obtained
；
According to
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space width, and respectively marking the two boundary points and the center point as
，
，
；
By straight line
Straight line, straight line
The direction of (1) determines the direction of the center of the cross of the tarpaulin cover by passing through
Projection point and
vertical projection line and pass
Projection point and
and determining the coordinates of the center of the covered cross by the intersection point of the vertical projection lines, and finally generating the center of the covered cross.
By adopting the technical scheme, the longest space distance of the stack is firstly determined, the distance is not a linear distance, but the longest path distance passing through the outer surface of the stack along a fixed direction, the widest space distance is determined again according to the longest space distance, and the plane projection line of the widest space distance is ensured in the process
Plane projection line with longest spatial distance
Perpendicular to each other and then pass through
Projected point coordinates and
the coordinates of the projection points are used for obtaining the coordinates of the projection points at the center of the covered cross, and the coordinates of the center of the covered cross are accurately obtained according to the three-dimensional space image
And
and finally obtaining the cross center of the tarpaulin cover.
Further setting the following steps: the central control unit further comprises a display screen, the ground data processing platform further comprises an early warning module and a storage module, the storage module is internally provided with a tarpaulin size, and the length and the width of the tarpaulin are recorded as
And
the storage module is in signal connection with the data processing module, and the early warning module is paired
And
、
and
performing data comparison when
Is less than
Or
And then, the early warning module sends out alarm information, and the alarm information is displayed on a display screen.
Through adopting above-mentioned technical scheme, in order to avoid the stack pile body overlength, wide, a small amount of buttress foot is epitaxial even among the process of piling up, and the condition that leads to the tarpaulin to cover the stack completely appears, compares through the length and width value that the tarpaulin size that prestores and the stack actually required, confirms the validity that the tarpaulin covered, when the tarpaulin size is less than stack actual size, alarm information direct display is on the display screen, needs the manual work to adjust or change the tarpaulin to the edge of stack this moment.
Further setting the following steps: still be provided with the image acquisition module on patrolling and examining the unmanned aerial vehicle, adopt wireless high definition digital map to pass the radio frequency technique, the on-the-spot image shows on the display screen in real time.
Through adopting above-mentioned technical scheme, patrol and examine unmanned aerial vehicle and can follow the real-time image of shooing in high altitude, let commander's more audio-visual acquisition tarpaulin cover the information of stack in real time.
Further setting the following steps: the ground data processing platform simultaneously sends instruction information to a plurality of traction unmanned aerial vehicles carrying the same tarpaulin according to the cross center position of the tarpaulin cover, wherein the instruction information comprises a take-off signal, a flight path and a throwing signal; after the multi-frame traction unmanned aerial vehicle receives takeoff information, the carry tarpaulin rises to a preset height and flies along a flight path, the multi-frame traction unmanned aerial vehicle completely expands the tarpaulin and keeps a mutual distance so as to determine a tarpaulin cross center, and when the tarpaulin cross center is located right above the tarpaulin cross center, the ground data processing platform sends a throwing signal to the multi-frame traction unmanned aerial vehicle.
By adopting the technical scheme, the command information can control the marshalling of the traction unmanned aerial vehicle, so that the traction unmanned aerial vehicle can stably run, the traction unmanned aerial vehicle can carry tarpaulin to fly to a proper position above the stack, the thrower throws down the tarpaulin, and the tarpaulin is gradually covered from the cross center of the tarpaulin to the edge of the stack.
Further setting the following steps: the traction unmanned aerial vehicle is four units or six units or eight units.
By adopting the technical scheme, the marshalling of the traction unmanned aerial vehicle is matched with each other, and the marshalling is carried out according to the quality of the tarpaulin and the load capacity of the traction unmanned aerial vehicle.
Further setting the following steps: patrol and examine unmanned aerial vehicle and pull unmanned aerial vehicle and have from flying control module and GPS module for control direction of flight, height and angle, fly control module and include gyroscope and compass.
Through adopting above-mentioned technical scheme, patrol and examine unmanned aerial vehicle and pull unmanned aerial vehicle and possess self-flying and location ability.
Further setting the following steps: the traction unmanned aerial vehicle is also provided with a megaphone.
Through adopting above-mentioned technical scheme, pull unmanned aerial vehicle because the hanging carries tarpaulin, it has certain danger, and the megaphone can in time remind the personnel of the activity in peripheral region.
In conclusion, the beneficial technical effects of the invention are as follows:
(1) by adopting a remote control mode, automatic covering of tarpaulin is realized through the matching of the inspection unmanned aerial vehicle and the traction unmanned aerial vehicle, so that an operator can be far away from stacking, the personnel danger caused by stack collapse is avoided, and the safety of field construction is improved;
(2) the optimal covering scheme is selected through the ground data processing platform, so that the covering surface limited by the length and the width of the tarpaulin can be utilized to the maximum extent, the tarpaulin completely covers the stacking surface, efficient and accurate covering is completed, and the combination of the unmanned aerial vehicle and the informatization and mechanical automation is realized.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a schematic top view of the stack; (Cross center cover display)
FIG. 3 is a schematic cross-sectional view of the length of the stack of the present invention; (exhibition of
）
FIG. 4 is a schematic cross-sectional view of the width of the stack of the present invention; (exhibition of
）
Fig. 5 is a schematic plan view of a flight path of a towing unmanned aerial vehicle in the invention.
Reference numerals: 1. a routing inspection unit; 2. a central control unit; 3. a covering unit; 11. inspecting the unmanned aerial vehicle; 12. an imaging scanning module; 13. an information transmission module; 14. an image acquisition module; 21. a display screen; 22. a ground data processing platform; 23. an information receiving module; 24. a data processing module; 25. an instruction transmission module; 26. an early warning module; 27. a storage module; 31. tarpaulin; 32. towing the unmanned aerial vehicle; 33. an instruction receiving module; 34. a throwing device.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, the invention discloses a port equipment inspection system based on an unmanned aerial vehicle, which comprises: the inspection device comprises an inspection unit 1, a central control unit 2 and a straw mat covering unit 3. The inspection unit 1 is used for data acquisition and field environment monitoring of the stacks, the central control unit 2 is used for providing field environment high-definition image display and data processing, commanding the flight of the unmanned aerial vehicle, guiding the unmanned aerial vehicle to execute carry flight, automatic navigation and obstacle avoidance, and the tarpaulin covering unit 3 is used for achieving transfer of the tarpaulin 31 and covering of the stacks. The flight area according to the present invention is a quay yard of a port.
The inspection unit 1 comprises an inspection unmanned aerial vehicle 11 which is provided with an imaging scanning module 12 and an information transmission module 13, wherein the imaging scanning module 12 scans the stacks in the designated storage area to form a three-dimensional space image, and the three-dimensional space image is transmitted through the information transmission module 13. The imaging and scanning module 12 employs an imaging scanner, and scans and images the stack through the imaging scanner to form a three-dimensional model. Still be provided with image acquisition module 14 on patrolling and examining unmanned aerial vehicle 11, image acquisition module 14 adopts high definition industry camera, adopts wireless high definition digital map to pass the radio frequency technique, and the field image transmits in real time for well accuse unit 2. In this scheme, patrol and examine unmanned aerial vehicle 11 and can follow the high altitude and shoot the image in real time, let ground commander more audio-visual acquire stack information, including stack type, stack appearance, all ring edge borders, the on-the-spot personnel condition etc..
The central control unit 2 comprises a ground data processing platform 22 and a display screen 21 in signal connection with the ground data processing platform 22, wherein the ground data processing platform 22 comprises an information receiving module 23, a data processing module 24 and an instruction transmission module 25, the information receiving module 23 receives the three-dimensional space image output by the information transmission module 13, the data processing module 24 carries out information processing on the three-dimensional space image and marks a covered cross center, and the instruction transmission module 25 outputs instruction information.
The data processing module 24 establishes a space coordinate system according to the designated storage area, each independent stacking storage area generates an independent coordinate system O-xyz, the x axis is a transverse axis, the y axis is a longitudinal axis, and the z axis is a vertical axis, then space modeling is carried out on the three-dimensional space image of the stack, data is recorded into the coordinate system O-xyz, and then a plurality of space coordinate points on the outer surface of the stack are generated; marking a stacking height 0 point (z = 0) as a boundary point in a space coordinate point of the outer surface of the stack, and taking n boundary points, wherein the n boundary points are respectively as follows:
In the space model, the projection point of the space coordinate point of the outer surface of the partial stack on the O-xy plane falls into
On the straight line, the space coordinate point on the outer surface of the stack is marked as a length intermediate point, and the coordinates of m length intermediate points are taken as follows:
In the space model, the projection point of the space coordinate point of the outer surface of the partial stack on the O-xy plane is positioned in
On the vertical line of the straight line, the space coordinate point on the outer surface of the stack is marked as a width middle point, and the coordinates of m width middle points are taken as follows:
In the O-xy plane, through
Coordinate system and
vertical straight line and pass
Coordinate system and
the intersection of perpendicular straight lines (two imaginary line segments cross each other as can be seen from FIG. 2) is recorded as the point of intersection in the O-xy plane
（
Not shown in the drawings of the specification. Will be provided with
Recording the coordinate point into a space model to obtain the stacking height of the coordinate point and obtain the coordinate of the center of the covered cross
，
In FIG. 2
And (4) overlapping. By straight line
And a straight line
Determining the direction of the center of the covered cross, determining the coordinates of the center of the covered cross, and combining the determined directions
And
finally, the center of the covered cross is generated (fig. 2). The data processing module 24 determines the longest spatial distance of the stack, determines the widest spatial distance according to the longest spatial distance, and finally obtains a tarpaulin cross center, wherein the tarpaulin cross center has a specific coordinate position and a specific azimuth angle. In this scheme, the data processing module 24 adopts a cloud server or a configured server group, and can acquire the number of more boundary points, length intermediate points and width intermediate points according to the demand degree and the data calculation capacity of the server, so as to improve the detection accuracy.
The ground data processing platform 22 further comprises an early warning module 26 and a storage module 27, the storage module 27 is a memory, the size of the tarpaulin 31 is stored in the memory, and the length and width data of the tarpaulin 31 are recorded as
And
the memory module 27 is connected to the data processing module 24, and the alarm module 26 is coupled to the data processing module 24 for receiving the alarm signal
And
pair of early warning modules 26
And
、
and
and comparing the data to judge the actual required coverage size of the stack. When in use
Is less than
Or
And then, the early warning module 26 sends out alarm information, and the alarm information is displayed on the display screen 21. In order to avoid that the tarpaulin 31 can not cover the stack, numerical value comparison is carried out through the length and width values of the pre-stored tarpaulin 31 size and the stack actually required, the covering effectiveness of the tarpaulin 31 is determined, when the tarpaulin 31 size is smaller than the stack actual size, alarm information is directly displayed on the display screen 21 and visually obtained by an operator, then a worker can enter the site, the position of the stacking foot is adjusted manually, and the method is simple and more effective.
The tarpaulin unit 3 comprises a plurality of traction unmanned aerial vehicles 32 and tarpaulin 31, wherein the traction unmanned aerial vehicles 32 are provided with an instruction receiving module 33 and a throwing device 34, the throwing device 34 adopts an electromechanical transmission mode, and instruction information adopts 5G signal transmission. After the unmanned towing vehicle 32 receives the instruction information output by the instruction transmission module 25, the tarpaulin 31 is hung and supported to the designated storage area through the thrower 34, and after the cross center of the tarpaulin is determined to be positioned right above the cross center of the tarpaulin, the thrower 34 releases the tarpaulin 31 to enable the tarpaulin 31 to completely cover the outer surface of the stack.
The ground data processing platform 22 simultaneously sends instruction information to a plurality of traction unmanned aerial vehicles 32 carrying the same tarpaulin 31 according to the cross center position of the tarpaulin, and the traction unmanned aerial vehicles 32 are four units or six units or eight units and are distributed at the corners of the tarpaulin. The marshalling of pulling unmanned aerial vehicle 32 mutually supports, marshalling according to the quality of tarpaulin 31 and the load of pulling unmanned aerial vehicle 32, and many the taut rectangular form's of unmanned aerial vehicle 32 tarpaulin 31 of pulling simultaneously makes it expand, pulls unmanned aerial vehicle 32 in this scheme and adopts four unit marshalling. The instruction information includes takeoff signals, flight paths and tossing signals. Referring to fig. 5, fig. 5 is a top view, in the first stage, after the multi-frame towed unmanned aerial vehicle 32 receives the takeoff information, the carrying tarpaulin 31 rises to a predetermined height, which is a normal height and is higher than the safety height required by stacking. In the second stage, the four towed unmanned aerial vehicles 32 fly along the flight path, the four towed unmanned aerial vehicles 32 completely unfold the tarpaulin 31 and keep the distance between the towed unmanned aerial vehicles, and the four towed unmanned aerial vehicles 32 keep stable, so that the cross center of the moving tarpaulin 31 is determined, and the cross center of the tarpaulin 31 comprises the direction, namely the relative position of the four towed vehicles. In the third stage, after the four-frame towed unmanned aerial vehicle 32 carries the tarpaulin 31 to move to the upper part of the stack, the moving coordinate mark of the cross center of the tarpaulin is marked as
The projection of which in the O-xy plane is
（
Not shown in the drawings of the specification, in FIG. 5
And
coincident).
In order to fix the coordinates of the object,
in order to move the coordinate, after the cross center of the tarpaulin is positioned right above the cross center of the tarpaulin cover,
and
and (3) completely coinciding, the ground data processing platform 22 simultaneously sends throwing signals to the multiple unmanned aerial vehicles, and the tarpaulin 31 falls down by the self gravity and covers the outer surface of the stack. The command information can control the marshalling of the traction unmanned aerial vehicle 32, the stable operation of the traction unmanned aerial vehicle 32 is ensured, the traction unmanned aerial vehicle 32 can carry the tarpaulin 31 to fly to a proper position above the stack, the thrower 34 is simultaneously started and thrown away from the tarpaulin 31, the tarpaulin 31 is gradually covered from the center of the tarpaulin cross to the edge of the stack in the free falling process of the tarpaulin 31, and after the covering is finished, the edge of the tarpaulin 31 is finally manually folded in, so that the tarpaulin is attached to the periphery of the stacking foot.
The inspection unmanned aerial vehicle 11 and the traction unmanned aerial vehicle 32 are provided with flight control modules and GPS modules for controlling flight direction, height and angle, and the flight control modules comprise gyroscopes and compasses. The patrol drone 11 and the tow drone 32 have self-flying and positioning capabilities, again without cumbersome exposition. A megaphone is additionally arranged on the towing unmanned aerial vehicle 32. The unmanned traction vehicle 32 is hung with the tarpaulin 31, so that the unmanned traction vehicle has certain danger, and the megaphone can timely remind active personnel in the peripheral area.
The working principle and the beneficial effects of the invention are as follows:
operating personnel controls in the background and patrols and examines unmanned aerial vehicle 11 at the pier yard in port, select the stack that needs to cover tarpaulin 31 through the field image that unmanned aerial vehicle 11 obtained patrols and examines, confirm the position and the shape of stack through the imaging scanning module 12 that unmanned aerial vehicle 11 was patrolled and examined, ground data processing platform 22 calculates the most suitable coverage point that obtains the stack according to the position and the shape of stack, mark is the coordinate of tarpaulin cross center, the position of the drop point before tarpaulin 31 covers has not only been confirmed to tarpaulin cross center, the angle that tarpaulin 31 covered has still been confirmed, well accuse unit 2 commands to pull unmanned aerial vehicle 32 carry tarpaulin 31 and remove to the stack top, after tarpaulin cross center and tarpaulin cross center coincide, throw ware 34 and start, implement the action of covering tarpaulin 31 to the stack. The edge position of the tarpaulin 31 is manually furled, so that the edge of the tarpaulin 31 is attached to the buttress foot.
According to the invention, the optimal drop point of the tarpaulin 31 is obtained through the algorithm calculation of the data processing module 24 and the traction unmanned aerial vehicle 32 is guided to complete the covering action, when the planar tarpaulin 31 covers the three-dimensional surface of the stack, the tarpaulin 31 can effectively cover the outer surface of the stack in the length direction and the width direction, the length, the width and the surface area of the tarpaulin 31 are utilized to the maximum extent, the reasonable degree of covering is higher, the covering time of original personnel is greatly shortened, the operation is quicker and more efficient, meanwhile, the labor force is liberated, workers can be far away from the dangerous area of stacking and collapsing, and the site safety is improved. According to the invention, through background visual remote operation, the original on-site command mode of personnel is abandoned, the command blind area is eliminated, and meanwhile, the human resources are saved.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (7)
1. The utility model provides a harbour site system of patrolling and examining based on unmanned aerial vehicle which characterized in that includes:
the inspection unit (1) comprises an inspection unmanned aerial vehicle (11) which is provided with an imaging scanning module (12) and an information transmission module (13), wherein the imaging scanning module (12) scans the stacks in the appointed storage area to form a three-dimensional space image and transmits the three-dimensional space image through the information transmission module (13);
the central control unit (2) comprises a ground data processing platform (22) which comprises an information receiving module (23), a data processing module (24) and an instruction transmission module (25), wherein the information receiving module (23) receives the three-dimensional space image output by the information transmission module (13), the data processing module (24) carries out informationization processing on the three-dimensional space image and marks a covered cross center, and the instruction transmission module (25) outputs instruction information; and
the thatch fabric covering unit (3) comprises a plurality of traction unmanned aerial vehicles (32) and thatch fabric (31), wherein the traction unmanned aerial vehicles (32) are provided with an instruction receiving module (33) and a throwing device (34), the traction unmanned aerial vehicles (32) mount the thatch fabric (31) to a designated storage area after receiving instruction information output by an instruction transmission module (25), and after determining that the cross center of the thatch fabric is positioned right above the cross center of the thatch fabric, the throwing device (34) loosens the thatch fabric (31) to enable the thatch fabric (31) to completely cover the outer surface of the stack;
the working mode of the data processing module (24) is that the data processing module (24) establishes a space coordinate system according to the appointed storage area, performs space modeling on the three-dimensional space image of the stack and generates a plurality of space coordinate points on the outer surface of the stack;
marking a stacking height 0 point as a boundary point in a space coordinate point on the outer surface of the stack, and taking n boundary points, wherein the n boundary points are respectively as follows:
in the space model, the plane projection point of the space coordinate point on the outer surface of the partial stack falls into
On the straight line, the space coordinate point mark of the outer surface of the stack is a length intermediate point, and m length intermediate points are taken and respectively:
the spatial distance between any adjacent length intermediate points is
，
=
；
The maximum spatial length of the stacking surface is
，
max
；
According to
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space length, and respectively marking the coordinates as
，
，
；
In the space model, the plane projection point of the space coordinate point on the outer surface of the partial stack falls into
On the vertical line of the straight line, the space coordinate point on the outer surface of the stack is marked as a width middle point, m width middle points are taken, the above mode is repeated, and the maximum space width on the surface of the stack is obtained
；
According to
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space width, and respectively marking the two boundary points and the center point as
，
，
；
By straight line
Straight line, straight line
The direction of (1) determines the direction of the center of the cross of the tarpaulin cover by passing through
Projection point and
vertical projection line and pass
Projection point and
and determining the coordinates of the center of the covered cross by the intersection point of the vertical projection lines, and finally generating the center of the covered cross.
2. The port equipment inspection system based on the unmanned aerial vehicle of claim 1, wherein: the central control unit (2) further comprises a display screen (21), the ground data processing platform (22) further comprises an early warning module (26) and a storage module (27), the storage module (27) stores tarpaulin (31) in size, and the length and the width of the tarpaulin (31) are recorded as
And
the storage module (27) is in signal connection with the data processing module (24), and the early warning module (26) is paired
And
、
and
performing data comparison when
Is less than
Or
Then, the early warning module (26) sends outAlarm information and alarm information are displayed on a display screen (21).
3. The port equipment inspection system based on the unmanned aerial vehicle of claim 2, wherein: still be provided with image acquisition module (14) on patrolling and examining unmanned aerial vehicle (11), adopt wireless high definition digital map to pass the radio frequency technique, the live image shows in real time on display screen (21).
4. The port equipment inspection system based on the unmanned aerial vehicle of claim 1, wherein: the ground data processing platform (22) simultaneously sends instruction information to a plurality of traction unmanned aerial vehicles (32) carrying the same tarpaulin (31) according to the central position of the tarpaulin cover cross, wherein the instruction information comprises a take-off signal, a flight path and a throwing signal;
after the multi-frame traction unmanned aerial vehicle (32) receives takeoff information, the carry tarpaulin (31) rises to a preset height and flies along a flight path, the multi-frame traction unmanned aerial vehicle (32) completely expands the tarpaulin (31) and keeps the mutual distance so as to determine the cross center of the tarpaulin, and after the cross center of the tarpaulin is positioned right above the cross center of the tarpaulin, the ground data processing platform (22) sends throwing signals to the multi-frame traction unmanned aerial vehicle (32) simultaneously.
5. The port equipment inspection system based on the unmanned aerial vehicle of claim 4, wherein: the traction unmanned aerial vehicle (32) is four units or six units or eight units.
6. The port equipment inspection system based on the unmanned aerial vehicle of claim 1, wherein: patrol and examine unmanned aerial vehicle (11) and pull unmanned aerial vehicle (32) and have from flying control module and GPS module for control direction of flight, height and angle, fly control module and include gyroscope and compass.
7. The port equipment inspection system based on the unmanned aerial vehicle of claim 6, wherein: the traction unmanned aerial vehicle (32) is also provided with a megaphone.
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| CN105599900A (en) * | 2016-01-20 | 2016-05-25 | 清华大学合肥公共安全研究院 | Low-altitude positioning load air-drop method based on multi-rotor unmanned aerial vehicle |
| CN107115687B (en) * | 2017-07-12 | 2023-05-30 | 北京化工大学 | Multidimensional acousto-optic stage system based on unmanned aerial vehicle aircraft carrier |
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| CN109163928A (en) * | 2018-08-27 | 2019-01-08 | 河海大学常州校区 | A kind of UAV Intelligent water intake system based on binocular vision |
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