CN113744427B - Navigation mark inspection system and inspection method based on unmanned aerial vehicle remote sensing - Google Patents
Navigation mark inspection system and inspection method based on unmanned aerial vehicle remote sensing Download PDFInfo
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- CN113744427B CN113744427B CN202111303769.7A CN202111303769A CN113744427B CN 113744427 B CN113744427 B CN 113744427B CN 202111303769 A CN202111303769 A CN 202111303769A CN 113744427 B CN113744427 B CN 113744427B
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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
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- G07C1/20—Checking timed patrols, e.g. of watchman
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The application provides a navigation mark inspection system based on unmanned aerial vehicle remote sensing and an inspection method thereof, wherein the navigation mark inspection system comprises a control system, an inspection host and a navigation mark to be inspected; the control system comprises a navigation mark historical information base; the control system also comprises a route distribution module, a navigation mark abnormality judgment module, an abnormality reason acquisition module and a route adjustment module; the route distribution module is used for distributing routing inspection routes of the routing inspection host; the navigation mark abnormality judging module is used for judging whether the navigation mark is abnormal or not according to the navigation mark information obtained by the inspection host; the abnormality reason acquisition module is used for acquiring abnormality information of the abnormality navigation mark through the inspection host; the route adjusting module is used for adjusting the routing inspection route when the abnormality information of the abnormal navigation mark acquired by the routing inspection host can not judge the reason of the abnormality, and other routing inspection hosts are used for acquiring the abnormality information of the abnormal navigation mark. This application has improved and has patrolled and examined efficiency.
Description
Technical Field
The application relates to the field of navigation mark inspection, in particular to a navigation mark inspection system and an inspection method based on unmanned aerial vehicle remote sensing.
Background
In recent years, on the background of the continuous development of shipping economy in China, the number of ports and the number of ships are continuously increased, and marine sudden accidents and traffic accidents also occur at times, so that the demand on the navigation mark is gradually increased, the workload of a navigation mark department is increased day by day, and the responsibility for ensuring safety is more important. Therefore, the maintenance and management of the navigation mark become key points, and in order to ensure the safety of the navigation path, the navigation mark needs to be inspected at regular time so as to grasp and process abnormal conditions such as damage, displacement and the like of the navigation mark in time. At present, technical means such as field inspection or ship inspection, near-shore monitoring and the like are mainly utilized for the navigation mark guarantee work, the advantages of a field inspection mode are obvious, but the defects are also obvious, such as the influence and the restriction of meteorological conditions, the visual navigation mark needs to be simulated by a mark-climbing and light-covering lamp, the consumed time is long, operators are easy to fatigue, and the danger coefficient is increased; the modes of ship inspection and the like have the problems of low response speed, high cost, large limitation by meteorological conditions, limited operation capability and range, occasional false alarm and missing report, incapability of displaying main body information such as the appearance of a navigation mark body and the like. The development of the remote sensing technology provides a remote sensing inspection mode for the navigation mark inspection, the remote sensing inspection mode makes up for many defects of field inspection, and the maintenance level of the navigation mark is obviously enhanced along with the continuous development of the remote sensing measurement and control technology. On this basis, the design idea that the unmanned aerial vehicle remote sensing is applied to the navigation mark field is provided, the navigation mark condition is shown through the mode of video images, on this basis, the unmanned aerial vehicle remote sensing mode is further provided, the unmanned remote sensing patrol can provide powerful management basis for navigation mark departments, the current condition of the navigation mark is mastered in real time, and targeted management and maintenance are carried out on the navigation mark according to actual conditions, so that the goal of improving the maintenance efficiency of the navigation mark is achieved. An Unmanned Aerial Vehicle (UAV) is an unmanned plane, which is an unmanned plane operated by a radio remote control device or a self-contained program control device, and generally includes an unmanned helicopter or a fixed-wing drone. Be applied to the navigation guarantee field with unmanned aerial vehicle, can give full play to its advantage such as with low costs, transportation convenience, easy operation, the quick high flexibility of reaction and can independently fly, compensate the not enough of present technical means, provide fine technical support for the navigation guarantee, improve navigation guarantee service level comprehensively.
In recent years, as ships develop towards large-scale and high-speed directions, higher requirements are provided for the advancement, accuracy and timeliness of fault recovery of a navigation mark, the mode of polling and flying by using a single unmanned aerial vehicle is not only time-consuming, but also faults easily occur in the polling process, the service life of the unmanned aerial vehicle is also influenced, and particularly, in areas with complex navigation channels or large navigation distance, if a single unmanned aerial vehicle is used for cruising, a plurality of performance efficiency problems can occur, therefore, under the condition, a plurality of unmanned aerial vehicles are often used for carrying out regional polling, how to effectively distribute the polling efficiency, how to save the electric power of the unmanned aerial vehicle, how to improve the service life of the unmanned aerial vehicle and the like needs are continuously provided by users, and meanwhile, routes for polling a plurality of unmanned aerial vehicles are planned and the like, The navigation mark system has the advantages that the abnormality condition of the navigation mark is judged, the reason of the abnormality is obtained according to the abnormality condition, when the obtained information is insufficient, problems such as proper adjustment of a route and the like also occur simultaneously, even on the navigation mark at some special positions, a device for obtaining the information of the navigation mark and the conditions of a water area around the navigation mark is further arranged to be used as an information station of the navigation mark, a large data system of the navigation mark can be further established by obtaining the information, and the safe operation of the large data of the navigation mark is also required to be ensured in the inspection process. Therefore, how to increase the working efficiency of the navigation mark maintenance, enhance the emergency response capability of the navigation mark, comprehensively improve the navigation mark maintenance and service quality, and reduce the inspection cost is a problem to be solved urgently in the current navigation mark management.
Disclosure of Invention
In order to solve the problems, the navigation mark inspection system comprises a control system, an inspection host and a navigation mark to be inspected;
the control system comprises a navigation mark historical information base, wherein the navigation mark historical information base comprises basic navigation mark information and historical patrol inspection information, and the historical patrol inspection information comprises patrol inspection characteristics of navigation marks obtained in historical patrol inspection and cruise weight of the navigation marks;
the control system also comprises a route distribution module, a navigation mark abnormality judgment module, an abnormality reason acquisition module and a route adjustment module; the route distribution module is used for distributing routing inspection routes of the routing inspection host; the navigation mark abnormality judging module is used for judging whether the navigation mark is abnormal or not through navigation mark information obtained by the inspection host, and when the navigation mark is judged to be abnormal, the navigation mark is set as an abnormal navigation mark; the abnormality reason acquisition module is used for acquiring abnormality information of the abnormality navigation mark through the inspection host; the route adjusting module is used for adjusting the routing inspection route when the abnormality information of the abnormal navigation mark acquired by the routing inspection host can not judge the reason of the abnormality, and acquiring the abnormality information of the abnormal navigation mark by using other routing inspection hosts;
the inspection host comprises an acquisition component for acquiring navigation mark information and abnormal information.
The collection component of the inspection main machine comprises a photoelectric pod and a laser range finder.
The navigation mark comprises a navigation mark main body, wherein the navigation mark main body is one of a lighthouse, a buoy, a stand column or a lightboat. .
The navigation mark further comprises a navigation mark information station, and the navigation mark information station is arranged on the navigation mark main body and used for collecting big data information in the aspects of weather, water flow and ship traffic.
The application also provides a method for polling the navigation mark polling system based on the unmanned aerial vehicle remote sensing, which comprises the following steps:
s10, obtaining patrol weights R theta (R theta 1, R theta 2, R theta 3, … and R theta n) corresponding to the navigation marks R in the navigation mark history information base according to n navigation marks R to be patrolled [ R1, R2, R3, … and Rn ], and simultaneously establishing a removed navigation mark list YR, wherein the removed navigation mark list YR comprises a first removed list YR1 and a second removed list YR 2;
s20, setting a patrol task A, wherein the patrol task A comprises m patrol routes AH (AH 1, AH2, AH3, … and AHm)]Each routing inspection route is correspondingly routed by one routing inspection host, and the routing inspection route AH is correspondingly routed by the routing inspection hosts P [ [ P1, P2, P3, …, Pm [ ]]Carrying out routing inspection; wherein, the i-th inspection host Pi is set to [ IR1, IR2, IR3, …, IRk ] the navigation mark IR required to be inspected on the inspection route AHi](k < m); routing inspection weight IR theta [ IR theta 1, IR theta 2, IR theta 3, … and IR theta k ] corresponding to navigation mark IR needing routing inspection on routing inspection route AHi](ii) a The routing inspection weight of the jth navigation mark IRj needing routing inspection on the routing inspection route AHi is set to be IR theta j, and the total weight of the routing inspection route AHi is set to be IR theta j
Setting the weight threshold of the routing inspection route to be theta 0, the routing inspection route AHi needs to meet the requirement
Simultaneously satisfies the number of the navigation marks on the routing inspection route AHi
Wherein e is a natural constant, and theta 0 is less than 2 e;
s30, in the process that the inspection master Pi performs the inspection task on the inspection route AHi for the navigation mark IR ═ IR1, IR2, IR3, …, IRk, when the jth navigation mark IRj that the inspection master Pi inspects on the inspection route AHi does not belong to the removed navigation mark list YR, the process proceeds to step S31;
when the jth navigation mark IRj patrolled by the patrol inspection host Pi on the patrol inspection route AHi belongs to the removed navigation mark list YR, the process proceeds to step S32;
s31, judging whether the navigation mark IRj is a wrong navigation mark according to the routing inspection information obtained when routing inspection is carried out on the navigation mark IRj, and continuing routing inspection tasks when the navigation mark IRj is judged not to be a wrong navigation mark; if yes, the process proceeds to step S32; s32, the inspection host Pi carries out a secondary collection task for judging the reason of the abnormality of the abnormal navigation mark IRj; when the inspection information obtained by the inspection host Pi secondary collection task can judge the abnormality reason of the abnormal navigation mark IRj, the inspection host Pi continues to perform the inspection task;
when the inspection information obtained by the inspection host Pi secondary collection task cannot judge the abnormality reason of the abnormal navigation mark IRj, the step S40 is executed;
s40, transferring the abnormal navigation mark IRj from the patrol route AHi to the first removal list YR 1;
updating the routing inspection route of the routing inspection host Pi to obtain a new routing inspection route AHi 'of the routing inspection host Pi, and continuing the routing inspection task by the routing inspection host Pi according to the new routing inspection route AHi';
s50, obtaining a first removal list YR1 ═ YR11, YR12, YR13, …, YR1c, c < n; meanwhile, setting a distance threshold D0;
when there is a patrol route AHj of the patrol host Pj such that the distance Dz from the z-th malformed navigation mark YRz in the first removal list YR1 to the patrol route AHj (j ≠ i) is not greater than D0, proceed to step S51;
when there is no patrol route AHj (j ≠ i) of one patrol host Pj such that the distance Dz from the z-th malformed navigation mark YRz in the first removal list YR1 to the patrol route AHj is no greater than D0, proceed to step S52;
s51, transferring the abnormal navigation mark YRz from the first removal list to the patrol route AHj (j ≠ i), updating the patrol route AHj to obtain a new patrol route AHj ', and performing patrol by the patrol host Pj according to the updated patrol route AHj', and transferring to the step S30;
s52, transferring the abnormal navigation mark YRz from the first removal list YR1 to the second removal list YR2, obtaining the second removal list YR2 ═ YR21, YR22, YR23, …, YR2b, b < c;
s60, when all the inspection tasks of the inspection host are finished, the abnormal navigation mark in the second removal list YR2 is used as the navigation mark to be inspected, and the step S10 is carried out.
In step S50, the cruise host that has performed the secondary collection task of the abnormal navigation mark IRj is set as the filter host of the abnormal navigation mark IRj, and the cruise host that has not performed the secondary collection task of the abnormal navigation mark IRj is set as the non-filter host of the abnormal navigation mark IRj;
the pixilated logo IRj in the first removal list can only be diverted into the cruise route on which the unfiltered master of the pixilated logo IRj resides.
When more than one routing inspection route of the non-filtering host computer is not more than the distance threshold D0 away from the abnormal navigation mark IRj, the abnormal navigation mark IRj is preferably switched into the routing inspection route with the shortest distance to the abnormal navigation mark IRj;
wherein, the flying speed of the inspection main machine APi is set to be vi, the flying speed of the inspection main machine APj is set to be vj, and then a distance threshold value is provided
Wherein Dmax is the total distance of patrolling and examining when using the single machine to patrol and examine all n fairway signs of waiting to patrol and examine.
The routing inspection weight IR theta corresponding to the navigation mark IR is [ IR theta 1, IR theta 2, IR theta 3, …, IR theta k ]; the routing inspection weight IR θ of the jth navigation mark IRj needing routing inspection on the routing inspection route AHi is set to be epsilon j phi j, wherein phi j is the historical hidden danger degree of the navigation mark IRj, and epsilon j is the position importance degree of the navigation mark IRj.
Establishing a neural network model according to historical inspection characteristics of a navigation mark historical information base, taking inspection characteristics acquired by an inspection host and a judgment result of whether the navigation mark is abnormal as input and output data samples (x, y), and judging whether the navigation mark is an abnormal navigation mark;
setting input D routing inspection characteristics x as x 1; x 2; …, respectively; xD ], corresponding to a weight w ═ w 1; w 2; …, respectively; wD ], setting the bias b ∈ R; then we can get the weighted sum z of the input features, the specific formula is:
using the ReLU function as the activation function, then
In a multi-layer feedforward neural network, let a(0)If x, the feedforward neural network continuously iterates, and the propagation formula layer by layer is: a is(l)＝fl(W(l)a(l-1)+b(l))；
The composite function is: phi (x; W, b)
Where W and b represent the connection weights and offsets for all layers in the network, l is the number of layers in the neural network, MlThe number of layer I neurons;
is a weight matrix from the l-1 st layer to the l-1 st layer;
bias for layer l-1 to layer l;
is the output of layer I neurons;
using a cross-entropy loss function, for sample (x, y) the loss function is:
wherein y is ∈ {0,1}cRepresenting by a one-hot vector corresponding to y;
given a training set of
Each sample x(n)Input to the pre-neural network to obtain the network output of
Its risk function on the dataset is:
wherein the content of the first and second substances,
is a regularization term; λ is a long parameter, the larger λ the closer W is to 0:
in each iteration of the gradient descent method, a learning rate α is set to obtain an update mode of the parameters W and b:
calculating the gradient of the weight and bias of the l layer, wherein delta (l) is an error term of the l layer:
obtaining an iterative formula:
W(l)←W(l)-α(δ(l)(a(l-1))T+λW(l))。
the beneficial effect that this application realized is as follows:
the route of the inspection of the unmanned aerial vehicles is planned, various cruise conditions are considered, the possible abnormal conditions of the navigation mark are judged, and the reason of the abnormal conditions is directly obtained through the inspection host according to the abnormal conditions, so that information can be directly obtained in a long distance without repeated round trip; meanwhile, the route is properly adjusted when the acquired information is insufficient, other inspection hosts acquire the reasons of the abnormality at staggered time intervals, so that the acquired information can be more comprehensive, and meanwhile, the inspection hosts have cruise tasks, so that electric power and manpower are saved. Meanwhile, a navigation mark big data system is further established by acquiring meteorological information, ship information and the like of the water areas, and the safe operation of the navigation mark big data is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart of the navigation mark inspection method based on unmanned aerial vehicle remote sensing.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The application provides a system is patrolled and examined to fairway buoy based on unmanned aerial vehicle remote sensing, the system is patrolled and examined to the fairway buoy that the fairway buoy patrolled and examined includes waiting to patrol and examine, ground control system and patrol and examine the host computer, wherein, ground control system is used for distributing the route of patrolling and examining the host computer, and can judge whether the fairway buoy is unusual through the fairway buoy image information of patrolling and examining that the host computer shoots, when the fairway buoy is judged to be out of order, set up the fairway buoy as the abnormal fairway buoy, the control patrols and examines the host computer and gathers the image of the abnormal reason to the abnormal fairway buoy; when the routing inspection host of the routing inspection route to which the abnormal navigation mark belongs can not acquire the abnormal information of the abnormal navigation mark, adjusting the routing inspection route, and acquiring the abnormal information of the abnormal navigation mark by using other routing inspection hosts;
the navigation mark inspection system further comprises a navigation mark historical information base, and the navigation mark historical information base stores basic navigation mark information and historical inspection information of navigation marks obtained in historical inspection. The basic navigation mark information comprises the coordinates, the serial number, the navigation mark type, the initial navigation mark characteristic, the use start time and the like of the navigation mark, and the historical patrol inspection information of the navigation mark comprises the historical hidden danger degree phi and the position importance degree epsilon of the navigation mark.
The navigation mark comprises a navigation mark main body and a navigation mark information station, wherein the navigation mark main body comprises a lighthouse, a buoy, a stand column, a lightboat and other devices which are fixed on a navigation route or fixed in water and used for prompting directions for a navigation ship; the navigation mark information station comprises a monitoring device arranged on a navigation mark main body and is used for collecting hydrological meteorological information, flow velocity and direction information, ship flow information and the like, and the information can be used for constructing big data information in the aspects of meteorology, water flow and ship traffic.
The patrol inspection host machine is an unmanned aircraft which is operated by a radio remote control device or a self-contained program control device, generally comprises an unmanned helicopter or a fixed-wing unmanned aerial vehicle, and comprises a collecting component for collecting navigation mark information and abnormal information, wherein the collecting component comprises and is not limited to image collecting equipment such as a panoramic camera, a photoelectric pod, a laser range finder, an infrared measuring instrument, a surveying instrument and the like. The inspection host can acquire the information of the navigation mark by using a photoelectric pod or other shooting measuring equipment along a preset inspection route in an inspection task planned and designed by the ground control system, and transmits the acquired information to the ground control system in real time, so that the system makes a judgment.
In a specific inspection process, as shown in fig. 1, the ground control system can obtain inspection weights R θ ═ R θ 1, R θ 2, R θ 3, …, R θ n corresponding to the navigation marks R in the navigation mark history information base according to basic navigation mark information of n navigation marks R ═ R1, R2, R3, …, Rn to be inspected; the ith navigation mark Ri routing inspection weight R theta i is equal to epsilon i phi i, phi i is the historical hidden danger degree of the navigation mark Ri, and epsilon i is the position importance degree of the navigation mark Ri; while creating a removal list YR that includes a first removal list YR1 and a second removal list YR 2.
The ground control system establishes an inspection task A which comprises m inspection routes AH (AH 1, AH2, AH3, … and AHm)]Each routing inspection route corresponds to a routing inspection host P for flight inspection, namely, the m routing inspection routes AH correspond to m routing inspection hosts P ═ P1, P2, P3, … and Pm]Performing flight inspection; wherein, the i-th inspection host Pi is set to [ IR1, IR2, IR3, …, IRk ] the navigation mark IR required to be inspected on the inspection route AHi](ii) a Routing inspection weight IR θ corresponding to the navigation mark IR [ IR θ 1, IR θ 2, IR θ 3, …, IR θ k](ii) a Setting the inspection weight of the jth navigation mark IRj needing to be inspected on the inspection route AHi as IR theta j; total weight θ of tour route AHi
Wherein, the weight threshold value of the routing inspection route is set to be theta 0, and then the routing inspection route AHi needs to meet the requirement
Meanwhile, the number of the navigation marks needing to be inspected on the inspection route AHi
Wherein e is a natural constant, and theta 0 is less than 2 e.
Specifically, in one embodiment, the number of the navigation marks to be inspected is 60, 4 inspection hosts are used for inspection, the ground control system sets the total weight threshold of the inspection route to 5 according to requirements, and the number threshold of the navigation marks to be inspected on the inspection route AHi
Can obtain and patrol task A: the system comprises 5 routing inspection routes AH1, AH2, AH3, AH4 and AH5, and the 5 routing inspection hosts P1, P2, P3, P4 and P5 are correspondingly used for flight routing inspection setting;
setting 15 navigation marks needing to be inspected by the 3 rd inspection host P3 on an inspection route AH3, namely IR1, IR2, IR3, IR4, IR5, IR6, IR7, IR8, IR9, IR10, IR11, IR12, IR13, IR14 and IR15, wherein the corresponding inspection weights are 0.2, 0.5, 0.1, 0.5, 0.3, 0.2, 0.5, 0.4, 0.3, 0.2, 0.5, 0.1, 0.2 and 0.6 respectively, and the total weight theta i of the inspection route AH3 is 4.8 < 5;
according to the requirement of the inspection task, the inspection host Pi inspects the navigation mark IR [ IR1, IR2, IR3, …, IRk ] on the inspection route AHi to obtain inspection information such as an inspection image of the navigation mark IR, and when the control system judges that IRj is an abnormal navigation mark according to the inspection information of the jth navigation mark IRj which needs to be inspected on the inspection route AHi, the ground control system controls the inspection host Pi to collect the abnormal information of the abnormal navigation mark IRj;
the ground control system can obtain the routing inspection characteristics such as painting, structure and mark position of the navigation mark through the acquired routing inspection information image, can establish a neural network model through acquiring the routing inspection characteristics in the navigation mark image and through navigation mark characteristic data in a historical navigation mark information base, takes the acquired routing inspection characteristics as input, and judges whether the navigation mark corresponding to the routing inspection image is abnormal according to output, and the specific method comprises the following steps: setting input D routing inspection characteristics x as x 1; x 2; …, respectively; xD ], corresponding to a weight w ═ w 1; w 2; …, respectively; wD ], setting the bias b ∈ R; then we can get the weighted sum z of the input features, the specific formula is:
using the ReLU function as the activation function, then
In a multi-layer feedforward neural network, let a(0)If x, the feedforward neural network continuously iterates, and the propagation formula layer by layer is: a is(l)＝fl(W(l)a(l-1)+b(l))；
The composite function is: phi (x; W, b)
Where W and b represent the connection weights and offsets for all layers in the network, l is the number of layers in the neural network, MlThe number of layer I neurons;
is a weight matrix from the l-1 st layer to the l-1 st layer;
bias for layer l-1 to layer l;
is the output of layer I neurons;
using a cross-entropy loss function, for sample (x, y) the loss function is:
wherein y is ∈ {0,1}cRepresenting by a one-hot vector corresponding to y;
given a training set of
Each sample x(n)Input to the pre-neural network to obtain the network output of
Its risk function on the dataset is:
wherein the content of the first and second substances,
is a regularization term; λ is a long parameter, the larger λ the closer W is to 0:
in each iteration of the gradient descent method, a learning rate α is set to obtain an update mode of the parameters W and b:
calculating the gradient of the weight and bias of the l layer, wherein delta (l) is an error term of the l layer:
obtaining an iterative formula:
W(l)←W(l)-α(δ(l)(a(l-1))T+λW(l))。
through the neural network model, the patrol characteristic in the patrol information image obtained by the patrol host is input into the network neural model to obtain output, when the output is 0, the corresponding navigation mark is represented to be abnormal, and when the output is 1, the corresponding navigation mark is represented to be normal.
When the navigation mark is abnormal, the ground control system sends an instruction to the inspection host, the inspection host acquires the abnormal reason of the abnormal navigation mark, specifically, the appearance details of the navigation mark can be shot, the water area condition can be shot, the geological structure can be shot, the humidity and the temperature can be acquired, for example, when the navigation mark is displaced, the land or the ship where the navigation mark is located can be shot, and whether the soil slope is loose or the pontoon has a fault can be judged for the control system.
When the ground control system judges that the host Pi finishes the collection of the fault reasons according to the fault reason images obtained by the inspection host Pi, the host Pi continues to inspect on the inspection route AHi;
when the control system judges that the main machine Pi does not finish collecting the fault causes according to the fault cause image obtained by the inspection main machine Pi, for example, when the inspection main machine Pi shoots due to tide, the navigation mark IRj is removed from the inspection route AHi, the inspection route of the inspection main machine Pi is updated to obtain a new inspection route, and the steps are circulated to obtain a removed navigation mark list YR [ [ YR1, YR2, YR3, …, YRc ═ YR [ ]]C is less than k; setting a distance threshold D0; setting the flying speed of the inspection main machine APi to be vi, setting the flying speed of the inspection main machine APj to be vj, and then having a distance threshold value
Wherein, Dmax is the distance of patrolling and examining when using the single machine to patrol and examine whole n targets.
When the distance Dz from the z-th abnormal beacon YRz to the patrol route AHj in the beacon list YR is removed and is less than or equal to D0, adding YRz into the j-th patrol route AHj (j ≠ i) of the AH, and updating the patrol route AHj to obtain a new patrol route AHj'; the corresponding inspection host Pj inspects according to the updated inspection route;
and when the routing inspection route AHj does not exist, so that the distance Dz from YRz to the routing inspection route AHj is less than or equal to D0, taking the navigation mark which is not to be inspected in the navigation mark R and the navigation mark in the removed navigation mark list YR as the navigation mark to be inspected, reestablishing the routing inspection task, and repeating the steps according to the method for establishing the routing inspection task at the beginning.
For example, in a specific implementation, when the inspection host P3 inspects the navigation mark IR7 on the inspection route AH3, the ground control system determines that the navigation mark IR7 is an abnormal navigation mark according to the acquired inspection information of the navigation mark IR7, and then the ground control system instructs the inspection host P3 to shoot the abnormal information of the navigation mark IR7, specifically shooting the content, for example, shooting the navigation mark carrier, such as the ground, or shooting the details of the navigation mark body.
When the obtained abnormality information enables the ground control system to judge the reason of the abnormality of the IR7, the inspection host P3 continues to inspect the next navigation mark;
when the obtained abnormality information enables the ground control system to judge the cause of the abnormality of the IR7, removing the navigation mark IR7 from the inspection route AH3, and adding the IR7 into a first removal list;
the flight speeds of the inspection host P3 and the inspection host P4 are the same, the total inspection distance is 55km when a single machine is used for inspecting all 60 to-be-inspected sails, and the current time has 5 cruise hosts to execute 5 inspection route tasks
The distance threshold between the routing inspection route where the routing inspection host P4 is located and the IR7 is 2.2.2 km;
when the distance between the IR7 and the other routing inspection route AH4 is within 2.2.2km, the navigation mark IR7 is transferred into the routing inspection route AH4 from the first removal list, and the routing inspection route AH4 is updated; when the inspection host P4 of the inspection route AH4 inspects the navigation mark IR7, the navigation mark IR7 is transferred from the first removal list, which indicates that the navigation mark information of the navigation mark IR7 is already acquired, so that the inspection host P4 does not need to acquire the navigation mark information of the navigation mark IR7 any more, and directly takes a picture of acquiring the abnormal information of the navigation mark IR 7; when the ground control system can judge the reason of the abnormality of the IR7 according to the abnormality information of the navigation mark IR7 obtained by the P4, the inspection host P4 continues to inspect the next navigation mark; when the ground control system cannot judge the cause of the malfunction of the IR7 due to the malfunction information of the navigation mark IR7 obtained by the P4, the navigation mark IR7 is returned to the first removal list from the patrol route AH4 of the patrol host P4, and the patrol route of the patrol host P4 is updated;
setting the cruise host which executes the abnormality information acquisition task of the abnormal navigation mark IR7 as a filtering host of the abnormal navigation mark IR7, and setting the cruise host which does not execute the abnormality information acquisition task of the abnormal navigation mark IR7 as a non-filtering host of the abnormal navigation mark IR 7; the malformed fairway signs in the first removal list can only be switched into the cruise route in which the non-filtering host computer is located. In addition, when more than one routing inspection route of the non-filtering host computer is within 2.2km of the IR7, the navigation mark IR7 is preferably added to the routing inspection route with the shortest distance;
when the distance between the navigation mark IR7 and the cruising route where any non-filtering host computer is located is more than 2.2km, the navigation mark IR7 is switched from the first removal list to the second removal list, after the patrol tasks of all the cruising host computers are finished, the second removal list is used as the navigation mark to be patrolled, the cruising host computers are distributed by the ground control system again according to information such as cruising weight, and the operation returns to the initial operation step of the embodiment.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (7)
1. A navigation mark inspection system based on unmanned aerial vehicle remote sensing comprises a control system, an inspection host and a navigation mark to be inspected;
the control system comprises a navigation mark historical information base, wherein the navigation mark historical information base comprises basic navigation mark information and historical patrol inspection information, and the historical patrol inspection information comprises patrol inspection characteristics of navigation marks obtained in historical patrol inspection and cruise weight of the navigation marks;
the control system also comprises a route distribution module, a navigation mark abnormality judgment module, an abnormality reason acquisition module and a route adjustment module; the route distribution module is used for distributing routing inspection routes of the routing inspection host; the navigation mark abnormality judging module is used for judging whether the navigation mark is abnormal or not through navigation mark information obtained by the inspection host, and when the navigation mark is judged to be abnormal, the navigation mark is set as an abnormal navigation mark; the abnormality reason acquisition module is used for acquiring abnormality information of the abnormality navigation mark through the inspection host; the route adjusting module is used for adjusting the routing inspection route when the abnormality information of the abnormal navigation mark acquired by the routing inspection host can not judge the reason of the abnormality, and acquiring the abnormality information of the abnormal navigation mark by using other suitable routing inspection hosts;
the inspection host comprises an acquisition component for acquiring navigation mark information and abnormal information.
2. The unmanned aerial vehicle remote sensing-based beacon inspection system according to claim 1, wherein the collection components of the inspection host include a photoelectric pod and a laser range finder.
3. The drone remote sensing-based beacon inspection system according to claim 1, wherein the beacon includes a beacon body including a lighthouse, buoy, post, or lightboat.
4. The drone remote sensing based beacon inspection system according to claim 3, wherein the beacon further includes a beacon kiosk disposed on the beacon body for collecting big data information in the weather, water flow, and ship traffic.
5. An inspection method using the unmanned aerial vehicle remote sensing-based beacon inspection system according to any one of claims 1 to 4, comprising the following steps:
s10, according to n waiting to be inspectedNavigation mark R ═ R1,R2,R3,…,Rn]And acquiring patrol weight R theta [ R theta ] corresponding to the navigation mark R in the navigation mark historical information base1,Rθ2,Rθ3,…,Rθn]Simultaneously establishing a removal beacon list YR that includes a first removal list YR1 and a second removal list YR 2;
s20, setting a patrol task A, wherein the patrol task A comprises m patrol routes AH ═ AH1,AH2,AH3,…,AHm]Each routing inspection route is correspondingly inspected by one routing inspection host, and the routing inspection route AH is correspondingly inspected by the routing inspection host P ═ P1,P2,P3,…,Pm]Carrying out routing inspection; wherein, set up the ith platform and patrol inspection host PiAt inspection route AHiNavigation mark IR ═ IR needed to be patrolled1,IR2,IR3,…,IRk](k < m); patrol route AHiThe polling weight IR theta corresponding to the navigation mark IR needing polling is [ IR theta ]1,IRθ2,IRθ3,…,IRθk](ii) a Wherein, a routing inspection route AH is setiGo up j navigation mark IR that needs to patrol and examinejHas a patrol weight of IR thetajRouting inspection route AHiTotal weight of (2)
Setting the weight threshold value of the routing inspection route as theta0Then patrol route AHiNeed to satisfy
Satisfy simultaneously and patrol and examine route AHiNumber of navigation marks on
Wherein e is a natural constant, θ0＜2e；
S30, the inspection host PiAt inspection route AHiUpper pair navigation mark IR ═ IR1,IR2,IR3,…,IRk]Carry out the patrolIn the process of task, when the inspection host PiAt inspection route AHiGo up jth fairway buoy IR who patrols and examinesjIf the navigation mark does not belong to the removed navigation mark list YR, the step is switched to step S31;
when patrolling and examining host PiAt inspection route AHiGo up jth fairway buoy IR who patrols and examinesjIf the navigation mark belongs to the removed navigation mark list YR, the step is switched to step S32;
s31, according to the IR to the navigation markjThe inspection information obtained during inspection is used for judging the navigation mark IRjWhether the navigation mark is abnormal or not, and if not, continuing the routing inspection task; if yes, the process proceeds to step S32;
s32, patrol and examine host PiFor abnormal navigation mark IRjCarrying out a secondary collection task for judging the reason of the abnormality;
when according to the patrol main machine PiThe inspection information obtained by the secondary acquisition task can judge the abnormal navigation mark IRjWhen the abnormality is caused, the inspection host PiContinuing the polling task;
when according to the patrol main machine PiThe inspection information obtained by the secondary acquisition task cannot judge the abnormal navigation mark IRjIf the cause of the malfunction is (3), the process proceeds to step S40;
s40, the abnormal navigation mark IRjSlave patrol route AHiTransfer to the first removal List YR1；
Updating patrol inspection host PiTo obtain a patrol main machine PiNew routing inspection route AHi', patrol and examine the host computer PiAccording to the new routing inspection route AHi' continuing the inspection task;
s50, a first removal list YR1 ═ YR1 is obtained1,YR12,YR13,…,YR1c]C is less than n; setting the distance threshold D simultaneously0；
When a polling host P existsjPatrol route AHjSuch that the z-th disarranged navigation mark YR in the first removal list YR1zTo patrol route AHj(j ≠ i) distance Dz≤D0If yes, the process proceeds to step S51;
when there is not a patrol inspection host PjPatrol route AHj(j ≠ i) causes the z-th arrhythmic navigation mark YR in the first removal list YR1zTo patrol route AHjDistance D ofz≤D0If yes, the process proceeds to step S52;
s51, the abnormal navigation mark YRzTransferring the first removal list into the routing inspection route AHj(j ≠ i), the patrol route AH is updatedjObtain a new routing inspection route AHj', patrol and examine the host computer PjAccording to the updated patrol route AHj' go to patrol, go to step S30;
s52, the abnormal navigation mark YRzThe second removal list YR2 is shifted from the first removal list YR1 to obtain [ YR2 ] of the second removal list YR21,YR22,YR23,…,YR2b]，b＜c；
And when the polling tasks of all the polling hosts are finished, taking the abnormal navigation mark in the second removal list YR2 as the navigation mark to be polled, and turning to the step S10.
6. The inspection method according to claim 5, wherein in step S50, the execution of the IR off-normal beacon is setjThe cruise host of the secondary collection task is abnormal navigation mark IRjThe filtering host set without executing the abnormal navigation mark IRjThe cruise host of the secondary collection task is abnormal navigation mark IRjThe non-filtering host;
first remove list of pixilated fairway signs IRjOnly abnormal navigation mark IRjThe non-filtering host computer in the cruising route can not be switched into the abnormal navigation mark IRjThe filtering main machine is located in the cruising route.
7. The inspection method according to claim 6, wherein when the unmanned aerial vehicle is out of order, the beacon is IR inspectedjThe distance does not exceed a distance threshold D0When there is more than one route for polling non-filtering host computer, it can be used for making navigation mark IR with abnormalityjThe shortest distance routing inspection route will be abnormal navigation mark IRjAnd (6) turning in.
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