CN113938610A - Unmanned aerial vehicle supervision method and system - Google Patents
Unmanned aerial vehicle supervision method and system Download PDFInfo
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- CN113938610A CN113938610A CN202111355280.4A CN202111355280A CN113938610A CN 113938610 A CN113938610 A CN 113938610A CN 202111355280 A CN202111355280 A CN 202111355280A CN 113938610 A CN113938610 A CN 113938610A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000001931 thermography Methods 0.000 claims description 3
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- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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Abstract
The utility model provides an unmanned aerial vehicle supervision method, relates to electronic information technical field, and the method includes: acquiring coordinates of an unmanned aerial vehicle and coordinates of a camera device; calculating a preset rotation angle of the camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device; the holder controller drives the holder to rotate according to the preset rotation angle; whether the actual rotating angle of the holder is equal to the preset rotating angle or not is judged through the holder controller: if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder; acquiring image information of the unmanned aerial vehicle through a camera device; image information is acquired. This application is through control cloud platform adjustment camera device's angle, makes camera device aim at invading unmanned aerial vehicle, and camera device gathers image information to unmanned aerial vehicle to in time send image information back to main control platform, make things convenient for monitoring personnel in time to discover unmanned aerial vehicle, improve the supervision efficiency to the illegal invasion of unmanned aerial vehicle. The application also provides an unmanned aerial vehicle supervisory systems.
Description
Technical Field
The application relates to the technical field of electronic information, in particular to a method and a system for monitoring an unmanned aerial vehicle.
Background
The power enterprise needs to ensure normal electricity utilization in life and work of people, is responsible for the quality and safety of electricity utilization, and ensures the safe operation of a power grid.
If high-altitude intrusions appear on the electric power production transmission site, such as unmanned aerial vehicles, the safe operation of the power grid is seriously influenced. Because these high-altitude intrusions may cause line faults, local blackouts and even regional blackouts when the power equipment is operating at high speeds. Therefore, in order to ensure the safety of the power production and transmission site and ensure that the power equipment can operate safely, reliably, efficiently and stably, the power production and transmission site must be monitored to find high-altitude invaders in time and avoid safety accidents caused by the high-altitude invaders.
In the traditional manual inspection method, operators are generally arranged to enter a power production transmission site regularly for checking and patrolling. On one hand, the manual inspection method has regularity and interval, and the invasion of high-altitude invaders has randomness and contingency; and the inspection quality and the arrival rate of manual inspection cannot be guaranteed. Therefore, the traditional manual inspection method has the problem that the foreign matters invading from high altitude cannot be found in time, and further the effect of inhibiting the foreign matters invading into the transformer substation from high altitude is not ideal.
Disclosure of Invention
The application provides a method for detecting the foreign matters invading from high altitude, which aims to solve the problem that the foreign matters invading from high altitude cannot be found in time by the traditional manual inspection method.
The technical scheme adopted by the application is as follows:
a drone surveillance method, the method comprising:
acquiring coordinates of an unmanned aerial vehicle and coordinates of a camera device;
calculating a preset rotation angle of a camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle;
the holder controller drives the holder to rotate according to the preset rotation angle;
judging whether the actual rotation angle of the holder is equal to the preset rotation angle or not through the holder controller;
if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder;
acquiring image information of the unmanned aerial vehicle through a camera device;
and the master control platform acquires the image information.
Further, acquiring the coordinates of the unmanned aerial vehicle and the coordinates of the camera device includes:
acquiring a first coordinate of the unmanned aerial vehicle, wherein the first coordinate is located in a first coordinate system of a coordinate origin of the radar;
acquiring a camera coordinate, wherein the camera coordinate is positioned in a first coordinate system of a coordinate origin of the radar;
a first coordinate in the first coordinate system is calculated to be converted to a second coordinate with the camera as the origin. Further, calculating a predetermined rotation angle of the image pickup device based on the second coordinates and the image pickup device coordinates, comprising the steps of:
the coordinates of the drone in the first coordinate system with the origin of coordinates of the radar are represented as (x)1,y1,z1) The camera coordinates are expressed as (x)2,y2,z2) At this time, the coordinates of the unmanned aerial vehicle in the second coordinate system with the camera as the origin are (x)1-x2,y1-y2,z1-z2)；
Calculating the distance between the unmanned aerial vehicle and the camera device to be LOA:
Calculating the distance LOAProjection L ofOB：
Calculating a preset pitch angle alpha:
calculating a preset horizontal rotation angle beta:
further, before acquiring the camera coordinates, the method further comprises:
acquiring the distance between each camera device and the unmanned aerial vehicle;
and selecting the camera device closest to the unmanned aerial vehicle.
Further, the method further comprises:
acquiring an image transmission signal to be identified and an image remote control signal of an unmanned aerial vehicle to obtain frequency bands of all channels of the unmanned aerial vehicle;
judging whether the power in the frequency band changes; and if the power in the frequency band changes, sending out early warning and the model information of the unmanned aerial vehicle.
An unmanned aerial vehicle supervision system comprises an unmanned aerial vehicle detection radar, a main control platform, a cloud deck controller and a camera device, wherein the camera device is loaded on the cloud deck, and the cloud deck is connected with the cloud deck controller; the holder controller and the camera device are connected with the main control platform through network communication;
the unmanned aerial vehicle detection radar is used for acquiring unmanned aerial vehicle coordinates;
the master control platform is used for executing the following steps:
acquiring coordinates of a camera device;
calculating a preset rotation angle of a camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle;
transmitting the predetermined angle of rotation to the pan-tilt controller;
when the holder reaches the preset rotation angle, sending an instruction to the camera device;
receiving image information sent by the camera device;
the holder controller is used for executing the following steps:
receiving the predetermined rotation angle;
driving the holder to rotate according to the preset rotation angle;
judging whether the actual rotation angle of the holder is equal to the preset rotation angle: if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder;
the camera device is used for collecting image information and transmitting the image information to the main control platform when responding to the instruction of the main control platform.
Further, the cloud platform with all be provided with RS485 communication chip in the cloud platform controller, the cloud platform with the cloud platform controller passes through RS485 bus connection.
Further, the cloud platform controller includes STM32 singlechip.
Furthermore, the camera device is a thermal imaging camera device, and a high-definition COMS imaging system is arranged in the camera device.
The technical scheme of the application has the following beneficial effects:
the method comprises the following steps: acquiring coordinates of an unmanned aerial vehicle and coordinates of a camera device; calculating a preset rotation angle of a camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle; the holder controller drives the holder to rotate according to the preset rotation angle; judging whether the actual rotation angle of the holder is equal to the preset rotation angle or not through the holder controller: if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder; acquiring image information of the unmanned aerial vehicle through a camera device; and the master control platform acquires the image information. According to the method and the system, the camera device is aligned to the invading unmanned aerial vehicle by controlling the angle of the camera device through the cradle head, the camera device collects image information of the unmanned aerial vehicle and sends the image information back to the main control platform in time, monitoring personnel can find the unmanned aerial vehicle in time conveniently, and the monitoring efficiency of illegal invasion of the unmanned aerial vehicle is improved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for supervising an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a calculation of a predetermined rotation angle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle surveillance system provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions in the embodiments of the present application better understood and make the above objects, features and advantages of the embodiments of the present application more comprehensible, the technical solutions in the embodiments of the present application are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a method for supervising an unmanned aerial vehicle provided in an embodiment of the present application is shown; referring to fig. 2, a schematic diagram of calculating a predetermined rotation angle according to an embodiment of the present application is shown; referring to fig. 3, a schematic structural diagram of the unmanned aerial vehicle surveillance system provided in the embodiment of the present application is shown.
The application provides an unmanned aerial vehicle supervision method, including following step:
when the unmanned aerial vehicle invades the power grid defense range, coordinates of the unmanned aerial vehicle and coordinates of the camera device are obtained. The camera device can select the camera device closest to the unmanned aerial vehicle. And acquiring the coordinates of the camera by using RTK. The RTK (Real Time Kinematic) is a Real Time differential gps (rtdgps) technique based on carrier phase observation, and has the characteristics of high accuracy and strong Real-Time performance. Utilize unmanned aerial vehicle to detect the radar and obtain unmanned aerial vehicle coordinate, unmanned aerial vehicle detects the radar and adopts unmanned aerial vehicle frequency spectrum sensing system, mainly accomplishes the detection to unmanned aerial vehicle signal (2.4GHz 5.8GHz), and the sensing distance is greater than 1km, and the position covers 360, possesses the extended capability of broadband sensing system (400MH ~ 6GHz), possesses directional sensing system's extended capability simultaneously.
The camera device selects the camera device closest to the unmanned aerial vehicle, and the selection method comprises the following steps: acquiring the distance between each camera device and the unmanned aerial vehicle; and selecting the camera device closest to the unmanned aerial vehicle.
Because of the unmanned aerial vehicle detects that the radar acquires that the unmanned aerial vehicle coordinate is different with camera device's coordinate, need convert unmanned aerial vehicle coordinate to in the coordinate system that uses camera device as the original point. The coordinates of the unmanned aerial vehicle using the radar as the origin of coordinates are converted into the coordinates of the camera device as the origin of coordinates, so that the camera device is aligned to the unmanned aerial vehicle to be shot through the rotation control of the holder, and the unmanned aerial vehicle is subjected to video shooting and shooting. The method specifically comprises the following steps:
acquiring a first coordinate of the unmanned aerial vehicle, wherein the first coordinate is located in a first coordinate system of a coordinate origin of the radar;
acquiring a camera coordinate, wherein the camera coordinate is positioned in a first coordinate system of a coordinate origin of the radar;
a first coordinate in the first coordinate system is calculated to be converted to a second coordinate with the camera as the origin.
When the preset rotation angle is calculated, the unmanned aerial vehicle can be used for using the second coordinate of the first coordinate system of the origin of coordinates of the radar, and the camera can also be used as the second coordinate of the origin in the second coordinate system. No matter unmanned aerial vehicle is located that coordinate system, does not influence the distance between unmanned aerial vehicle and the camera device and the projected numerical value of distance, and then can not influence predetermined rotation angle's numerical value.
Calculating a preset rotation angle of the camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle; the method specifically comprises the following steps:
referring to fig. 2, the coordinates of the drone in the first coordinate system with the origin of coordinates of the radar are represented as (x)1,y1,z1) The camera coordinates are expressed as (x)2,y2,z2) At this time, the second coordinate of the unmanned aerial vehicle in the second coordinate system with the camera as the origin is (x)1-x2,y1-y2,z1-z2)；
Calculating the distance between the unmanned aerial vehicle and the camera device to be LOA:
Calculating the distance LOAProjection L ofOB：
Calculating a preset pitch angle alpha:
calculating a preset horizontal rotation angle beta:
the holder controller drives the holder to rotate according to a preset rotation angle, the holder rotates beta degrees in the horizontal direction and rotates alpha degrees in the vertical direction. The cloud deck is loaded with the camera device, and the camera device is actually adjusted to the preset rotation angle by driving the cloud deck to rotate to the preset rotation angle.
In the rotation process of the holder, judging whether the actual rotation angle of the holder is equal to a preset rotation angle or not; if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder; otherwise, the holder is continuously driven to rotate.
When the actual rotation angle of the holder is equal to the preset rotation angle, the main control platform sends an instruction to the camera device, the camera device collects the image information of the unmanned aerial vehicle after receiving the instruction and sends the image information to the main control platform, and the main control platform acquires the image information.
The method further comprises the step of forming an unmanned aerial vehicle database to identify the model of the unmanned aerial vehicle based on the frequency spectrum characteristics of data transmission and image transmission signals of mainstream unmanned aerial vehicles such as Xinjiang. The method specifically comprises the following steps:
acquiring an image transmission signal to be identified and an image remote control signal of the unmanned aerial vehicle to obtain frequency bands of all channels of the unmanned aerial vehicle;
judging whether the power in the frequency band changes; if the power in the frequency band changes, early warning and model information of the unmanned aerial vehicle are sent out.
Referring to fig. 3, this application still includes an unmanned aerial vehicle supervisory systems, and its characterized in that, the system includes that unmanned aerial vehicle detects radar, master control platform, cloud platform controller and camera device, and camera device loads on the cloud platform, and camera device rotates along with the cloud platform is rotatory. The holder is connected with the holder controller; the holder controller and the camera device are connected with the main control platform through network communication. And the cradle head controller are both provided with RS485 communication chips and are connected through an RS485 bus. The cloud platform controller includes STM32 singlechip. The camera device is a thermal imaging camera device and is internally provided with a high-definition COMS imaging system. The image pickup device may also be a camera. The specific functions of each device are as follows:
the unmanned aerial vehicle detection radar is used for acquiring unmanned aerial vehicle coordinates. The unmanned aerial vehicle detects the radar and can incessantly pass through the passive radio signal in the passive detection defense area of omnidirectional antenna under the unmanned on duty condition for 24 hours to whether there is unmanned aerial vehicle invasion through machine learning technique resolution, carry out filtering through the IMM algorithm, improve the tracking performance to maneuvering target.
The main control platform is used for executing the following steps:
acquiring coordinates of a camera device;
calculating a preset rotation angle of the camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle;
transmitting the preset rotation angle to a holder controller;
when the holder reaches a preset rotation angle, sending an instruction to the camera device;
receiving image information sent by a camera device;
the holder controller is used for executing the following steps:
receiving a predetermined rotation angle;
driving the holder to rotate according to a preset rotation angle;
judging whether the actual rotating angle of the holder is equal to a preset rotating angle: if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder;
the camera device is used for collecting image information and transmitting the image information to the main control platform when receiving the instruction. And returning the shot picture to the main control platform for evidence collection, and issuing a next capture instruction after the evidence is stored by the main control platform.
The whole system consists of a camera device, a cradle head controller based on an STM32 single chip microcomputer and a main control platform, and remote control and remote image shooting are realized through network communication. The whole process is as follows: firstly, the main control platform sends a preset rotation angle obtained through calculation to the cloud deck controller through network communication, the cloud deck controller sends a horizontal rotation angle and a vertical rotation angle to the cloud deck through RS485 communication, horizontal rotation and vertical rotation of the cloud deck are controlled, the camera device is aligned to the unmanned aerial vehicle to be shot, the main control platform sends an instruction to the camera device, and if a video acquisition instruction is given, the camera device shoots the unmanned aerial vehicle.
The systems described in connection with the embodiments disclosed herein may be implemented as hardware, as a software module executed by a processor, or as a combination of both. The software instructions may be comprised of corresponding software modules that may be stored in ram, flash memory, ROM, EPROM memory, EEPROM memory, hard disk, CD-ROM, or any other form of storage medium known in the art.
Those skilled in the art will recognize that in one or more of the examples described above, the functions described herein may be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (9)
1. A method for drone surveillance, the method comprising:
acquiring coordinates of an unmanned aerial vehicle and coordinates of a camera device;
calculating a preset rotation angle of a camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle;
the holder controller drives the holder to rotate according to the preset rotation angle;
judging whether the actual rotation angle of the holder is equal to the preset rotation angle or not through the holder controller: if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder;
acquiring image information of the unmanned aerial vehicle through a camera device;
and acquiring the image information.
2. The drone surveillance method of claim 1, wherein obtaining drone coordinates and camera coordinates comprises:
acquiring a first coordinate of the unmanned aerial vehicle, wherein the first coordinate is located in a first coordinate system of a coordinate origin of the radar;
acquiring a camera coordinate, wherein the camera coordinate is positioned in a first coordinate system of a coordinate origin of the radar;
a first coordinate in the first coordinate system is calculated to be converted to a second coordinate with the camera as the origin.
3. The unmanned aerial vehicle surveillance method of claim 2, wherein calculating a predetermined angle of rotation of a camera device from the second coordinates and the camera device coordinates comprises:
the coordinates of the drone in the first coordinate system with the origin of coordinates of the radar are represented as (x)1,y1,z1) The camera coordinates are expressed as (x)2,y2,z2) At this time, the coordinates of the unmanned aerial vehicle in the second coordinate system with the camera as the origin are (x)1-x2,y1-y2,z1-z2)；
Calculating the distance between the unmanned aerial vehicle and the camera device to be LOA：
Calculating the distance LOAProjection L ofOB：
Calculating a preset pitch angle alpha:
calculating a preset horizontal rotation angle beta:
4. the drone surveillance method of claim 1, wherein prior to acquiring the camera coordinates, the method further comprises:
acquiring the distance between each camera device and the unmanned aerial vehicle;
and selecting the camera device closest to the unmanned aerial vehicle.
5. The drone surveillance method of claim 1, further comprising:
acquiring an image transmission signal to be identified and an image remote control signal of an unmanned aerial vehicle to obtain frequency bands of all channels of the unmanned aerial vehicle;
judging whether the power in the frequency band changes; and if the power in the frequency band changes, sending out early warning and the model information of the unmanned aerial vehicle.
6. An unmanned aerial vehicle supervision system is characterized by comprising an unmanned aerial vehicle detection radar, a main control platform, a cradle head controller and a camera device, wherein the camera device is loaded on the cradle head, and the cradle head is connected with the cradle head controller; the holder controller and the camera device are connected with the main control platform through network communication;
the unmanned aerial vehicle detection radar is used for acquiring unmanned aerial vehicle coordinates;
the master control platform is used for executing the following steps:
acquiring coordinates of a camera device;
calculating a preset rotation angle of a camera device according to the coordinates of the unmanned aerial vehicle and the coordinates of the camera device, wherein the preset rotation angle comprises a preset pitch angle and a preset horizontal rotation angle;
transmitting the predetermined angle of rotation to the pan-tilt controller;
when the holder reaches the preset rotation angle, sending an instruction to the camera device;
receiving image information sent by the camera device;
the holder controller is used for executing the following steps:
receiving the predetermined rotation angle;
driving the holder to rotate according to the preset rotation angle;
judging whether the actual rotation angle of the holder is equal to the preset rotation angle: if the actual rotating angle is equal to the predicted rotating angle, stopping driving the holder;
the camera device is used for collecting image information and transmitting the image information to the main control platform when responding to the instruction of the main control platform.
7. An unmanned aerial vehicle supervisory system as claimed in claim 6, wherein the pan-tilt and the pan-tilt controller are both provided with RS485 communication chips, and the pan-tilt controller are connected through an RS485 bus.
8. An unmanned aerial vehicle surveillance system according to claim 6, wherein the pan-tilt controller comprises an STM32 single chip microcomputer.
9. An unmanned aerial vehicle surveillance system as claimed in claim 6, wherein the camera is a thermal imaging camera, built-in high-definition COMS imaging system.
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Cited By (1)
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