CN113960581B - Unmanned aerial vehicle target detection system applied to transformer substation and combined with radar - Google Patents
Unmanned aerial vehicle target detection system applied to transformer substation and combined with radar Download PDFInfo
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- 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
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- G—PHYSICS
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- 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
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Abstract
The invention provides an unmanned aerial vehicle target detection system applied to a transformer substation and combined with a radar, which is characterized by comprising a radar subsystem and an unmanned aerial vehicle subsystem, wherein the radar subsystem is used for detecting the position of an unmanned aerial vehicle and a suspicious region around the transformer substation, the unmanned aerial vehicle subsystem is used for accurately detecting a moving target in the suspicious region, and the accurate position information of the moving target is obtained by combining the relative positions of the unmanned aerial vehicle and the radar and the relative positions of the moving target on the unmanned aerial vehicle; according to the invention, the moving target is detected through angle measurement, and the positioning result is more accurate.
Description
Technical Field
The invention relates to the technical field of detection and positioning, in particular to an unmanned aerial vehicle target detection system which is applied to a transformer substation and combined with a radar.
Background
The existence of birds in the surrounding environment of the transformer substation can cause certain interference to the transformer substation, so the transformer substation needs to be provided with a detection system for detecting the positions of the birds, the detection result is not accurate enough due to the fact that the individual birds are small, and the unmanned aerial vehicle system can directly acquire the bird image information but cannot determine the positions of the birds.
Many detection systems have been developed, and through extensive searching and reference, it is found that the existing detection systems have the systems as disclosed in publication numbers KR101591408B1, KR101832673B1, CN112558082a and KR101845964B1, and include an unmanned aerial vehicle, a small-sized laser radar detector mounted on the unmanned aerial vehicle, and an unmanned aerial vehicle ground station, wherein a wireless transmission module and a power supply module are arranged in the body of the unmanned aerial vehicle, a signal output end of the laser radar detector is connected with a signal input end of the wireless transmission module, and a signal output end of the wireless transmission module is connected with a signal input end of the unmanned aerial vehicle ground station; the unmanned aerial vehicle ground station is in wireless connection with the power supply module, so that the power supply module is controlled to supply power for the unmanned aerial vehicle, the laser radar detector and the wireless transmission module. However, the system is used for carrying the small-sized radar on the unmanned aerial vehicle, so that a large load bearing burden is caused on the unmanned aerial vehicle, and although the unmanned aerial vehicle is matched with a power supply module, the endurance of the unmanned aerial vehicle is insufficient, and meanwhile, the effect of detecting and positioning is still to be improved.
Disclosure of Invention
The invention aims at providing an unmanned aerial vehicle target detection system which is applied to a transformer substation and combined with a radar,
The invention adopts the following technical scheme:
the unmanned aerial vehicle target detection system comprises a radar subsystem and an unmanned aerial vehicle subsystem, wherein the radar subsystem is used for detecting the position of an unmanned aerial vehicle and suspicious areas around the transformer substation, the unmanned aerial vehicle subsystem is used for accurately detecting a moving target in the suspicious areas, and accurate position information of the moving target is obtained by combining the relative positions of the unmanned aerial vehicle and the radar and the relative positions of the moving target and the unmanned aerial vehicle;
the unmanned aerial vehicle subsystem comprises a plurality of detection groups, each detection group comprises two unmanned aerial vehicles, each unmanned aerial vehicle comprises a processing module, a control module and a detection module, the detection modules are used for acquiring image information, the modules are used for controlling the orientation of the detection modules, and the processing modules are used for analyzing the image information and sending instructions to the control modules;
Taking the straight line direction of the unmanned aerial vehicle moving to the suspicious region as a reference direction, enabling the moving targets to be kept in the middle of the image by the detection modules of the two unmanned aerial vehicles respectively at real-time horizontal angles alpha and beta, wherein the horizontal distances L 1 and L 2 between the moving targets and the unmanned aerial vehicle are respectively as follows:
wherein L is the distance between two unmanned aerial vehicles;
The processing module enables the detection module to face the reference direction by analyzing the image acquired by the detection module in the moving process of the unmanned aerial vehicle;
The detection module sends two images to the processing module, wherein one image is a comparison image, the other image is an analysis image, the processing module adjusts the orientation of the detection module by calculating the left edge gradual progress and the right edge gradual progress of the analysis image relative to the comparison image, and when the left edge gradual progress and the right edge gradual progress are the same, the orientation of the detection module is consistent with the reference direction;
Further, the processing module obtains a plurality of column vectors C 1、C2、...、Cm according to the comparison image, wherein m is the number of columns of pixel points in the comparison image, two column vectors C L and C R are obtained according to the left and right edges of the analysis image, the column vectors are gray values of a column of pixel points in the image, the processing module searches a similar vector C i of C L according to the sequence from C 1 to C m, searches a similar vector C j of C R according to the sequence from C m to C 1, and i and j are the gradual progress of the analysis image relative to the left edge and the gradual progress of the right edge of the comparison image;
Further, when determining whether the column vector C P with the number of elements n is similar to the column vector C Q with the number of elements d, counting the number n r of r satisfying the following inequality in the column vector C P:
Wherein, a i is the ith element in column vector C P, b i is the ith element in column vector C Q, yu is the first threshold;
When (when) When the column vectors C P and C Q are similar column vectors, wherein Yu is the second threshold;
Further, when the moving object is located in the middle of the image shot by the detection module, the pitch angles of the two unmanned aerial vehicle detection modules are respectively alpha 'and beta', and then the height h of the moving object relative to the unmanned aerial vehicle A and the unmanned aerial vehicle B is:
Further, after the similar vectors C i and C j are searched, the z vectors after the similar vector C i and the z vectors after the column vector C L are both judged to be similar, if the z-group similar vector is satisfied, the i is determined to be the left edge gradual progress, if the z-group similar vector is not satisfied, the z-group similar vector before the similar vector C j and the z-group similar vector before the column vector C R are both judged to be similar, if the z-group similar vector is satisfied, the j is determined to be the right edge gradual progress, and if the z-group similar vector is not satisfied, the z-group similar vector before the similar vector C j is continuously searched for.
The beneficial effects obtained by the invention are as follows:
According to the system, the positions of the unmanned aerial vehicles are detected by using the radar, the relative positions of the moving targets are detected by using the unmanned aerial vehicles, the moving targets are accurately positioned by combining two results, the positioning range is greatly improved, the positioning effect is reduced, the moving targets are always positioned in the middle of a picture by rotating the angles of the detection modules of the two unmanned aerial vehicles, the positions of the moving targets are obtained by calculating the angles, the method can change the small rotating angle to cope with the moving targets which move rapidly, the measuring of the rotating angle takes the linear moving direction of the unmanned aerial vehicle as the reference direction, and the orientation of the detection modules is kept consistent with the reference direction by analyzing the shot picture in the moving process of the unmanned aerial vehicle, so that the subsequent measurement is more accurate.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic diagram of an overall structural framework;
FIG. 2 is a schematic diagram of a moving target horizontal position calculation;
FIG. 3 is a schematic illustration of a movement target height calculation;
FIG. 4 is a schematic diagram of the relationship between the orientation of the detection module and the degree of progression;
Fig. 5 is a schematic flow chart of unmanned aerial vehicle detection moving targets.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following examples thereof; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Other systems, methods, and/or features of the present embodiments will be or become apparent to one with skill in the art upon examination of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the following detailed description.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or component referred to must have a specific azimuth, construction and operation in which the term is described in the drawings is merely illustrative, and it is not to be construed that the term is limited to the patent, and specific meanings of the term may be understood by those skilled in the art according to specific circumstances.
Embodiment one.
The embodiment provides an unmanned aerial vehicle target detection system applied to a transformer substation and combined with a radar, and in combination with fig. 1, the unmanned aerial vehicle target detection system comprises a radar subsystem and an unmanned aerial vehicle subsystem, wherein the radar subsystem is used for detecting the position of an unmanned aerial vehicle and a suspicious region around the transformer substation, the unmanned aerial vehicle subsystem is used for accurately detecting a moving target in the suspicious region, and accurate position information of the moving target is obtained by combining the relative position of the unmanned aerial vehicle and the radar and the relative position of the moving target on the unmanned aerial vehicle;
the unmanned aerial vehicle subsystem comprises a plurality of detection groups, each detection group comprises two unmanned aerial vehicles, each unmanned aerial vehicle comprises a processing module, a control module and a detection module, the detection modules are used for acquiring image information, the modules are used for controlling the orientation of the detection modules, and the processing modules are used for analyzing the image information and sending instructions to the control modules;
Taking the straight line direction of the unmanned aerial vehicle moving to the suspicious region as a reference direction, enabling the moving targets to be kept in the middle of the image by the detection modules of the two unmanned aerial vehicles respectively at real-time horizontal angles alpha and beta, wherein the horizontal distances L 1 and L 2 between the moving targets and the unmanned aerial vehicle are respectively as follows:
wherein L is the distance between two unmanned aerial vehicles;
The processing module enables the detection module to face the reference direction by analyzing the image acquired by the detection module in the moving process of the unmanned aerial vehicle;
The detection module sends two images to the processing module, wherein one image is a comparison image, the other image is an analysis image, the processing module adjusts the orientation of the detection module by calculating the left edge gradual progress and the right edge gradual progress of the analysis image relative to the comparison image, and when the left edge gradual progress and the right edge gradual progress are the same, the orientation of the detection module is consistent with the reference direction;
The processing module obtains a plurality of column vectors C 1、C2、...、Cm according to the comparison image, wherein m is the column number of pixel points in the comparison image, two column vectors C L and C R are obtained according to the left and right edges of the analysis image, the column vectors are gray values of a column of pixel points in the image, the processing module searches a similar vector C i of C L according to the sequence from C 1 to C m, searches a similar vector C j of C R according to the sequence from C m to C 1, and i and j are gradual progress and gradual progress of the analysis image relative to the left edge and the right edge of the comparison image;
When judging whether the column vector C P with the number of elements being n is similar to the column vector C Q with the number of elements being d, counting the number n r of r meeting the inequality in the column vector C P;
Wherein, a i is the ith element in column vector C P, b i is the ith element in column vector C Q, yu is the first threshold;
When (when) When the column vectors C P and C Q are similar column vectors, wherein Yu is the second threshold;
when a moving target is positioned in the middle of an image shot by the detection modules, the pitch angles of the two unmanned aerial vehicle detection modules are alpha 'and beta', and the height h of the moving target relative to the unmanned aerial vehicle A and the unmanned aerial vehicle B is:
After the similar vectors C i and C j are searched, the z vectors behind the similar vector C i and the z vectors behind the column vector C L are both judged to be similar, if the z-group-formed similar vector is satisfied, the i is determined to be the left-edge gradual progress, if the z-group-formed similar vector is not satisfied, the similar vector of C L is continuously searched, the z vectors in front of the similar vector C j and the z-group-formed similar vector C R are both judged to be similar, if the z-group-formed similar vector is satisfied, the j is determined to be the right-edge gradual progress, and if the z-group-formed similar vector is not satisfied, the similar vector of C R is continuously searched.
Embodiment two.
The radar in the radar subsystem includes a transmitter, a transmitting antenna, a receiver, a receiving antenna, an analysis module and an interrogation module, the transmitter sends a detection signal to the surrounding through the transmitting antenna, the receiver receives the returned detection signal through the receiving antenna, when a target is detected, the receiver controls the interrogation and sends the interrogation signal to the target, if the target is an unmanned aerial vehicle, a response signal is returned, the analysis module decodes the response signal and then determines that the target is the unmanned aerial vehicle under the same system, and determines the position of the unmanned aerial vehicle according to the interrogation signal and the response signal, if the response signal is not received, the analysis module determines a possible area according to the sent and returned detection signal and sends an instruction to the unmanned aerial vehicle near the suspicious area, so that the unmanned aerial vehicle can accurately detect the suspicious area;
The unmanned aerial vehicle in the unmanned aerial vehicle subsystem comprises a response module, a processing module, a control module and a detection module, wherein the response module is used for receiving and decoding an inquiry signal, generating and sending a response signal for the radar subsystem to confirm the identity of the unmanned aerial vehicle, the processing module is used for receiving and processing the instruction information, the processing result is sent to the control module, the control module correspondingly operates the unmanned aerial vehicle according to the processing result of the instruction, and the detection module is used for acquiring the image information of a target;
the unmanned aerial vehicle control module comprises a horizontal rotary table, a pitching plate is arranged on the horizontal rotary table and connected with the horizontal rotary table through a rotary shaft, the pitching plate can horizontally rotate along with the horizontal rotary table and can vertically rotate around the rotary shaft, the detection module is fixedly arranged on the pitching plate, the pitching angle of the detection module can be controlled through the pitching plate, and the horizontal visual angle of the detection module can be controlled through the horizontal rotary table;
In combination with fig. 5, two unmanned aerial vehicles form a detection group, the two unmanned aerial vehicles in the same detection group always keep the same height and the same fixed distance, when the unmanned aerial vehicles move, the moving direction and the direction of the detection module are the same, when the unmanned aerial vehicles reach a suspicious region and hover, the control module controls the detection module to rotate clockwise and horizontally by taking the direction of the detection module as the basic direction, and the rotation angles of the two unmanned aerial vehicles in the detection group are respectively represented by alpha and beta, and the value ranges of the alpha and the beta are [0 degrees, 360 degrees ];
The detection module sends shot image information to the processing module, the processing module analyzes whether a moving target exists in an image, after the moving target is detected, the processing module sends an instruction to the control module to control the moving target in the image shot by the detection module to be always in a horizontal middle position, and after two unmanned aerial vehicles lock a moving unit, the processing module can determine the relative position of the moving target according to the values of alpha and beta;
Referring to fig. 2, the fixed distance between the unmanned aerial vehicle a and the unmanned aerial vehicle B is L, and the distance L 1 from the moving target to the unmanned aerial vehicle a and the distance L 2 from the moving target to the unmanned aerial vehicle B are respectively:
The radar subsystem can determine and obtain the horizontal position information of the moving target according to the position of the unmanned aerial vehicle A, alpha and L 1, and also can determine and obtain the horizontal position information of the moving target according to the position of the unmanned aerial vehicle B, beta and L 2;
In combination with fig. 3, the control module may further control a pitch angle of the detection module, so that a moving target in an image shot by the detection module is always in a vertical middle position, pitch angles of the unmanned aerial vehicle a and the unmanned aerial vehicle B are denoted as α 'and β', and a height h of the moving target relative to the unmanned aerial vehicle a and the unmanned aerial vehicle B is:
h＝L1·tanα′＝L2·tanβ′；
it should be noted that α 'and β' are negative values when the angle of depression is negative, and positive values when the angle of elevation is positive;
since the pitch angle has a small adjustment range, the actual measured α 'and β' values have errors, so the height h can be written as:
The radar subsystem can obtain the height of the moving target according to the heights of the unmanned aerial vehicle A and the unmanned aerial vehicle B, and can accurately detect the position of the moving target by combining the obtained horizontal distance of the moving target;
In the moving process of the unmanned aerial vehicle, the processing module needs to ensure that the orientation of the detection module is completely consistent with the moving direction of the unmanned aerial vehicle before final hovering, and the smaller the error between the orientation and the moving direction is, the more accurate the position information of the moving target is measured later;
Referring to fig. 4, the processing module adjusts the orientation of the detection module by analyzing an image acquired by the detection module during the movement process of the unmanned aerial vehicle, and the specific method includes the following steps:
S1, the detection module shoots an image every delta t time and sends the image to the processing module;
S2, analyzing two adjacent images by the processing module, wherein the former image is used as a comparison image, and the latter image is used as an analysis image;
S3, the processing module calculates the progressive degree of the left edge and the right edge of the analysis image, when the progressive degree of the left edge is larger than that of the right edge, the detection module is required to be rotated clockwise, and when the progressive degree of the right edge is larger than that of the left edge, the detection module is required to be rotated anticlockwise;
continuously adjusting the left edge gradual progress of the analysis image until the left edge gradual progress is equal to the right edge gradual progress;
It should be noted that, in the moving process of the unmanned aerial vehicle, the detection module is always in a head-up state with a pitch angle of 0 degrees, and rotates at a slow angular speed in the adjusting rotation process, and specifically, the value range of the angular speed is 0.5 degrees/s-1 degrees/s;
the gradual progress calculating method in the step S3 is as follows:
And according to the gray value arrangement of the contrast image pixel points, a plurality of column vectors are obtained:
Wherein x represents the number of rows of pixel points at the upper end and the lower end in the reference image, n represents the number of rows of pixel points at the middle part of the reference image, m represents the number of columns of pixel points in the reference image, and a ij represents the gray level of the pixel point of the reference image at (i, j);
column vectors C L and C R of pixel points on the left and right edges of the analysis image are obtained:
Searching similar column vectors C i of C L according to the sequence from C 1 to C m, searching similar column vectors C j of C R according to the sequence from C m to C 1, wherein i is left-edge gradual progress, j is right-edge gradual progress, and if similar column vectors are not searched, the corresponding gradual progress is 0;
Judging whether the two column vectors C k and C L are similar or not, and counting the number n r of r meeting the inequality in the column vector C k;
Wherein yu is a first threshold;
When (when) When the column vectors C k and C L are similar column vectors, wherein Yu is the second threshold;
The method of judging whether the column vectors C k and C R are similar is the same;
After finding a similar column vector C i of C L, the subsequent z column vectors C i+1、Ci+2、...、Ci+z are respectively judged to be similar to the column vector C L+1、CL+2、...、CL+z of the analysis image, and only if the z group of column vectors are all similar vectors, the i is determined to be the left edge progressive progress, if the requirement is not met, the similar column vectors of C L are continuously searched, wherein the column vectors C L+1、CL+2、...、CL+z are respectively:
after finding a similar column vector C j of C R, the subsequent z column vectors C j-1、Cj-2、...、Cj-z are respectively judged to be similar to the column vector C R-1、CR-2、...、CR-z of the analysis image, and only if the z group of column vectors are all similar vectors, the j is determined to be the right edge progressive progress, if the requirement is not met, the similar column vector C R is continuously searched, wherein the column vectors C R-1、CR-2、...、CR-z are respectively:
While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems and devices discussed above are examples. Various configurations may omit, replace, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in a different order than described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, as the technology evolves, elements therein may be updated, i.e., many of the elements are examples, and do not limit the scope of the disclosure or the claims.
Specific details are given in the description to provide a thorough understanding of exemplary configurations involving implementations. However, configurations may be practiced without these specific details, e.g., well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring configurations. This description provides only an example configuration and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configuration will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is intended that it be regarded as illustrative rather than limiting. Various changes and modifications to the present invention may be made by one skilled in the art after reading the teachings herein, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.
Claims (1)
1. The unmanned aerial vehicle target detection system is applied to a transformer substation and combined with a radar, and is characterized by comprising a radar subsystem and an unmanned aerial vehicle subsystem, wherein the radar subsystem is used for detecting the position of an unmanned aerial vehicle and a suspicious region around the transformer substation, the unmanned aerial vehicle subsystem is used for accurately detecting a moving target in the suspicious region, and accurate position information of the moving target is obtained by combining the relative positions of the unmanned aerial vehicle and the radar and the relative positions of the moving target and the unmanned aerial vehicle;
The unmanned aerial vehicle subsystem comprises a plurality of detection groups, each detection group comprises two unmanned aerial vehicles, each unmanned aerial vehicle comprises a processing module, a control module and a detection module, the detection modules are used for acquiring image information, the control modules are used for controlling the orientation of the detection modules, and the processing modules are used for analyzing the image information and sending instructions to the control modules;
Taking the linear direction of the unmanned aerial vehicle moving to the suspicious region as a reference direction, and respectively taking real-time horizontal angles as detection modules of two unmanned aerial vehicles And/>Keeping the moving object in the middle of the image, and respectively keeping the horizontal distance/>, between the moving object and the unmanned planeAnd/>The method comprises the following steps of:
；
；
wherein L is the distance between two unmanned aerial vehicles;
The processing module enables the detection module to face the reference direction by analyzing the image acquired by the detection module in the moving process of the unmanned aerial vehicle;
The detection module sends two images to the processing module, wherein one image is a comparison image, the other image is an analysis image, the processing module adjusts the orientation of the detection module by calculating the left edge gradual progress and the right edge gradual progress of the analysis image relative to the comparison image, and when the left edge gradual progress and the right edge gradual progress are the same, the orientation of the detection module is consistent with the reference direction;
the processing module obtains a plurality of column vectors according to the comparison image 、/>、...、/>Wherein m is the number of columns of pixel points in the comparison image, and two column vectors/>, are obtained according to the left and right edges of the analysis imageAnd/>The column vector is the gray value of a column of pixel points in the image, and the processing module is used for processing the pixel points according to/>To/>Sequential search/>Similarity vector/>According to/>To/>Sequential search/>Similarity vector/>I and j are the left edge progression and right edge progression of the analysis image relative to the control image;
judging column vector with n elements Column vector/>, with number of elements dIf they are similar, the column vectors are counted firstThe number of r satisfying the inequality shown below/>：
；
Wherein,Representing column vectors/>I-th element of (a)/>)Representing column vectors/>I-th element of (a)/>)Is a first threshold;
When (when) Column vector/>And/>Is a similar column vector, where/>Is a second threshold;
when the moving target is positioned in the middle of the image shot by the detection modules, the pitch angles of the two unmanned aerial vehicle detection modules are respectively And/>The height h of the moving target relative to the unmanned aerial vehicle a and the unmanned aerial vehicle B is:
；
When a similar vector is searched And/>Thereafter, similar vector/>The latter z vectors and column vectors/>The latter z vectors are all judged to be similar, if the z-group similarity vectors are satisfied, the i is determined to be the left edge gradual progress, if the z-group similarity vectors are not satisfied, the search/>, is continuedSimilarity vector/>The first z vectors and column vectors/>The former z vectors are all judged to be similar, if the z-group similarity vectors are satisfied, j is determined to be the right edge gradual progress, and if the z-group similarity vectors are not satisfied, searching/>Is a similar vector of (a).
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