CN113961021A - Power inspection unmanned aerial vehicle autonomous take-off and landing method based on two-dimensional code positioning - Google Patents
Power inspection unmanned aerial vehicle autonomous take-off and landing method based on two-dimensional code positioning Download PDFInfo
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Abstract
本发明公开了一种基于二维码定位的电力巡检无人机自主起降方法，无人机接收云存储单元的航点数据，解析航点数据得到航向路径信息，同时接收机巢平台发送的起飞控制指令准备起飞动作；在无人机执行自动电力巡检作业操作时，同时实时寻找接收机巢平台发送的返回控制指令；无人机通过机巢平台发送的控制指令实现初始范围定位，然后通过单目相机识别机巢平台上的二维码精准定位降落操作。上述基于二维码定位的电力巡检无人机自主起降方法，其显著提升了巡检效率以及安全精准降落的技术效果。
The invention discloses a method for autonomous take-off and landing of an electric power inspection drone based on two-dimensional code positioning. The drone receives waypoint data of a cloud storage unit, parses the waypoint data to obtain heading path information, and simultaneously sends the data from a nest platform. The take-off control command is ready for take-off action; when the drone performs the automatic power inspection operation, it simultaneously searches and receives the return control command sent by the nest platform in real time; the drone realizes the initial range positioning through the control command sent by the nest platform, Then use the monocular camera to identify the QR code on the nest platform to accurately locate the landing operation. The above-mentioned autonomous take-off and landing method of power inspection UAV based on QR code positioning significantly improves the inspection efficiency and the technical effect of safe and accurate landing.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to an autonomous taking-off and landing method of a power inspection unmanned aerial vehicle based on two-dimensional code positioning.
Background
Along with the development of unmanned aerial vehicle inspection technology, select unmanned aerial vehicle positioning system and unmanned aerial vehicle technique to replace the manpower to patrol and examine under the more and more circumstances when the operation is patrolled and examined to the circuit. Generally, a common positioning system for a drone is mainly composed of a GPS positioning part, an RTK positioning part, a combined navigation (inertial navigation + GPS) part, and the like.
The RTK real-time dynamic difference method can provide the three-dimensional coordinates of an observation point in real time in the field, and the accuracy of centimeter-level is high, but the cost is high. In addition, a GPS module is singly used for positioning and navigating the unmanned aerial vehicle, the GPS module is used for positioning the unmanned aerial vehicle, then the flight of the unmanned aerial vehicle is corrected according to the deviation of the dynamic flight path and the planned flight path of the unmanned aerial vehicle, stronger signal support is needed, and meanwhile, the problem of low positioning precision exists in field operation. The traditional positioning mode is suitable for large-area landing sites and is not suitable for small-area auxiliary landing platforms to land.
Disclosure of Invention
The invention aims to provide an autonomous taking-off and landing method of an electric power inspection unmanned aerial vehicle based on two-dimensional code positioning, and aims to solve the problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention provides an autonomous taking-off and landing method of an electric power inspection unmanned aerial vehicle based on two-dimensional code positioning, which comprises the following operation steps:
the unmanned aerial vehicle receives waypoint data of the cloud storage unit, analyzes the waypoint data to obtain course path information, and meanwhile, takes-off control instructions sent by the receiver nest platform prepare for taking-off actions;
after the unmanned aerial vehicle takes off, the unmanned aerial vehicle executes automatic power inspection operation according to the analyzed route path information;
when the unmanned aerial vehicle executes automatic power patrol operation, a return control instruction sent by the nest platform is searched and received in real time, and after the return control instruction sent by the nest platform is received, the patrol operation is finished to prepare for realizing return voyage and landing preparation; the unmanned aerial vehicle realizes initial range location through the control command that the machine nest platform sent, then discerns the accurate location descending operation of two-dimensional code on the machine nest platform through the monocular camera.
Preferably, as one possible embodiment; after realizing the descending operation, still include to unmanned aerial vehicle realization operation of charging:
after the unmanned aerial vehicle successfully lands on the nest platform, the nest platform is controlled by a motor to adjust the unmanned aerial vehicle to be connected with a charging seat, and the charging seat is used for charging the unmanned aerial vehicle.
Preferably, as one possible embodiment; after realizing unmanned aerial vehicle operation of charging, still include the operation of passing back to the operation data of patrolling and examining:
unmanned aerial vehicle starts to patrol and examine operation data passback and prepares the operation, and unmanned aerial vehicle will patrol and examine operation data and upload to the cloud memory cell, unmanned aerial vehicle waits for the control command of next operation simultaneously.
Preferably, as one possible embodiment; the unmanned aerial vehicle realizes initial range positioning through a control instruction sent by the nest platform, and then identifies two-dimensional code accurate positioning landing operation on the nest platform through a monocular camera, and the method specifically comprises the following operation steps;
the unmanned aerial vehicle receives GPS positioning information and target image data which are sent by the nest platform and take the nest platform as a target, and the unmanned aerial vehicle determines a target position range according to the GPS positioning information and controls to carry out flight operation on a target position;
the unmanned aerial vehicle acquires images in the range of the initial target position through a monocular camera, and a nest platform of the target position is further determined through comparing and identifying the acquired images and the target image data in real time;
the unmanned aerial vehicle continuously collects images to the surface of the nest platform to obtain a surface image of the unmanned aerial vehicle, and the two-dimensional code in the surface image is identified according to the surface image;
the basic information of the current nest platform set forth in the current two-dimensional code is identified by the unmanned aerial vehicle, the landing control instruction sets of the unmanned aerial vehicles with different heights corresponding to the current nest platform are obtained through identification and analysis, and the unmanned aerial vehicle executes landing operation according to the landing control instruction sets of the unmanned aerial vehicles with different heights.
Preferably, as one possible embodiment; when the unmanned aerial vehicle executes the landing operation according to the landing control instruction set of the unmanned aerial vehicle with different heights, the unmanned aerial vehicle carries out positioning tracking operation on the center position of the two-dimensional code on the nest platform.
Preferably, as one possible embodiment; unmanned aerial vehicle carries out the localization tracking operation to the positive center position of two-dimensional code on the aircraft nest platform, specifically includes following operating procedure:
searching and determining the position of the positive center point of the two-dimensional code as a landmark center by using a PX4 landmark identification algorithm;
taking the position of the positive center point of the two-dimensional code as a final positioning point;
and the unmanned aerial vehicle carries out positioning tracking operation on a final positioning point at the center position of the two-dimensional code on the nest platform.
Preferably, as one possible embodiment; when the unmanned aerial vehicle further determines the nest platform of the target position, the following operations are also included;
the unmanned aerial vehicle acquires a collected image shot by the monocular camera in real time, and compares and identifies the collected image with the target image data in real time; if the acquired image is successfully matched with the target image data, the nest platform is identified, the unmanned aerial vehicle is controlled to hover at a fixed height immediately, and the unmanned aerial vehicle is controlled to enter a landing mode.
Preferably, as one possible embodiment; and when the acquired image is matched with the target image data, matching the acquired image with the target image data by adopting a gray histogram method or an image similarity method.
Preferably, as one possible embodiment; when the monocular camera identifies the two-dimensional code on the aircraft nest platform, the method also comprises the step of synchronously carrying out stability adjustment action on the flight attitude of the unmanned aerial vehicle.
Preferably, as one possible embodiment; control unmanned aerial vehicle hovers on fixed altitude, control unmanned aerial vehicle gets into the descending mode, specifically includes following operation:
controlling the unmanned aerial vehicle to continuously descend the relative height of the unmanned aerial vehicle relative to the nest platform, and monitoring the current relative height of the unmanned aerial vehicle in real time;
hovering after the current relative height reaches the preset fixed height according to detection, and switching the unmanned aerial vehicle to enter a landing mode.
Compared with the prior art, the embodiment of the invention has the advantages that:
the invention provides an autonomous taking-off and landing method of an electric power inspection unmanned aerial vehicle based on two-dimensional code positioning, which emphasizes on protecting interactive control between the electric power inspection unmanned aerial vehicle and a machine nest, and realizes accurate positioning and high-precision coordinated control landing; on one hand: the autonomous taking-off and landing method of the power inspection unmanned aerial vehicle based on two-dimensional code positioning can receive waypoint data and control instructions of a cloud storage unit to perform autonomous inspection operation, and meanwhile, receives a return control instruction sent by a nest platform. When the unmanned aerial vehicle executes automatic power patrol operation, a return control instruction sent by the nest platform is searched and received in real time, and after the return control instruction sent by the nest platform is received, the patrol operation is finished to prepare for realizing return voyage and landing preparation;
then, the unmanned aerial vehicle realizes the initial range location through the control command that the machine nest platform sent, then discerns the accurate location descending operation of two-dimensional code on the machine nest platform through the monocular camera. The unmanned aerial vehicle can generally determine the position of a lower airframe platform by returning a control command, and fly close to the lower airframe platform; then, the monocular camera continues to recognize the two-dimensional code on the target drone nest platform, and the two-dimensional code is used for executing more accurate landing instructions (namely, landing control instruction sets of unmanned planes with different heights). The landing control instruction set of the unmanned aerial vehicles with different heights comprises the functions of controlling and adjusting the landing speed and the landing direction of the unmanned aerial vehicle, controlling and adjusting the landing attitude and the like to realize accurate position positioning and descending operation.
The invention provides an autonomous taking-off and landing method of an electric power inspection unmanned aerial vehicle based on two-dimensional code positioning, which ensures high-efficiency completion of autonomous inspection of a power transmission line, and remarkably improves inspection efficiency and safe landing of the inspection unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a main operation flow of an autonomous taking off and landing method of a power inspection unmanned aerial vehicle based on two-dimensional code positioning according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a specific operation flow of the autonomous taking off and landing method for the power inspection unmanned aerial vehicle based on two-dimensional code positioning according to the first embodiment of the present invention;
fig. 3 is a schematic diagram of a further specific operation flow of the autonomous taking off and landing method for the power inspection unmanned aerial vehicle based on two-dimensional code positioning according to the first embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
In the description of the present invention, it should be noted that certain terms of orientation or positional relationship are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that "connected" is to be understood broadly, for example, it may be fixed, detachable, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Example one
Referring to fig. 1, the invention further provides an autonomous taking-off and landing method of the power inspection unmanned aerial vehicle based on two-dimensional code positioning, which realizes a full-automatic power inspection process by utilizing control interaction of the unmanned aerial vehicle and a nest platform, and comprises the following operation steps:
s101, receiving waypoint data of a cloud storage unit by an unmanned aerial vehicle, analyzing the waypoint data to obtain course path information, and simultaneously preparing take-off action by a take-off control instruction sent by a receiver nest platform;
s102, after the unmanned aerial vehicle takes off, the unmanned aerial vehicle executes automatic power inspection operation according to the analyzed route path information;
step S103, when the unmanned aerial vehicle executes automatic power inspection operation, a return control instruction sent by the nest platform is searched and received in real time, after the return control instruction sent by the nest platform is received, the inspection operation is finished, and preparation for return voyage and landing is prepared; the unmanned aerial vehicle realizes initial range location through the control command that the machine nest platform sent, then discerns the accurate location descending operation of two-dimensional code on the machine nest platform through the monocular camera.
The unmanned aerial vehicle is connected with the cloud storage unit through the wireless communication module, and the cloud storage unit can issue unmanned aerial vehicle operation instructions and data such as planned routes. Meanwhile, the unmanned aerial vehicle and the nest platform are interacted to realize operations such as take-off, landing, motor control charging and the like;
at take-off: the unmanned aerial vehicle launching system comprises an unmanned aerial vehicle launching platform, a nest platform and a cloud storage unit, wherein the unmanned aerial vehicle launching platform is provided with the unmanned aerial vehicle launching platform; when falling: the camera is mainly used for identifying the two-dimensional code (namely a two-dimensional code picture) on the nest platform in cooperation with a monocular camera; the unmanned aerial vehicle identifies the two-dimensional code central point, and accurate landing of the unmanned aerial vehicle with different heights can be achieved by acquiring the corresponding control instruction set.
The specific functions and specific technical effects of the method for autonomous taking off and landing of the power patrol unmanned aerial vehicle based on two-dimension code positioning provided by the embodiment of the invention are explained in detail as follows:
referring additionally to fig. 1, after the landing operation is implemented, the method further includes implementing a charging operation for the drone:
and S104, after the unmanned aerial vehicle successfully lands on the nest platform, the nest platform adjusts the unmanned aerial vehicle to be connected with a charging seat through motor control, and the charging seat is used for charging the unmanned aerial vehicle.
Referring to fig. 1 in addition, after the unmanned aerial vehicle charging operation is realized, the method further comprises the following operation of returning the inspection operation data:
and S105, starting the inspection operation data returning preparation operation by the unmanned aerial vehicle, uploading the inspection operation data to the cloud storage unit by the unmanned aerial vehicle, and waiting for a control instruction of the next operation by the unmanned aerial vehicle.
Referring to fig. 2, the unmanned aerial vehicle realizes initial range positioning through a control instruction sent by the nest platform, and then identifies a two-dimensional code accurate positioning landing operation on the nest platform through a monocular camera, specifically comprising the following operation steps;
step S1031, the unmanned aerial vehicle receives GPS positioning information and target image data which are sent by a nest platform and take the nest platform as a target, and the unmanned aerial vehicle determines a target position range according to the GPS positioning information and controls to carry out flight operation on a target position;
s1032, acquiring images by the unmanned aerial vehicle through a monocular camera in the range of the initial target position, and comparing and identifying the acquired images and the target image data in real time to further determine a nest platform of the target position;
step S1033, the unmanned aerial vehicle continuously collects images to the surface of the nest platform, surface images of the unmanned aerial vehicle are obtained, and two-dimensional codes in the surface images are identified according to the surface images;
step S1034, identifying the basic information of the current nest platform set forth in the current two-dimensional code by the unmanned aerial vehicle, simultaneously identifying and analyzing to obtain landing control instruction sets of the unmanned aerial vehicles with different heights corresponding to the current nest platform, and executing landing operation by the unmanned aerial vehicle according to the landing control instruction sets of the unmanned aerial vehicles with different heights.
Preferably, as one possible embodiment; when the unmanned aerial vehicle executes the landing operation according to the landing control instruction set of the unmanned aerial vehicle with different heights, the unmanned aerial vehicle carries out positioning tracking operation on the center position of the two-dimensional code on the nest platform.
Referring to fig. 3, the positioning and tracking operation of the drone on the positive center position of the two-dimensional code on the nest platform specifically includes the following operation steps:
step S1035, searching and determining the position of the positive center point of the two-dimensional code as a landmark center by using a PX4 landmark identification algorithm;
step S1036, taking the position of the positive center point of the two-dimensional code as a final positioning point;
and S1037, the unmanned aerial vehicle carries out positioning tracking operation on a final positioning point of the center position of the two-dimensional code on the nest platform. The PX4 landmark identification algorithm mainly adopts contour extraction, polygon abstraction, filtering of a graph with a small area, filtering of a quadrilateral and filtering of a non-convex shape. And searching a class with the nearest center distance in the obtained quadrangle by a simple clustering method, wherein the average value of the centers of the classes is the center of the landmark.
Preferably, as one possible embodiment; when the unmanned aerial vehicle further determines the nest platform of the target position, the following operations are also included;
the unmanned aerial vehicle acquires a collected image shot by the monocular camera in real time, and compares and identifies the collected image with the target image data in real time; if the acquired image is successfully matched with the target image data, the nest platform is identified, the unmanned aerial vehicle is controlled to hover at a fixed height immediately, and the unmanned aerial vehicle is controlled to enter a landing mode.
It should be noted that, in the above landing control method, if the monocular camera does not recognize the landmark (i.e., the nest platform), the aircraft hovers at a fixed height; if the monocular camera identifies the landmark, the airplane enters a landing mode, and the movement direction and speed of the airplane are adjusted according to the position of the landmark; if the landmark center position is identified, the airplane starts to land until the airplane lands at the center of the two-dimensional code of the airplane nest. Unmanned aerial vehicle one-time operation is accomplished, returns near the aircraft nest, and unmanned aerial vehicle accomplishes accurate location according to the two-dimensional code that the aircraft nest provided to accomplish independently to descend.
When the unmanned aerial vehicle enters the nest platform, the unmanned aerial vehicle is connected with a nest charging seat through motor control; during charging: the nest platform provides the charging seat, after unmanned aerial vehicle lands the nest platform, can realize that unmanned aerial vehicle charges.
Preferably, as one possible embodiment; and when the acquired image is matched with the target image data, matching the acquired image with the target image data by adopting a gray histogram method or an image similarity method. The embodiment of the invention has more selectable matching modes, and the two matching modes can be used in the preferred technical scheme, so that the data matching of the acquired image and the target image can be realized at high quality.
Preferably, as one possible embodiment; the method comprises the steps that when a monocular camera identifies a two-dimensional code on a nest platform, the stability adjustment action is synchronously carried out on the flight attitude of the unmanned aerial vehicle; when discerning the two-dimensional code through above-mentioned list wooden camera, then stabilize the operation of unmanned aerial vehicle flight gesture in step, can ensure like this that the flight gesture is invariable down the monocular camera shake volume littleer, the guarantee is gathered discernment two-dimensional code more fast and effective.
Control unmanned aerial vehicle hovers on fixed altitude, control unmanned aerial vehicle gets into the descending mode, specifically includes following operation:
controlling the unmanned aerial vehicle to continuously descend the relative height of the unmanned aerial vehicle relative to the nest platform, and monitoring the current relative height of the unmanned aerial vehicle in real time; hovering after the current relative height reaches the preset fixed height according to detection, and switching the unmanned aerial vehicle to enter a landing mode.
The autonomous taking-off and landing method of the power inspection unmanned aerial vehicle based on two-dimensional code positioning solves the problems of unsafety and low efficiency of manually operating the unmanned aerial vehicle and avoids adverse factors caused by manual operation. The two-dimensional code is used for positioning and landing, so that the operation efficiency is high, the cost is low, and the hardware design is easy; under the condition that the GPS positioning accuracy is not enough, the landing can be accurately performed, and the landing device can adapt to various field environment operations. The design of the nest scheme enables the power inspection operation to be completed fully automatically without manual interference with the operation of the unmanned aerial vehicle. The inspection efficiency is improved, the problem of repeated flight waste caused by manual control is solved, and the time is saved; is suitable for a large amount of operations of unmanned aerial vehicles.
The autonomous taking-off and landing method and device for the power inspection unmanned aerial vehicle based on two-dimensional code positioning solve the problems of manual repetitive landing guiding operation and low efficiency, avoid adverse factors caused by manual operation, improve the taking-off and landing accuracy and safety of the unmanned aerial vehicle, and have the advantages of high operation efficiency and low cost.
Based on the above significant technical advantages, the autonomous taking-off and landing method of the power inspection unmanned aerial vehicle based on two-dimensional code positioning provided by the invention certainly brings good market prospect and economic benefit.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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