CN115826596B - Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle - Google Patents
Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an intelligent thermal power plant chimney inspection method and system based on a multi-rotor unmanned aerial vehicle, wherein a control instruction and target GPS coordinate information are sent to a relay unmanned aerial vehicle through an upper computer; the relay unmanned aerial vehicle is used as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovers above a set position above a top port of a chimney, and transmits a received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle; according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle; and uploading the image information transmitted by the inspection unmanned aerial vehicle to the upper computer by the relay unmanned aerial vehicle. The invention reduces the shutdown maintenance time and improves the generated energy; the personnel safety of operation and maintenance is improved, the occurrence of safety accidents is reduced, and the operation and maintenance efficiency is improved; the management benefit and the management level of the thermal power plant are improved; the maneuverability is good, and the limitation by environmental impact is small.
Description
Technical Field
The invention relates to the technical field of chimney monitoring, and particularly discloses an intelligent thermal power plant chimney inspection method and system based on a multi-rotor unmanned aerial vehicle.
Background
Although the thermal power plant can achieve the effect of improving the corrosion resistance of the inner wall of the chimney by selecting proper chimney shape and corrosion-resistant building materials when the chimney is built, the corrosion condition of the inner wall of the chimney still exists and still threatens the production safety of the thermal power plant, so that the thermal power plant needs to monitor the corrosion condition suffered by the inner wall of the chimney periodically in the production process in order to ensure the smooth proceeding of the thermal power plant.
Along with the continuous progress of technology, the method for monitoring the corrosion condition of the inner wall of the chimney is gradually developed to the automatic and intelligent directions. At present, three general methods are used for monitoring corrosion conditions of the inner wall of a chimney: aloft work, infrared thermal imaging and ultrasonic detection. The aerial operation method of the three methods is the most traditional monitoring method and has the widest application range, and the infrared thermal imaging method and the ultrasonic detection method are still not mature enough at present. In order to cooperate with factors such as production, environmental protection of thermal power factory, the chimney height of thermal power factory can be higher than hundred meters generally, therefore thermal power factory is when utilizing the high altitude construction method to monitor the inner wall corrosion condition of chimney, needs the staff to step on chimney top through climbing etc. route, seals chimney top entrance to a cave to cooperate with ground staff at the chimney top and set up the platform of lift or hawser, then the staff begins to descend gradually from the top and carries out video shooting, measurement to the inner wall of chimney, thereby realizes the monitoring to the inner wall corrosion condition of chimney.
Patent document CN111238477a discloses a positioning method of unmanned aerial vehicle in chimney, which comprises: establishing a reference rectangular coordinate system in the chimney; collecting laser point clouds on the inner wall of a chimney through an unmanned aerial vehicle; calculating the diameter of the inner wall of the chimney and the horizontal position coordinate of the unmanned aerial vehicle in a reference rectangular coordinate system; measuring the distance between the unmanned aerial vehicle and the bottom of the chimney in real time, calculating the height of the unmanned aerial vehicle from the ground, and determining the height position coordinate of the unmanned aerial vehicle under a reference rectangular coordinate system; and converting the horizontal position coordinates and the height position coordinates of the unmanned aerial vehicle in the reference rectangular coordinate system into GPS geographic coordinate positions. However, because the environment in the chimney has interference and shielding effects on wireless signals, direct communication between the unmanned aerial vehicle and an upper computer cannot be realized, and the currently used signal relay vehicle or wired backbone network wiring mode and the like are high in cost, long in time, poor in maneuverability and greatly limited by environmental influence.
Therefore, the above-mentioned drawbacks of the method for periodically monitoring the corrosion condition suffered by the inner wall of the chimney in the prior art are the technical problems to be solved.
Disclosure of Invention
The invention provides an intelligent thermal power plant chimney inspection method and system based on a multi-rotor unmanned aerial vehicle, and aims to solve the defects in the method for periodically monitoring corrosion conditions suffered by the inner wall of a chimney in the prior art.
The invention relates to an intelligent thermal power plant chimney inspection method based on a multi-rotor unmanned aerial vehicle, which comprises the following steps of:
the upper computer sends a control instruction and target GPS coordinate information to the relay unmanned aerial vehicle;
the relay unmanned aerial vehicle is used as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovers above a set position above a top port of a chimney, and transmits a received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle;
according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle;
the relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, image stitching is carried out on the chimney inner wall image, and finally a complete unfolding diagram of the chimney inner wall from top to bottom is obtained.
Further, according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the step of performing an image acquisition task by the inspection unmanned aerial vehicle and transmitting the acquired image information to the relay unmanned aerial vehicle includes:
the inspection unmanned aerial vehicle enters the chimney from the top end opening of the chimney, and an image acquisition task is executed on the inner wall of the chimney from top to bottom;
and sending the image information acquired by the inspection unmanned aerial vehicle to a wireless relay node of the relay unmanned aerial vehicle hovering above the top port of the chimney.
Further, the inspection unmanned aerial vehicle enters the chimney from the top end opening of the chimney, and the step of executing the image acquisition task on the inner wall of the chimney from top to bottom comprises the following steps:
when the inspection unmanned aerial vehicle enters the chimney, switching from a control mode to an automatic cruising mode, and performing 360-degree rotary photographing on the wall surface of the chimney according to a preset aerial photographing scheme at intervals to acquire images;
and sending the acquired image information to a wireless relay node carried by the relay unmanned aerial vehicle, and transmitting the image information to an upper computer on the ground outside the chimney through the wireless relay node.
Further, after the inspection unmanned aerial vehicle enters the chimney, the operation mode is switched to the automatic cruising mode, and 360-degree rotary photographing is performed on the wall surface of the chimney at intervals according to a preset aerial photographing scheme to acquire images, wherein the steps comprise:
A plurality of sensors are arranged in the inspection unmanned aerial vehicle, and the control quantity is calculated by sensing the current condition and combining data sensed by the plurality of sensors, a control instruction transmitted by the relay unmanned aerial vehicle and target GPS coordinate information, and a plurality of motors are controlled to change the rotating speed, so that attitude control is completed; multidirectional control of the inspection unmanned aerial vehicle is as follows:
T alt ＝Δ1+Δ2+Δ3+Δ4
T yaw ＝-Δ1+Δ2-Δ3+Δ4
T pitch ＝Δ1-Δ2-Δ3+Δ4
T roll ＝Δ1+Δ2-Δ3-Δ4
wherein T is alt Refer to unmanned aerial vehicle lifting, T yaw Refer to unmanned aerial vehicle right turn, T pitch Refer to unmanned aerial vehicle new line, T roll Refers to the unmanned plane rolling to the right; Δ1 refers to the rotational speed of the first rotor, Δ2 refers to the rotational speed of the second rotor, Δ3 refers to the rotational speed of the third rotor, and Δ4 refers to the rotational speed of the fourth rotor;
unmanned aerial vehicle's inspectionA rotor F 1 A second rotor F 2 Third rotor F 3 Fourth rotor F 4 The rotational speeds of the rotors are respectively delta 1, delta 2, delta 3 and delta 4, and then:
wherein, the matrix A represents the rotation speed state of each rotor wing when the unmanned plane realizes the basic attitude, and the two sides of the formula are multiplied by A at the same time -1 Then:
wherein the inverse matrix A -1 Representing rotor speed conditions when opposite attitude is achieved due to matrix a and inverse matrix a -1 Is to realize opposite gesture, matrix A and inverse matrix A -1 Multiplication is equal to I 4 Matrix, thereby calculating inverse matrix A -1 ：
Wherein A is -1 And representing an inverse matrix of the inspection unmanned aerial vehicle.
Further, the relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, image stitching is carried out on the chimney inner wall image, and finally, the step of obtaining a complete unfolded image of the chimney inner wall from top to bottom comprises the following steps:
after the information acquisition of the inspection unmanned aerial vehicle is finished, the upper computer enters an image processing stage;
the upper computer preprocesses the image information transmitted by the inspection unmanned aerial vehicle; carrying out image registration on the preprocessed image information, finding out characteristic points in each image to be spliced through a scale-invariant characteristic transformation operator, determining the accurate positions of the characteristic points, obtaining characteristic point pairs of the characteristic points and characteristic vectors, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; unifying coordinate systems of the two images of the image to be spliced and the reference image according to the established conversion relation between the image to be spliced and the reference image; and performing image fusion on redundant parts of the two images of the image to be spliced and the reference image to obtain a complete image of the target.
Another aspect of the invention relates to an intelligent thermal power plant chimney inspection system based on a multi-rotor unmanned aerial vehicle, comprising:
the first signal module is used for sending the control instruction and the target GPS coordinate information to the relay unmanned aerial vehicle by using the upper computer;
the second signal module is used for hovering the relay unmanned aerial vehicle serving as a communication bridge between the inspection unmanned aerial vehicle and the upper computer at a set position above the top port of the chimney, and transmitting the received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle;
the third signal module is used for carrying out an image acquisition task by the patrol unmanned aerial vehicle according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle and transmitting the acquired image information to the relay unmanned aerial vehicle;
and the fourth signal module is used for uploading the image information transmitted by the inspection unmanned aerial vehicle to the upper computer by adopting the relay unmanned aerial vehicle, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, and image stitching is carried out on the chimney inner wall image, so that a complete unfolding diagram of the chimney inner wall from top to bottom is finally obtained.
Further, the third signal module includes:
The acquisition unit is used for enabling the inspection unmanned aerial vehicle to enter the chimney from the top end opening of the chimney and executing an image acquisition task on the inner wall of the chimney from top to bottom;
and the signal unit is used for sending the image information acquired by the inspection unmanned aerial vehicle to a wireless relay node of the relay unmanned aerial vehicle hovering above the top port of the chimney.
Further, the acquisition unit comprises:
the acquisition subunit is used for switching from the control mode to the automatic cruising mode after the inspection unmanned aerial vehicle enters the chimney, and carrying out 360-degree rotary photographing on the wall surface of the chimney at intervals according to a preset aerial photographing scheme to acquire images;
and the signal subunit is used for sending the acquired image information to a wireless relay node carried by the relay unmanned aerial vehicle, and transmitting the image information to an upper computer on the ground outside the chimney through the wireless relay node.
Further, the acquisition subunit is specifically configured to embed a plurality of sensors on the inspection unmanned aerial vehicle, and calculate a control amount by sensing the current situation and combining data sensed by the plurality of sensors, a control instruction transmitted by the relay unmanned aerial vehicle and target GPS coordinate information, and control a plurality of motors to change the rotation speed, so as to complete gesture control; multidirectional control of the inspection unmanned aerial vehicle is as follows:
T alt ＝Δ1+Δ2+Δ3+Δ4
T yaw ＝-Δ1+Δ2-Δ3+Δ4
T pitch ＝Δ1-Δ2-Δ3+Δ4
T roll ＝Δ1+Δ2-Δ3-Δ4
Wherein T is alt Refer to unmanned aerial vehicle lifting, T yaw Refer to unmanned aerial vehicle right turn, T pitch Refer to unmanned aerial vehicle new line, T roll Refers to the unmanned plane rolling to the right; Δ1 refers to the rotational speed of the first rotor, Δ2 refers to the rotational speed of the second rotor, Δ3 refers to the rotational speed of the third rotor, and Δ4 refers to the rotational speed of the fourth rotor;
first rotor F of inspection unmanned aerial vehicle 1 A second rotor F 2 Third rotor F 3 Fourth rotor F 4 The rotational speeds of the rotors are respectively delta 1, delta 2, delta 3 and delta 4, and then:
wherein, the matrix A represents the rotation speed state of each rotor wing when the unmanned plane realizes the basic attitude, and the two sides of the formula are multiplied by A at the same time -1 Then:
wherein the inverse matrix A -1 Representing rotor speed conditions when opposite attitude is achieved due to matrix a and inverse matrix a -1 Is to realize opposite gesture, matrix A and inverse matrix A -1 Multiplication is equal to I 4 Matrix, thereby calculating inverse matrix A -1 ：
Wherein A is -1 And representing an inverse matrix of the inspection unmanned aerial vehicle.
Further, the fourth signal module includes:
the identification unit is used for entering an image processing stage by the upper computer after the information acquisition of the inspection unmanned aerial vehicle is finished;
the image processing unit is used for preprocessing image information transmitted by the inspection unmanned aerial vehicle by adopting the upper computer; carrying out image registration on the preprocessed image information, finding out characteristic points in each image to be spliced through a scale-invariant characteristic transformation operator, determining the accurate positions of the characteristic points, obtaining characteristic point pairs of the characteristic points and characteristic vectors, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; unifying coordinate systems of the two images of the image to be spliced and the reference image according to the established conversion relation between the image to be spliced and the reference image; and performing image fusion on redundant parts of the two images of the image to be spliced and the reference image to obtain a complete image of the target.
The beneficial effects obtained by the invention are as follows:
the invention provides an intelligent thermal power plant chimney inspection method and system based on a multi-rotor unmanned aerial vehicle, wherein a control instruction and target GPS coordinate information are sent to a relay unmanned aerial vehicle through an upper computer; the relay unmanned aerial vehicle is used as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovers above a set position above a top port of a chimney, and transmits a received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle; according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle; the relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, image stitching is carried out on the chimney inner wall image, and finally a complete unfolding diagram of the chimney inner wall from top to bottom is obtained. According to the intelligent thermal power plant chimney inspection method and system based on the multi-rotor unmanned aerial vehicle, which are provided by the invention, the shutdown maintenance time is reduced, and the generated energy is improved; the personnel safety of operation and maintenance is improved, the occurrence of safety accidents is reduced, and the operation and maintenance efficiency is improved; the management benefit and the management level of the thermal power plant are improved; the maneuverability is good, and the limitation by environmental influence is small; the intelligent technical level of the operation and maintenance of the equipment of the thermal power plant is improved, the safety of the operation and maintenance of the equipment is improved, the safety knowledge of society to the thermal power plant industry is improved, and the healthy development of the thermal power industry is promoted.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a chimney inspection method of an intelligent thermal power plant based on a multi-rotor unmanned aerial vehicle;
FIG. 2 is a schematic diagram of an embodiment of a method for inspecting a chimney of an intelligent thermal power plant based on a multi-rotor unmanned aerial vehicle;
FIG. 3 is a detailed flow chart of an embodiment of the steps of the inspection drone performing an image acquisition task and transmitting the acquired image information to the relay drone according to the control command and the target GPS coordinate information transmitted by the relay drone shown in FIG. 1;
fig. 4 is a control schematic diagram of an embodiment of steering and rotating speed of each rotor wing of an inspection unmanned aerial vehicle in the intelligent thermal power plant chimney inspection method based on the multi-rotor unmanned aerial vehicle;
FIG. 5 is a detailed flow diagram of one embodiment of the step of sending image information collected by the inspection drone to a wireless relay node of the relay drone hovering over a chimney top port shown in FIG. 3;
FIG. 6 is a detailed flow diagram of an embodiment in the steps that the relay unmanned aerial vehicle in FIG. 1 uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by using an image processing technology, acquires the inner wall image of the chimney on the image information, and performs image stitching on the inner wall image of the chimney, finally, the complete unfolded view of the inner wall of the chimney from top to bottom is obtained;
FIG. 7 is a functional block diagram of an embodiment of a chimney inspection system for an intelligent thermal power plant based on a multi-rotor unmanned aerial vehicle provided by the invention;
FIG. 8 is a functional block diagram of an embodiment of the third signal module shown in FIG. 7;
FIG. 9 is a functional block diagram of an embodiment of the acquisition unit shown in FIG. 8;
fig. 10 is a functional block diagram of an embodiment of the fourth signal module shown in fig. 7.
Reference numerals illustrate:
10. a first signal module; 20. a second signal module; 30. a third signal module; 40. a fourth signal module; 31. an acquisition unit; 32. a signal unit; 311. a collecting subunit; 312. a signal subunit; 41. an identification unit; 42. and an image processing unit.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and fig. 2, a first embodiment of the present invention provides an intelligent thermal power plant chimney inspection method based on a multi-rotor unmanned aerial vehicle, which includes the following steps:
and step S100, the upper computer sends the control instruction and the target GPS coordinate information to the relay unmanned aerial vehicle.
And a remote controller is adopted to send the control instruction and the target GPS coordinate information to the relay unmanned aerial vehicle.
And step 200, using the relay unmanned aerial vehicle as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovering at a set position above the top port of the chimney, and transmitting the received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle.
And operating the remote controller to hover the relay unmanned aerial vehicle 5-10 meters above the chimney. And the relay unmanned aerial vehicle transmits the received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle.
And step 300, according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle.
Operating a remote controller to enable the inspection unmanned aerial vehicle to enter the chimney, setting a return point, and then opening an automatic task; after entering the chimney, the inspection unmanned aerial vehicle is controlled to automatically execute tasks, the distance between the inspection unmanned aerial vehicle and the chimney wall surface is 5 meters, 360-degree rotation photographing is carried out on the chimney wall surface, and corresponding photographing pictures are seen from the remote controller.
Step S400, uploading image information transmitted by the inspection unmanned aerial vehicle to an upper computer by the relay unmanned aerial vehicle, processing the image information transmitted by the inspection unmanned aerial vehicle by the upper computer by utilizing an image processing technology, acquiring a chimney inner wall image on the image information, and performing image stitching on the chimney inner wall image to finally obtain a complete unfolded image of the chimney inner wall from top to bottom.
After the inspection unmanned aerial vehicle finishes the task, automatically ascending to the position of the return point; and (3) operating the remote controller to enter a manual operation mode to perform the next chimney task or the return ending task.
Further, please refer to fig. 3, fig. 3 is a detailed flow chart of an embodiment of step S300 shown in fig. 1, in this embodiment, step S300 includes:
and step S310, enabling the inspection unmanned aerial vehicle to enter the chimney from the top end opening of the chimney, and executing an image acquisition task on the inner wall of the chimney from top to bottom.
The operation remote controller is used for enabling the inspection unmanned aerial vehicle to enter the chimney from the top end opening of the chimney, controlling the inspection unmanned aerial vehicle to automatically execute tasks, inputting the height of the chimney after the inspection unmanned aerial vehicle enters the chimney, opening the automatic tasks, enabling a laser radar module on the inspection unmanned aerial vehicle to start, scanning the inside of the chimney, determining the position of the section of the inspection unmanned aerial vehicle in the chimney, and automatically returning to the center position.
When the automatic task is executed, the inspection unmanned aerial vehicle takes a chimney axis as an axis and takes a picture around the axis by 360 degrees. After the shooting technique, the level is lowered by 5m, shooting is performed again until the ground is approached, the task is automatically ended, and the return point is automatically returned.
Specifically, the inspection unmanned aerial vehicle carries out operation efficiency evaluation, the test obtains many rotor endurance, how many frames are needed for inspecting a chimney can be weighed according to the endurance and the chimney height, and the operation efficiency of the unmanned aerial vehicle system is estimated in practice.
Time T for inspection of each layer of unmanned aerial vehicle 1 And the interval H of each layer is fixed, and according to the height H of the chimney, the number of layers required to be inspected for the chimney is N:
in formula (1), T 1 The time of one layer of unmanned aerial vehicle inspection chimney is represented, and the constant represents T 1 Is fixed, h lk-lk+1 Refers to the unmanned aerial vehicle flying from the k layer to the height of the k+1 layer, h 1k+1-lk+2 Representing the height of the fly from the k+1 layer to the k+2 layer, the height of each layer can be considered uniform; according to the total height of the chimney and the height of each layer, the number of layers N of the chimney to be inspected can be calculated.
The time for transferring each layer of the inspection unmanned aerial vehicle is unchanged, any frame time, the time required for reaching k+n layers from k layers is t, and the time is as follows:
t＝2×[T layer ·k+T layer ·n]+T L (n+1) (2)
in the formula (2), n refers to the number of layers of the single-frame unmanned aerial vehicle inspection, and k refers to the number of layers of the inspection; t (T) layer Since from the kth layer T layer Refers to the time for the unmanned aerial vehicle to move vertically between each layer; t (T) layer.k Refers to the time from the flying point to the k layer of the unmanned plane, T layer.n Refers to the movement time of the unmanned plane from the k layer to the k+n layer, T L And (n+1) refers to the time for inspecting shooting data when the unmanned aerial vehicle inspects the n+1th layer.
Unmanned aerial vehicle flight time maximum value is T max T is less than or equal to Tmax, and each frame time of the inspection unmanned aerial vehicle is t1, t2, t3, … … and t m M times are taken, the power-on time is not counted (the time is short), the total time T of the chimney inspection is the sum of each time, and then:
in formula (3), t i For each time of the unmanned aerial vehicle.
The inspection unmanned aerial vehicle performs light intensity test, and the required optimal lamp illuminance of different material inner walls is tested to supplementary camera shoots clearer stable inside photo, and calculates the consumption of LED light, matches and confirms the endurance, the effect condition.
The known defects can be seen from the inspection shooting data as a standard, so that the optimum illumination of the lamp light required by the inner wall is determined, and the conditions of the endurance and the effect are determined according to the power consumption of the LED. And determining the endurance and effect conditions through LED power consumption matching.
In formula (4), T layer Refer to the time of the unmanned aerial vehicle moving vertically between each layerThe method comprises the steps of carrying out a first treatment on the surface of the k refers to the number of layers at the beginning of the inspection, T L Time required for inspecting one layer, T max The maximum duration of unmanned aerial vehicle inspection when the power consumption of the LED is not calculated is indicated, and the maximum duration of unmanned aerial vehicle inspection after the LED is carried is indicated by T max'.
The LED illuminating lamp has smaller power consumption and has no influence on the operation inspection efficiency of the inspection unmanned aerial vehicle in a certain range.
Step S320, sending the image information collected by the inspection unmanned aerial vehicle to a wireless relay node of the relay unmanned aerial vehicle hovering above the top port of the chimney.
The inspection unmanned aerial vehicle sends the collected image information to a wireless relay node carried on the relay unmanned aerial vehicle hovering above the top port of the chimney.
Preferably, referring to fig. 5, fig. 5 is a schematic diagram of a refinement flow of an embodiment in step S320 shown in fig. 3, in this embodiment, step S320 includes:
step S321, when the inspection unmanned aerial vehicle enters the chimney, the operation mode is switched to an automatic cruising mode, and 360-degree rotary photographing is carried out on the wall surface of the chimney according to preset aerial photographing schemes at intervals to acquire images.
Please refer to fig. 4, a plurality of sensors (gyroscope, accelerometer, barometer, geomagnetic compass, GPS, etc.) are built in the flight control system of the inspection unmanned aerial vehicle. The current condition of the unmanned aerial vehicle is perceived, the control quantity is calculated by combining data perceived by a plurality of sensors, a control instruction transmitted by the relay unmanned aerial vehicle and target GPS coordinate information, a plurality of motors are controlled to change the rotating speed, and gesture control is completed; multidirectional control of the inspection unmanned aerial vehicle is as follows:
in formula (5), T alt Refer to unmanned aerial vehicle lifting, T yaw Refer to unmanned aerial vehicle right turn, T pitch Refer to unmanned aerial vehicle new line, T roll Refers to the unmanned plane rolling to the right; Δ1 refers to the rotational speed of the first rotor, Δ2 refers to the rotational speed of the second rotor, Δ3 refers to the rotational speed of the third rotor, and Δ4 refers to the fourth rotation The rotational speed of the wing.
First rotor F of inspection unmanned aerial vehicle 1 A second rotor F 2 Third rotor F 3 Fourth rotor F 4 The rotational speeds of the rotors are respectively delta 1, delta 2, delta 3 and delta 4, and then:
in the formula (6), a matrix A represents the rotation speed state of each rotor wing when the unmanned aerial vehicle realizes the basic attitude, and both sides of the formula are multiplied by A at the same time -1 Then:
in equation (7), the inverse matrix A -1 Representing rotor speed conditions when opposite attitude is achieved due to matrix a and inverse matrix a -1 Is to realize opposite gesture, matrix A and inverse matrix A -1 Multiplication is equal to I 4 Matrix, thereby calculating inverse matrix A -1 ：
In formula (8), A -1 And representing an inverse matrix of the inspection unmanned aerial vehicle.
And step S322, the acquired image information is sent to a wireless relay node carried by the relay unmanned aerial vehicle, and the image information is transmitted to an upper computer on the ground outside the chimney through the wireless relay node.
The inspection unmanned aerial vehicle sends the collected image information to a wireless relay node carried by the relay unmanned aerial vehicle, and the image information is transmitted to an upper computer on the ground outside the chimney through the wireless relay node.
Preferably, referring to fig. 6, fig. 6 is a schematic diagram of a refinement flow of an embodiment in step S400 shown in fig. 1, in this embodiment, step S400 includes:
Step S410, after the information acquisition of the inspection unmanned aerial vehicle is completed, the upper computer enters an image processing stage.
The unmanned aerial vehicle enters the chimney from the top port of the chimney for aerial photography, and then various data and image information are directly transmitted to the ground upper computer outside the chimney. Because the chimney lining adopts the titanium alloy steel sleeve, the wireless signal is shielded, and direct communication between the inspection unmanned aerial vehicle and the upper computer cannot be realized. The system is additionally provided with a relay unmanned aerial vehicle, and the unmanned aerial vehicle has the function of carrying a wireless signal relay node to hover above a top port of the chimney and serves as a communication bridge between the video shooting aircraft and an external ground host computer of the chimney.
In this embodiment, first establish an inspection unmanned aerial vehicle, a relay unmanned aerial vehicle, design wireless relay node and host computer, then control relay unmanned aerial vehicle to the chimney top 10m department of opening top and hover, and control inspection unmanned aerial vehicle from chimney top mouth entering chimney inside, after reconnaissance four rotor unmanned aerial vehicle enters chimney inside with unmanned aerial vehicle's from controlling switch to automatic cruising mode, make it carry out image and video acquisition according to the scheme of taking photo by plane of predesigned, and send each item information of gathering to the wireless relay node that relay unmanned aerial vehicle carried, upper computer on the outside ground of chimney is passed through each item information transfer to this wireless relay node, the host computer gets into the image processing stage after information acquisition finishes.
Step S420, the upper computer preprocesses the image information transmitted by the inspection unmanned aerial vehicle; carrying out image registration on the preprocessed image information, finding out characteristic points in each image to be spliced through a scale-invariant characteristic transformation operator, determining the accurate positions of the characteristic points, obtaining characteristic point pairs of the characteristic points and characteristic vectors, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; unifying coordinate systems of the two images of the image to be spliced and the reference image according to the established conversion relation between the image to be spliced and the reference image; and performing image fusion on redundant parts of the two images of the image to be spliced and the reference image to obtain a complete image of the target.
The image processing stage mainly comprises the steps of firstly, carrying out preprocessing work including denoising, edge extraction and the like on the collected images; carrying out image registration on the preprocessed images, firstly finding out characteristic points in each image to be spliced through a Scale-invariant feature transform (Scale-invariant feature transform) operator, then determining the accurate positions of the characteristic points, obtaining characteristic point pairs and characteristic vectors of the characteristic points, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; integrating coordinate systems of the two images according to the conversion relation between the established images; most often, the redundant portions of the two images are image fused to obtain a complete image of the target.
Compared with the prior art, the chimney inspection method for the intelligent thermal power plant based on the multi-rotor unmanned aerial vehicle provided by the embodiment has the advantages that the upper computer sends the control instruction and the target GPS coordinate information to the relay unmanned aerial vehicle; the relay unmanned aerial vehicle is used as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovers above a set position above a top port of a chimney, and transmits a received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle; according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle; the relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, image stitching is carried out on the chimney inner wall image, and finally a complete unfolding diagram of the chimney inner wall from top to bottom is obtained. According to the intelligent thermal power plant chimney inspection method based on the multi-rotor unmanned aerial vehicle, provided by the embodiment, the shutdown maintenance time is reduced, and the generated energy is improved; the personnel safety of operation and maintenance is improved, the occurrence of safety accidents is reduced, and the operation and maintenance efficiency is improved; the management benefit and the management level of the thermal power plant are improved; the maneuverability is good, and the limitation by environmental influence is small; the intelligent technical level of the operation and maintenance of the equipment of the thermal power plant is improved, the safety of the operation and maintenance of the equipment is improved, the safety knowledge of society to the thermal power plant industry is improved, and the healthy development of the thermal power industry is promoted.
Referring to fig. 7, fig. 7 is a functional block diagram of an embodiment of a chimney inspection system of an intelligent thermal power plant based on a multi-rotor unmanned aerial vehicle, where in this embodiment, the system includes a first signal module 10, a second signal module 20, a third signal module 30, and a fourth signal module 40, where the first signal module 10 is configured to send a control instruction and target GPS coordinate information to a relay unmanned aerial vehicle by using an upper computer; the second signal module 20 is configured to hover the relay unmanned aerial vehicle at a set position above the top port of the chimney as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, and transmit the received control instruction and the target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle; the third signal module 30 is configured to, according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, patrol the unmanned aerial vehicle to perform an image acquisition task, and transmit the acquired image information to the relay unmanned aerial vehicle; and the fourth signal module 40 is configured to upload the image information transmitted by the inspection unmanned aerial vehicle to the upper computer by using the relay unmanned aerial vehicle, and the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by using an image processing technology, obtains a chimney inner wall image on the image information, and performs image stitching on the chimney inner wall image, so as to finally obtain a complete unfolded view of the chimney inner wall from top to bottom.
The first signal module 10 sends the control command and the target GPS coordinate information to the relay unmanned aerial vehicle by using a remote controller.
The second signal module 20 hovers the relay drone 5-10 meters above the chimney using an operating remote control. And the relay unmanned aerial vehicle transmits the received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle.
The third signal module 30 adopts an operation remote controller to enable the inspection unmanned aerial vehicle to enter the chimney, set a return point and then open an automatic task; after entering the chimney, the inspection unmanned aerial vehicle is controlled to automatically execute tasks, the distance between the inspection unmanned aerial vehicle and the chimney wall surface is 5 meters, 360-degree rotation photographing is carried out on the chimney wall surface, and corresponding photographing pictures are seen from the remote controller.
The fourth signal module 40 automatically rises to the return point position after the inspection unmanned aerial vehicle performs the task; and (3) operating the remote controller to enter a manual operation mode to perform the next chimney task or the return ending task.
Further, please refer to fig. 8, fig. 8 is a schematic diagram of a functional module of an embodiment of the third signal module shown in fig. 7, in this embodiment, the third signal module 30 includes a collecting unit 31 and a signal unit 32, wherein the collecting unit 31 is configured to enable the inspection unmanned aerial vehicle to enter the interior of the chimney from the top end opening of the chimney, and perform an image collecting task on the inner wall of the chimney from top to bottom; and the signal unit 32 is used for sending the image information acquired by the inspection unmanned aerial vehicle to a wireless relay node of the relay unmanned aerial vehicle hovering above the top port of the chimney.
The operation remote controller is used for enabling the inspection unmanned aerial vehicle to enter the chimney from the top end opening of the chimney, controlling the inspection unmanned aerial vehicle to automatically execute tasks, inputting the height of the chimney after the inspection unmanned aerial vehicle enters the chimney, opening the automatic tasks, enabling a laser radar module on the inspection unmanned aerial vehicle to start, scanning the inside of the chimney, determining the position of the section of the inspection unmanned aerial vehicle in the chimney, and automatically returning to the center position.
When the automatic task is executed, the inspection unmanned aerial vehicle takes a chimney axis as an axis and takes a picture around the axis by 360 degrees. After the shooting technique, the level is lowered by 5m, shooting is performed again until the ground is approached, the task is automatically ended, and the return point is automatically returned.
Specifically, the inspection unmanned aerial vehicle carries out operation efficiency evaluation, the test obtains many rotor endurance, how many frames are needed for inspecting a chimney can be weighed according to the endurance and the chimney height, and the operation efficiency of the unmanned aerial vehicle system is estimated in practice.
Time T for inspection of each layer of unmanned aerial vehicle 1 And the interval H of each layer is fixed, and according to the height H of the chimney, the number of layers required to be inspected for the chimney is N:
in formula (9), T 1 The time of one layer of unmanned aerial vehicle inspection chimney is represented, and the constant represents T 1 Is fixed, h lk-lk+1 Refers to the unmanned aerial vehicle flying from the k layer to the height of the k+1 layer, h lk+1-1k+2 Representing the height of the fly from the k+1 layer to the k+2 layer, the height of each layer can be considered uniform; according to the total height of the chimney and the height of each layer, the number of layers N of the chimney to be inspected can be calculated.
The time for transferring each layer of the inspection unmanned aerial vehicle is unchanged, any frame time, the time required for reaching k+n layers from k layers is t, and the time is as follows:
t＝2×[T layer ·k+T layer ·n]+T L ·(n+1) (10)
in the formula (10), n refers to the number of layers of the single-frame unmanned aerial vehicle inspection, and k refers to the number of layers of the inspection; t (T) layer Since from the kth layer T layer Refers to the time for the unmanned aerial vehicle to move vertically between each layer; t (T) layer.k Refers to the time from the flying point to the k layer of the unmanned plane, T layer.n Refers to the movement time of the unmanned plane from the k layer to the k+n layer, T L And (n+1) refers to the time for inspecting shooting data when the unmanned aerial vehicle inspects the n+1th layer.
Unmanned aerial vehicle flight time maximum value is T max T is less than or equal to Tmax, and each frame time of the inspection unmanned aerial vehicle is t1, t2, t3, … … and t m M times are taken, the power-on time is not counted (the time is short), the total time T of the chimney inspection is the sum of each time, and then:
in formula (11), t i For each time of the unmanned aerial vehicle.
The inspection unmanned aerial vehicle performs light intensity test, and the required optimal lamp illuminance of different material inner walls is tested to supplementary camera shoots clearer stable inside photo, and calculates the consumption of LED light, matches and confirms the endurance, the effect condition.
The known defects can be seen from the inspection shooting data as a standard, so that the optimum illumination of the lamp light required by the inner wall is determined, and the conditions of the endurance and the effect are determined according to the power consumption of the LED. And determining the endurance and effect conditions through LED power consumption matching.
In formula (12), T layer Refers to the time for the unmanned aerial vehicle to move vertically between each layer; k refers to the number of layers at the beginning of the inspection, T L Refers to the time required by shooting data when the unmanned plane patrols and examines one layer, T max The maximum duration of unmanned aerial vehicle inspection when the power consumption of the LED is not calculated is indicated, and the maximum duration of unmanned aerial vehicle inspection after the LED is carried is indicated by T max'.
The LED illuminating lamp has smaller power consumption and has no influence on the operation inspection efficiency of the inspection unmanned aerial vehicle in a certain range.
The inspection unmanned aerial vehicle sends the collected image information to a wireless relay node carried on the relay unmanned aerial vehicle hovering above the top port of the chimney.
Preferably, referring to fig. 9, fig. 9 is a schematic functional block diagram of an embodiment of the collecting unit shown in fig. 8, in this embodiment, the collecting unit 31 includes a collecting subunit 311 and a signal subunit 312, where the collecting subunit 311 is configured to switch from a control mode to an automatic cruising mode after the inspection unmanned aerial vehicle enters the chimney, and perform 360-degree rotation photographing on a wall surface of the chimney at intervals according to a preset aerial photographing scheme to perform image collection; the signal subunit 312 is configured to send the collected image information to a wireless relay node carried by the relay unmanned aerial vehicle, and transmit the image information to an upper computer on the ground outside the chimney through the wireless relay node.
Please refer to fig. 4 and 9, the collecting subunit 311 is provided with various sensors (gyroscope, accelerometer, barometer, geomagnetic compass, GPS, etc.) in the flight control system of the inspection unmanned aerial vehicle. The current condition of the unmanned aerial vehicle is perceived, the control quantity is calculated by combining data perceived by a plurality of sensors, a control instruction transmitted by the relay unmanned aerial vehicle and target GPS coordinate information, a plurality of motors are controlled to change the rotating speed, and gesture control is completed; multidirectional control of the inspection unmanned aerial vehicle is as follows:
in formula (13), T alt Refer to unmanned aerial vehicle lifting, T yaw Refer to unmanned aerial vehicle right turn, T pitch Refer to unmanned aerial vehicle new line, T roll Refers to the unmanned plane rolling to the right; Δ1 refers to the rotational speed of the first rotor, Δ2 refers to the rotational speed of the second rotor, Δ3 refers to the rotational speed of the third rotor, and Δ4 refers to the rotational speed of the fourth rotor.
First rotor F of inspection unmanned aerial vehicle 1 A second rotor F 2 Third rotor F 3 Fourth rotor F 4 The rotational speeds of the rotors are respectively delta 1, delta 2, delta 3 and delta 4, and then:
in formula (14), matrix A represents the rotational speed state of each rotor wing when the unmanned aerial vehicle realizes the basic attitude, and both sides of the formula are multiplied by A at the same time -1 Then:
in equation (15), the inverse matrix A -1 Representing rotor speed conditions when opposite attitude is achieved due to matrix a and inverse matrix a -1 Is to realize opposite gesture, matrix A and inverse matrix A -1 Multiplication is equal to I 4 Matrix, thereby calculating inverse matrix A -1 ：
In formula (16), A -1 And representing an inverse matrix of the inspection unmanned aerial vehicle.
The inspection unmanned aerial vehicle sends the collected image information to a wireless relay node carried by the relay unmanned aerial vehicle, and the image information is transmitted to an upper computer on the ground outside the chimney through the wireless relay node.
Further, please refer to fig. 10, fig. 10 is a functional block diagram of an embodiment of the fourth signal module shown in fig. 7, in this embodiment, the fourth signal module 40 includes a recognition unit 41 and an image processing unit 42, wherein the recognition unit 41 is configured to enter an image processing stage by the upper computer after the information acquisition of the inspection unmanned aerial vehicle is completed; the image processing unit 42 is used for preprocessing image information transmitted by the inspection unmanned aerial vehicle by adopting an upper computer; carrying out image registration on the preprocessed image information, finding out characteristic points in each image to be spliced through a scale-invariant characteristic transformation operator, determining the accurate positions of the characteristic points, obtaining characteristic point pairs of the characteristic points and characteristic vectors, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; unifying coordinate systems of the two images of the image to be spliced and the reference image according to the established conversion relation between the image to be spliced and the reference image; and performing image fusion on redundant parts of the two images of the image to be spliced and the reference image to obtain a complete image of the target.
The unmanned aerial vehicle enters the chimney from the top port of the chimney for aerial photography, and then various data and image information are directly transmitted to the ground upper computer outside the chimney. Because the chimney lining adopts the titanium alloy steel sleeve, the wireless signal is shielded, and direct communication between the inspection unmanned aerial vehicle and the upper computer cannot be realized. The system is additionally provided with a relay unmanned aerial vehicle, and the unmanned aerial vehicle has the function of carrying a wireless signal relay node to hover above a top port of the chimney and serves as a communication bridge between the video shooting aircraft and an external ground host computer of the chimney.
In this embodiment, first establish an inspection unmanned aerial vehicle, a relay unmanned aerial vehicle, design wireless relay node and host computer, then control relay unmanned aerial vehicle to the chimney top 10m department of opening top and hover, and control inspection unmanned aerial vehicle from chimney top mouth entering chimney inside, after reconnaissance four rotor unmanned aerial vehicle enters chimney inside with unmanned aerial vehicle's from controlling switch to automatic cruising mode, make it carry out image and video acquisition according to the scheme of taking photo by plane of predesigned, and send each item information of gathering to the wireless relay node that relay unmanned aerial vehicle carried, upper computer on the outside ground of chimney is passed through each item information transfer to this wireless relay node, the host computer gets into the image processing stage after information acquisition finishes.
The image processing stage mainly comprises the steps of firstly, carrying out preprocessing work including denoising, edge extraction and the like on the collected images; carrying out image registration on the preprocessed images, firstly finding out characteristic points in each image to be spliced through a Scale-invariant feature transform (Scale-invariant feature transform) operator, then determining the accurate positions of the characteristic points, obtaining characteristic point pairs and characteristic vectors of the characteristic points, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; integrating coordinate systems of the two images according to the conversion relation between the established images; most often, the redundant portions of the two images are image fused to obtain a complete image of the target.
Compared with the prior art, the intelligent thermal power plant chimney inspection system based on the multi-rotor unmanned aerial vehicle provided by the embodiment sends the control instruction and the target GPS coordinate information to the relay unmanned aerial vehicle through the upper computer; the relay unmanned aerial vehicle is used as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovers above a set position above a top port of a chimney, and transmits a received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle; according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle; the relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, image stitching is carried out on the chimney inner wall image, and finally a complete unfolding diagram of the chimney inner wall from top to bottom is obtained. According to the intelligent thermal power plant chimney inspection system based on the multi-rotor unmanned aerial vehicle, provided by the embodiment, the shutdown maintenance time is reduced, and the generated energy is improved; the personnel safety of operation and maintenance is improved, the occurrence of safety accidents is reduced, and the operation and maintenance efficiency is improved; the management benefit and the management level of the thermal power plant are improved; the maneuverability is good, and the limitation by environmental influence is small; the intelligent technical level of the operation and maintenance of the equipment of the thermal power plant is improved, the safety of the operation and maintenance of the equipment is improved, the safety knowledge of society to the thermal power plant industry is improved, and the healthy development of the thermal power industry is promoted.
While preferred embodiments of the present invention 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. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. An intelligent thermal power plant chimney inspection method based on a multi-rotor unmanned aerial vehicle is characterized by comprising the following steps of:
the upper computer sends a control instruction and target GPS coordinate information to the relay unmanned aerial vehicle;
the relay unmanned aerial vehicle is used as a communication bridge between the inspection unmanned aerial vehicle and the upper computer, hovers above a set position above a top port of a chimney, and transmits a received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle;
according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, the patrol unmanned aerial vehicle executes an image acquisition task and transmits the acquired image information to the relay unmanned aerial vehicle;
The relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by utilizing an image processing technology, a chimney inner wall image on the image information is obtained, image stitching is carried out on the chimney inner wall image, and finally a complete unfolded image of the chimney inner wall from top to bottom is obtained;
the step of transmitting the collected image information to the relay unmanned aerial vehicle comprises the following steps of:
the inspection unmanned aerial vehicle enters the chimney from the top end opening of the chimney, and an image acquisition task is executed on the inner wall of the chimney from top to bottom;
sending the image information collected by the inspection unmanned aerial vehicle to a wireless relay node of the relay unmanned aerial vehicle hovering above a chimney top port;
the inspection unmanned aerial vehicle enters the chimney from the top end opening of the chimney, and the step of executing the image acquisition task on the inner wall of the chimney from top to bottom comprises the following steps:
when the inspection unmanned aerial vehicle enters the chimney, switching from a control mode to an automatic cruising mode, and performing 360-degree rotary photographing on the wall surface of the chimney according to preset aerial photographing schemes at intervals to acquire images;
The acquired image information is sent to a wireless relay node carried by a relay unmanned aerial vehicle, and the image information is transmitted to the upper computer on the ground outside a chimney through the wireless relay node;
when the inspection unmanned aerial vehicle enters the chimney, the operation mode is switched to the automatic cruising mode, and 360-degree rotary photographing is carried out on the wall surface of the chimney at intervals according to a preset aerial photographing scheme to acquire images, wherein the steps comprise:
a plurality of sensors are arranged in the inspection unmanned aerial vehicle, and the control quantity is calculated by sensing the current condition and combining data sensed by the plurality of sensors and the control instruction and target GPS coordinate information transmitted by the relay unmanned aerial vehicle, so as to control a plurality of motors to change the rotating speed and complete the gesture control; the multi-direction control of the inspection unmanned aerial vehicle is as follows:
T alt ＝Δ1+Δ2+Δ3+Δ4
T yaw ＝-Δ1+Δ2-Δ3+Δ4
T pitch ＝Δ1-Δ2-Δ3+Δ4
T roll ＝Δ1+Δ2-Δ3-Δ4
wherein T is alt Refer to unmanned aerial vehicle lifting, T yaw Refer to unmanned aerial vehicle right turn, T pitch Refer to unmanned aerial vehicle new line, T roll Refers to the unmanned plane rolling to the right; Δ1 refers to the rotational speed of the first rotor, Δ2 refers to the rotational speed of the second rotor, Δ3 refers to the rotational speed of the third rotor, and Δ4 refers to the rotational speed of the fourth rotor;
first rotor F of unmanned aerial vehicle patrols and examines 1 A second rotor F 2 Third rotor F 3 Fourth rotor F 4 The rotational speeds of the rotors are respectively delta 1, delta 2, delta 3 and delta 4, and then:
wherein, the matrix A represents the rotation speed state of each rotor wing when the unmanned plane realizes the basic attitude, and the two sides of the formula are multiplied by A at the same time -1 Then:
wherein the inverse matrix A -1 Representing rotor speed conditions when opposite attitude is achieved due to matrix a and inverse matrix a -1 Is to realize opposite gesture, matrix A and inverse matrix A -1 Multiplication is equal to I 4 Matrix, thereby calculating inverse matrix A -1 ：
Wherein A is -1 And representing an inverse matrix of the inspection unmanned aerial vehicle.
2. The method for inspecting the chimney of the intelligent thermal power plant based on the multi-rotor unmanned aerial vehicle according to claim 1, wherein the relay unmanned aerial vehicle uploads the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by using an image processing technology, acquires the image of the inner wall of the chimney on the image information, and performs image stitching on the image of the inner wall of the chimney, and finally the step of obtaining the complete unfolded view of the inner wall of the chimney from top to bottom comprises the following steps:
after the information acquisition of the inspection unmanned aerial vehicle is finished, the upper computer enters an image processing stage;
the upper computer preprocesses the image information transmitted by the inspection unmanned aerial vehicle; carrying out image registration on the preprocessed image information, finding out characteristic points in each image to be spliced through a scale-invariant characteristic transformation operator, determining the accurate positions of the characteristic points, obtaining characteristic point pairs of the characteristic points and characteristic vectors, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; unifying coordinate systems of the two images of the image to be spliced and the reference image according to the established conversion relation between the image to be spliced and the reference image; and performing image fusion on redundant parts of the two images of the image to be spliced and the reference image to obtain a complete image of the target.
3. Intelligent thermal power plant chimney inspection system based on many rotor unmanned aerial vehicle, its characterized in that includes:
the first signal module (10) is used for sending the control instruction and the target GPS coordinate information to the relay unmanned aerial vehicle by using the upper computer;
the second signal module (20) is used for hovering the relay unmanned aerial vehicle serving as a communication bridge between the inspection unmanned aerial vehicle and the upper computer at a set position above a top port of the chimney, and transmitting the received control instruction and target GPS coordinate information sent by the upper computer to the inspection unmanned aerial vehicle;
the third signal module (30) is used for executing an image acquisition task by the inspection unmanned aerial vehicle according to the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, and transmitting the acquired image information to the relay unmanned aerial vehicle;
a fourth signal module (40) configured to upload, by using the relay unmanned aerial vehicle, the image information transmitted by the inspection unmanned aerial vehicle to the upper computer, where the upper computer processes the image information transmitted by the inspection unmanned aerial vehicle by using an image processing technology, obtains a chimney inner wall image on the image information, and performs image stitching on the chimney inner wall image, so as to finally obtain a complete expansion diagram of the chimney inner wall from top to bottom;
The third signal module (30) comprises:
the acquisition unit (31) is used for enabling the inspection unmanned aerial vehicle to enter the chimney from the top end opening of the chimney and executing an image acquisition task on the inner wall of the chimney from top to bottom;
the signal unit (32) is used for sending the image information acquired by the inspection unmanned aerial vehicle to a wireless relay node of the relay unmanned aerial vehicle hovering above a chimney top port;
the acquisition unit (31) comprises:
the acquisition subunit (311) is used for switching from a control mode to an automatic cruising mode after the inspection unmanned aerial vehicle enters the chimney, and performing 360-degree rotary photographing on the wall surface of the chimney at intervals according to a preset aerial photographing scheme to acquire images;
the signal subunit (312) is used for sending the acquired image information to a wireless relay node carried by the relay unmanned aerial vehicle, and transmitting the image information to the upper computer on the ground outside the chimney through the wireless relay node;
the acquisition subunit (311) is specifically configured to embed a plurality of sensors on the inspection unmanned aerial vehicle, and calculate a control amount by sensing a current situation and combining data sensed by the plurality of sensors and the control instruction and the target GPS coordinate information transmitted by the relay unmanned aerial vehicle, and control a plurality of motors to change rotational speeds, so as to complete gesture control; the multi-direction control of the inspection unmanned aerial vehicle is as follows:
T alt ＝Δ1+Δ2+Δ3+Δ4
T yaw ＝-Δ1+Δ2-Δ3+Δ4
T pitch ＝Δ1-Δ2-Δ3+Δ4
T roll ＝Δ1+Δ2-Δ3-Δ4
Wherein T is alt Refer to unmanned aerial vehicle lifting, T yaw Refer to unmanned aerial vehicle right turn, T pitch Refer to unmanned aerial vehicle new line, T roll Refers to the unmanned plane rolling to the right; Δ1 refers to the rotational speed of the first rotor, Δ2 refers to the rotational speed of the second rotor, Δ3 refers to the rotational speed of the third rotor, and Δ4 refers to the rotational speed of the fourth rotor;
first rotor F of unmanned aerial vehicle patrols and examines 1 A second rotor F 2 Third rotor F 3 Fourth rotor F 4 The rotational speeds of the rotors are respectively delta 1, delta 2, delta 3 and delta 4, and then:
wherein, the matrix A represents the rotation speed state of each rotor wing when the unmanned plane realizes the basic attitude, and the two sides of the formula are multiplied by A at the same time -1 Then:
wherein the inverse matrix A -1 Representing rotor speed conditions when opposite attitude is achieved due to matrix a and inverse matrix a -1 Is to realize opposite gesture, matrix A and inverse matrix A -1 Multiplication is equal to I 4 Matrix, thereby calculating inverse matrix A -1 ：
Wherein A is -1 And representing an inverse matrix of the inspection unmanned aerial vehicle.
4. A multi-rotor unmanned aerial vehicle based intelligent thermal power plant chimney inspection system according to claim 3, wherein the fourth signal module (40) comprises:
the identification unit (41) is used for enabling the upper computer to enter an image processing stage after the information acquisition of the inspection unmanned aerial vehicle is finished;
the image processing unit (42) is used for preprocessing image information transmitted by the inspection unmanned aerial vehicle by adopting the upper computer; carrying out image registration on the preprocessed image information, finding out characteristic points in each image to be spliced through a scale-invariant characteristic transformation operator, determining the accurate positions of the characteristic points, obtaining characteristic point pairs of the characteristic points and characteristic vectors, and further determining the spatial correspondence between the characteristic vectors; establishing a transformation model between the image to be spliced and the reference image according to the determined corresponding relation of the characteristic vectors of the image to be spliced; unifying coordinate systems of the two images of the image to be spliced and the reference image according to the established conversion relation between the image to be spliced and the reference image; and performing image fusion on redundant parts of the two images of the image to be spliced and the reference image to obtain a complete image of the target.
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