RU2315951C1 - Onboard system for local aero-monitoring of objects of natural and technogenic sphere - Google Patents

Abstract

FIELD: local engineering geological and geoecological aero-monitoring.

SUBSTANCE: proposed onboard system includes flight control unit for control of flight by ground plot and navigational data of GPS receiver and optical unit which is equipped with high resolution digital chambers and is mounted on cross-member of modular construction. Each module of this cross-member is provided with drive for rotation in orthogonal plane. Optical unit is mounted on module which is rotatable in vertical plane. Module rotatable in horizontal plane is mounted on bearing bracket which is rotatable in vertical plane; it is provided with mechanism for locking it in definite position.

EFFECT: extended functional capabilities; obtaining required parameters pertaining to distortion, spatial and spectral resolution; possibility of forming ortho-photomaps; enhanced efficiency of system.

13 cl, 3 dwg

Description

The invention relates to the field of local engineering-geological and geoecological aeromonitoring of natural and technogenic objects located in the area of technical responsibility of production units of the oil and gas industry, in particular in the area of oil fields, gas condensate fields, oil and gas transmission systems.

One of the main reasons that threaten the environmental safety of Russia during drilling exploration work, development and development of oil and gas fields in remote and inaccessible areas of the North, is the difficulty of conducting and the imperfection of geoecological and engineering-geological monitoring systems. Disruptions in field development technology, equipment worn-out causes technogenic accidents in fishing areas and pipelines. This inevitably leads to irreversible degradation of the integral ecosystems of the permafrost zone, which are especially sensitive to anthropogenic pressures. The urgent tasks are not only the indication and mapping of such objects, but primarily the identification of the causes and factors of environmental safety violations, as well as the development of preventive measures to prevent such threats in the early phase of their development. The creation of a highly efficient system of local aerial monitoring of trunk pipelines in hard-to-reach areas is especially important if it is necessary to quickly respond to emergencies caused by natural and man-made disasters. In addition, the task of forecasting emergencies at engineering facilities of high technogenic impact is equally relevant. The solution to these problems can be achieved using a system with ultra-high spatial and spectral resolution, placed on board aircraft of the Ultra Light class, which provide conditions for local air monitoring at extremely low altitudes (up to 300 m) with optimal pilot speeds.

Airborne complexes are known that provide technology for aerial photography of a controlled territory, collection and processing of received information (DE 19919487, IPC G01C 11/02; DE 4419359, IPC G01C 11/04) by performing single-frame shooting, positioning using data from the global satellite system and sensors installed aboard an aircraft. These on-board hardware and software systems are designed to create and update topographic maps and plans, as well as to obtain terrain stereo models, and are economically inefficient when monitoring anthropogenic geotechnical systems of a linear type, for example infield pipelines, for the purpose of flaw detection and prediction of possible emergency situations.

To implement the method of remote detection of liquid hydrocarbon leaks from pipelines (RU 2079772, IPC 6 F17D 5/02, G01J 3/44), an on-board complex was used, in which a thermal imaging camera was used as the main means of shooting. However, to create cartographic materials larger than 1: 50,000, the resolution of this camera is insufficient. In addition, based on the composition of the airborne complex, it can be assumed that data binding and confident piloting are problematic.

The on-board complex (RU 222727, IPC 7 G01C 11/00 - the closest analogue) for local aerial monitoring of geotechnical systems includes an aerial visual observation unit based on a heading camera and a high-resolution TV camera. The block is made in the form of a damping platform placed along the longitudinal axis of the aircraft, containing a fixed and rotary ring coaxially mounted with it mounted for rotation in the vertical plane of the heading chamber. A film camera is installed with the ability to move to any of the rings. In the normal shooting mode, the camera is mounted on a fixed ring so that the optical axes of both cameras lie in a plane passing through the longitudinal axis of the aircraft and the line of the survey tack. In the mode of wind exposure, the survey camera is mounted on a rotary ring and is rotated to the angle of compensation of the angle of wind sliding. The airborne complex also includes a flight control unit according to the terrain plan, equipped with on-board computers and a system for determining navigation data based on a GPS receiver and camera angle sensors. The aerial surveillance unit is connected to the flight control unit with the possibility of synchronous positioning of information from both cameras on video monitors

Hardware and structural characteristics of the device do not allow to provide the required indicators for distortion, spatial and spectral resolution. This excludes the possibility of applying the methods of photogrammetric processing of output information, as well as automated vectorization of images with thematic decryption. In addition, the possibility of creating orthophotomaps of the area is excluded, for which it is necessary to obtain stereo pairs with a given longitudinal and transverse overlap.

The objective of the proposed technical solution is to expand the functionality of the system, which consists in achieving the required indicators for distortion, spatial and spectral resolution, as well as the possibility of creating terrain orthophotomaps while increasing the efficiency of the system.

The solution to this problem is achieved by the on-board system of local aerial monitoring of natural and technological areas, including a flight control unit connected to the on-board computer according to the local plan and GPS data of the GPS receiver, as well as an optical unit based on high-resolution aerial and course cameras, in contrast from the prototype is equipped with an optical unit with digital cameras with the possibility of rotation of one of the cameras in the plane of the optical axes of the cameras. The optical unit is mounted on a traverse made in the form of a modular design, each module of which is equipped with a rotational drive in the orthogonal plane, the optical unit being mounted on the module with the possibility of rotation in the vertical plane by means of a variable polarity drive, and the module with the horizontal rotation drive is installed on a support-swivel bracket in a vertical plane equipped with a locking mechanism in a predetermined position, in addition, the system is additionally equipped with associated with all locks with a remote command device, as well as a timer synchronizer for cameras of the optical unit and the GPS receiver.

The solution to this problem is also achieved by the fact that:

- the system is installed on board the trike;

- heading camera is installed in the optical unit with the possibility of rotation in the plane of the optical axes of the cameras;

- The heading camera is a TV camera;

- the system is equipped with a gyroscopic level associated with the command device;

- the support-swivel bracket is installed with the ability to control the installation of the angle of rotation with the help of a fixed angle meter panel mounted coaxially with it;

- in the command device, a relay controlled by limit switches is installed that changes the polarity of the drive;

- stops of limit switches adjustable;

- a timer is installed in the command device, connected to a variable polarity drive;

- a toggle switch for photographing with a single exposure is installed in the command device;

- the timers of the cameras of the optical unit and the GPS receiver are calibrated according to the atomic clock of the exact time server.

Equipping the optical unit with high-resolution digital cameras (heading TV camera and aerial camera) provides simultaneous obtaining of high-quality color digital photo frames with a resolution of at least 9 megapixels on a 2/3 inch CCD with predetermined longitudinal and transverse overlap and television information. In addition, the weight and dimensions of the optical unit are minimized. Together with the reduced weight of the turntable design compared to the prototype, this is an important factor for the flight characteristics of the system carrier, such as take-off weight, fuel consumption, speed, safety.

The installation of the optical unit on the traverse, made in the form of a modular design, each module of which is equipped with a rotational drive in the orthogonal plane, when the optical unit is mounted on the module with the possibility of rotation in the vertical plane by means of a drive with a changeable polarity, allows, in addition to the possibility of rotation of the optical block in horizontal plane, carry out the additional ability to rotate the optical unit in a vertical plane. Thus, a two-coordinate movement of the optical unit mounted on the traverse is ensured. Using a drive with a changeable polarity, the optical unit is rhythmically swayed in a plane perpendicular to the survey tack, with a deviation of a predetermined angle, which allows you to scan the shooting strip with the frequency required to provide coverage. A relay installed in a command device controlled by limit switches changes the polarity of the drive when it is possible to change the angle of rotation of the optical unit by adjusting the limit switch stops. At the same time, a timer is installed in the command device connected to the variable polarity drive to set the frequency of polarity change.

The installation of a directional TV-camera with the possibility of rotation in the plane of the optical axes of the cameras provides the installation of a pre-calculated, based on the requirements of the task, the angle of mismatch of the optical axes of the cameras. Setting the calculated mismatch angle of the optical axes of the cameras in conjunction with the rotation of the optical unit in orthogonal planes, with the fixing of the support-swivel bracket in a predetermined position and with the rotation of the optical unit in a vertical plane using a variable polarity drive allows various modes of local air monitoring to be performed: a series of images with a predetermined longitudinal overlap during routine survey of linear objects with compensation of the angle of rotation of the platform during wind drift etatelnogo apparatus and, accordingly, a deviation axis of the vehicle from the direction of the shooting tack; obtaining a series of images on areal objects when performing scheduled shooting with a given longitudinal and transverse overlap when shifting the optical axes of the aerial survey equipment of the optical unit in a plane perpendicular to the direction of the survey tack, and the subsequent geometric correction of the images; obtaining a series of images with a predetermined overlap when shooting linear objects during the flight of a trike along the subject at the height of its placement, for example along an overhead power line.

To implement the necessary conditions for the operation of filming equipment using a command device, the optical unit is elevated to the optimal position relative to the scattering indicatrix of the survey object in terms of elevation and azimuth. Using the command device, the mode of working out the wind glide angles (compensation of the angle of rotation of the longitudinal axis of the aircraft relative to the survey tack with a side wind) is also provided by turning the traverse in the horizontal plane by the angle of deviation of the longitudinal axis of the system carrier from the survey tack.

Equipping the system with a remote command device increased the efficiency of the shooting process by dividing the functions of the persons involved in the shooting. Unlike the prototype, where the control and shooting and piloting processes were carried out simultaneously from one remote control, in the proposed technical solution, the flight operator monitors the image of the shooting subject, digital camera readings, GPS receiver data on the on-board computer monitor and controls the shooting using a remote command device . The pilot controls the parameters and navigation data displayed on-board avionics, without being distracted from the direct functions of the pilot, which helps to improve the quality of piloting and the level of flight safety.

The claimed combination of essential features of the invention allows for the shooting of objects of natural and technological sphere in extreme weather conditions, for example, in conditions of wind loads on an aircraft with high efficiency and a high level of reliability of the on-board system. It provides reliable images with the required indicators of distortion, spatial and spectral resolution, as well as stereo pairs with a given parallax for further block triangulation on-board navigation data, adjusted according to ground-based geodetic measurements.

Figure 1 presents the functional block diagram of the on-board system of local air monitoring of natural and technological objects.

Figure 2 shows a General view of the mechanical part of the system (the mismatch angle of the optical axes of the cameras is 90 °).

Figure 3 presents a photograph of a prototype of the inventive on-board system of local air monitoring of natural and technological objects.

The on-board system for local aerial monitoring of natural and technological objects contains an on-board computer 1 flight control unit according to the location plan and GPS data of the GPS receiver 2. The optical unit is equipped with digital aerial cameras 3 and course 4 with the possibility of rotation of one of the cameras in the plane optical axes of the cameras and mounted on a traverse made in the form of a structure composed of modules 5 and 6. Each module is equipped with a rotation drive in the orthogonal plane. An optical unit is mounted on module 5 with the possibility of rotation in a vertical plane by means of a variable-polarity drive. Module 6 with a horizontal rotation drive is mounted on a bracket 7, which rotates in a vertical plane, equipped with a locking mechanism 8 in a predetermined position. The system additionally includes a remote command device 9 connected to the traverse and all blocks and a timer synchronizer of the cameras of the optical unit and the GPS receiver 10. In addition, a gyroscopic level 11 is installed on the traverse, and an angular panel 12 is fixedly mounted coaxially with the support-rotary bracket 7.

The device operates as follows.

Prior to departure to the subject from a remote command device 11, the aerial camera 3 is mounted in a nadir position using the drives 5 and 6. The control is carried out using a gyroscopic level 11, the data of which are displayed on the monitor of the on-board computer 1. The position is monitored visually from the image of the reference object on the monitor . Using the synchronizer of timers 10, the timers of the on-board GPS receiver 2 and digital cameras 3 and 4 of the optical unit are synchronized by the atomic clock of the time server. From the remote command device 9, the calculated parameters of the single exposure frequency, aperture and focal length of the lens of the digital aerial camera 3 are entered. White balance is calibrated according to the internal or external standard. The optimal angle of mismatch between the optical axes of the aerial camera 3 and the directional TV camera 4 is set.

After working out the initial parameters from a remote command device, a command is issued to turn on the heading digital TV camera 4. The quality of shooting is controlled by the on-board computer monitor. In the process of shooting from a remote command device using a timer, commands are issued to trigger the shutter of a digital aerial camera with a time delay that provides a calculated longitudinal overlap during nadir shooting of linear objects. The quality of the survey and the current operating parameters of the cameras of the optical unit are monitored by the flight operator using the monitor of the on-board computer 2. In the process of shooting from the remote command device 9, commands are sent to drive 6 of the traverse in azimuth (including for working out the wind glide angles) and in the angle of rotation with using the drive 5. If it is necessary to increase the width of the survey path, the slewing bracket 7 rotates 90 ° along the AA axis and is fixed by the locking mechanism 8. In this case, the BB axis assumes a horizontal floor burning. The aerial camera is brought to a nadir position upon command from a remote command device 9. The speed of deviation of the optical axis from the nadir position of the digital aerial camera in a vertical plane perpendicular to the direction of the survey tack is set in the track scan mode from the command device. This ensures the acquisition of video frames with a given transverse and longitudinal overlap for subsequent geometric correction and block triangulation using data from ground-based geodetic measurements. Single-frame digital information enters the Memory Stick 4 Gb. Digital information and data from the GPS receiver 2 are received on-board computer 1.

After takeoff and exit to the stationary flight path, the horizontal position of the beam is adjusted as described above. The on-board computer switches to digital aerial camera mode when it is nadir. The monitor traces the trajectory of the movement of sub-aircraft landscape identification marks relative to the dashed axes of coordinates on the monitor screen. If the track deviates from parallel movement relative to the “U” axis, the position of the cameras of the optical unit is adjusted from the remote command device 9. The digital heading TV camera 4 is turned on from the remote command device and continuously transmits data to the on-board computer 1. Digital information from GPSmap 76CS arrives at a given frequency in the on-board computer via USB input. Digital information from the aerial camera 3 goes to the Memory Stick PRO Duo 4 Gb. Data is dumped to the on-board computer containing an electronic map of the area with aerial surveying routes, ground-based geodetic measurement points, and local monitoring objects in accordance with the assigned functional task, after the completion of the next remote sensing cycle. During the flight, the waypoint is displayed in the center of the screen (the beginning of the rectangular coordinates on the GPSmap 76CS monitor screen) and is combined programmatically with a moving electronic map of the area according to the flight parameters of the aircraft. Shooting of a path exceeding the width of a single frame is carried out by swinging the optical unit with the calculated frequency in the vertical plane using a variable-polarity drive 5. The optical unit is brought into operation by a relay controlled by limit switches, changing the polarity of the motor with a predetermined timer frequency.

Thus, due to the achievement of the technical result — obtaining high-quality and reliable images with the required indicators for distortion, spatial and spectral resolution, as well as the possibility of creating terrain orthophotomaps with significant savings in flight time, the solution of the problem is achieved, namely: expanding the system’s functionality, increasing its effectiveness, reducing the weight and dimensions of the equipment, reducing power consumption and increasing the level of system reliability in ex extreme operating conditions.

Claims (13)

1. On-board system of local aerial monitoring of natural and technological objects, including a flight control unit connected to the on-board computer according to the location plan and GPS data of the GPS receiver, as well as an optical unit based on high-resolution aerial and course cameras, characterized in that the optical unit equipped with digital cameras with the possibility of rotation of one of the cameras in the plane of the optical axes of the cameras and mounted on a traverse made in the form of a modular design, each module of which is equipped with a drive rotation in the orthogonal plane, and the optical unit is mounted on the module with the possibility of rotation in the vertical plane by means of a drive with a changeable polarity, and the module with the rotation drive in the horizontal plane is mounted on a support-pivoting in the vertical plane bracket equipped with a locking mechanism in a predetermined position, except In addition, the system further comprises a remote command device connected to the traverse and all the blocks, as well as a timer synchronizer for the cameras of the optical unit and the GPS receiver. 2. The on-board system according to claim 1, characterized in that it is installed on board the trike. 3. The on-board system according to claim 1, characterized in that the heading camera is mounted in the optical unit with the possibility of rotation in the plane of the optical axes of the cameras. 4. The on-board system according to claim 1, characterized in that the heading camera is a TV camera. 5. The on-board system according to claim 1, characterized in that it is equipped with a gyroscopic level. 6. The on-board system according to claim 5, characterized in that the gyroscopic level is connected to the command device. 7. The on-board system according to claim 1, characterized in that the rotary support bracket is installed with the ability to control the installation of the angle of rotation. 8. The on-board system according to claim 7, characterized in that the goniometer panel is fixedly mounted coaxially with the support-swing arm. 9. The on-board system according to claim 1, characterized in that the command device has a relay controlled by limit switches that changes the polarity of the drive. 10. The on-board system according to claim 9, characterized in that the stops of the limit switches are adjustable. 11. The on-board system according to claim 1, characterized in that a timer is connected to the command device connected to a variable polarity drive. 12. The on-board system according to claim 1, characterized in that the command device has a toggle switch for photographing with a single exposure. 13. The on-board system according to claim 1, characterized in that the timers of the cameras of the optical unit and the GPS receiver are calibrated according to the atomic clock of the time server.

Images