CN205176663U - System of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision - Google Patents
System of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision Download PDFInfo
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Abstract
The utility model discloses a system of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision, including DGPS navigator, vision navigator, main control computer and autopilot device, the characteristic points coordinate that will gather of vision navigator transmit to on the main control computer, the DGPS navigator handle unmanned aerial vehicle's position data through the main control computer, the main control computer makes unmanned aerial vehicle descend according to the characteristic points coordinate information of vision navigator collection and unmanned aerial vehicle's position data through control autopilot device. With DGPS navigation technique and the perfect combination of vision navigation technique be applied to the power line patrol and examine and salvage in the unmanned aerial vehicle system of falling that is fixing a point. Solve the unified coordinated of two kinds of respective technological difficult points of navigation and two kinds of systems for unmanned aerial vehicle can finally with the high accuracy and fall or hover in the fixed point position.
Description
Technical field
The utility model relates to DGPS unmanned plane pilotage field, particularly, relates to a kind of unmanned plane line of electric force based on machine vision and locates and fall system.
Background technology
Unmanned plane can be used round the clock, and structure is simple, and easy to use, cost is low, and efficiency than high, and need not worry casualties, and therefore under high-risk environment, unmanned plane operation is favored day by day.It can be used for scene monitoring, meteorological investigation, highway tour, exploration mapping, floods monitoring, aeroplane photography, traffic administration, forest fire etc., and in view of this unmanned plane has very wide application prospect in many-side.
Unmanned plane is in the process of executing the task, and fixing a point to fall is extremely important and stage of easily breaking down, and research data shows, World Airways history has the aircraft accident of more than 1/3rd occur in fix a point to fall process.Therefore, unmanned plane technology of falling of fixing a point has become one of gordian technique affecting Development of UAV, can safe and reliable realization automatic to fall also be become the important indicator evaluating unmanned plane performance quality.
Unmanned plane is located to fall and is referred to that unmanned plane relies on airborne navigator and flight control system to position navigation and finally controls the process that unmanned plane drops to landing place.Want realization to fix a point to fall, unmanned plane must possess the ability of independent navigation, and therefore high-precision airmanship of fixing a point to fall comprises: inertial navigation system (INS), GPS navigation, INS/GPS integrated navigation system and vision guided navigation instrument.Wherein, inertial navigation studies the earliest, airmanship the most ripe; GPS rose in recent years, was most widely used, the airmanship of technology also relative maturity.Along with the appearance of multiple airmanship, different airmanships combines by nature, plays respective advantage to reach best navigation effect.Above-mentioned airmanship all has respective shortcoming: GPS positioning system is too strong to the dependence of Navsat; Inertial navigation system utilizes the inertia device such as gyro, accelerometer to obtain data, and finally calculate carrier positions, As time goes on its error is excessive.
Along with the development of image processing techniques, optical camera technology, machine vision navigation technology has become the focus of unmanned plane independent navigation area research.Airborne camera is utilized to realize the video image image of shooting to calculate the kinematic parameter of carrier, auxiliary airborne navigation control system controls unmanned plane and completes independent landing, this assembled scheme can compensate dispersing of airborne measurement instrument error, provides more accurate navigation information.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of unmanned plane line of electric force based on machine vision and locates and fall system, solves that unmanned plane power line failure detects, investigation, electric power line inspection and repairing locate and fall position accurate problem.
The technical scheme in the invention for solving the above technical problem is:
A kind of unmanned plane line of electric force based on machine vision is located and is fallen system, comprise DGPS navigating instrument, vision guided navigation instrument, main control computer and servomechanism, described vision guided navigation instrument by the unique point coordinates transmission that collects on main control computer, the position data of unmanned plane is processed by main control computer by described DGPS navigating instrument, the position data of the unique point coordinate information that described main control computer gathers according to vision guided navigation instrument and unmanned plane, makes unmanned plane land by controlling servomechanism.First this system adopts DGPS unmanned plane pilotage, unmanned plane is directed near characteristic pattern overhead, Zhe Jiang district, the vision-aided landing system that starts the machine carries out in real time accurately location to unmanned plane, and the positional information of unmanned plane is delivered to flight control system, control unmanned plane by flight control system and land.The present invention mainly applies the technology such as scan picture, image characteristic point extraction and unmanned plane location.It is mainly used in, and power line failure detects, investigation.
Further, described DGPS navigating instrument adopts 2 GPS, and 1 is arranged at ground and makes base station, and 1 is arranged on unmanned plane, and 2 receiver synchronized tracking observe identical gps satellite.
Further, described vision guided navigation instrument comprises ccd image sensor and video processor, described video processor comprises video frequency collection card and image processing circuit, the video signal transmission that ccd image sensor exports by described video frequency collection card is to image processing circuit, and described image processing circuit completes and obtains unique point coordinates transmission in image on main control computer to characteristic pattern process.
Further, described i.e. ccd image sensor adopts a video camera, and described video camera is fixed on rotatable platform, and described rotatable platform rotates at deflection and the angle of pitch two degree of freedom.
Further, described servomechanism comprises apparatus for controlling of lifting, steering control device and engine control system.
To sum up, the beneficial effects of the utility model are:
1, DGPS navigating instrument of the present invention completes tentatively determining and data being processed by main control computer of unmanned plane position, and then the unmanned plane that automatically sails into controlling unmanned plane and fallen a region; And then obtain the accurate anchor point on line of electric force by vision guided navigation instrument, be transferred to main control computer analysis, manipulation unmanned plane completes pinpoint and the task of dropping to line of electric force.This function quick, be precisely embodied as that unmanned plane is better applied to that power line failure detects, investigation, electric power line inspection and repairing provide actual support.
2, by the connected applications of DGPS airmanship and vision guided navigation technological perfectionism in electric power line inspection and in rushing to repair unmanned plane fix a point to fall system.Solve two kinds of navigational system technological difficulties separately and the unified coordination of two kinds of systems, unmanned function finally with high precision and falls or hover over fixed position.
3, ccd image sensor adopts video camera to be fixed on rotatable platform, and rotatable platform rotates at deflection and the angle of pitch two degree of freedom.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide the further understanding to the embodiment of the present invention, forms a application's part, does not form the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is that the structural principle that system of falling located by the utility model a kind of unmanned plane line of electric force based on machine vision is always schemed;
Fig. 2 is the structural principle component that system of falling located by the utility model a kind of unmanned plane line of electric force based on machine vision;
Fig. 3 is the structure principle chart of the utility model vision guided navigation instrument;
Fig. 4 is the structure principle chart of the utility model vision guided navigation instrument Digital Image Processing;
Wherein: 1-DGPS navigating instrument, 2-vision guided navigation instrument, 3-main control computer, 4-servomechanism, 5-CCD imageing sensor, 6-video processor, 7-video frequency collection card, 8-image processing circuit, 9-apparatus for controlling of lifting, 10-steering control device, 11-engine control system.
Embodiment
Below in conjunction with embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Embodiment 1
A kind of unmanned plane line of electric force based on machine vision is as Figure 1-4 located and is fallen system, comprise DGPS navigating instrument 1, vision guided navigation instrument 2, main control computer 3 and servomechanism 4, described vision guided navigation instrument 2 by the unique point coordinates transmission that collects on main control computer, the position data of unmanned plane is processed by main control computer 3 by described DGPS navigating instrument 1, the position data of the unique point coordinate information that described main control computer 3 gathers according to vision guided navigation instrument 2 and unmanned plane, makes unmanned plane land by controlling servomechanism 4.Main control computer 3 can adopt single-chip microcomputer model to be MPC5565.
DGPS navigating instrument 1 of the present invention is completed tentatively determining of unmanned plane position and data is processed by main control computer 3, and then the unmanned plane that automatically sails into controlling unmanned plane and fallen a region; And then obtain the accurate anchor point on line of electric force by vision guided navigation instrument, be transferred to main control computer analysis, manipulation unmanned plane completes pinpoint and the task of dropping to line of electric force.This function quick, be precisely embodied as that unmanned plane is better applied to that power line failure detects, investigation, electric power line inspection and repairing provide actual support.
By the connected applications of DGPS airmanship and vision guided navigation technological perfectionism in electric power line inspection and in rushing to repair unmanned plane fix a point to fall system.Solve two kinds of navigational system technological difficulties separately and the unified coordination of two kinds of systems, unmanned function finally with high precision and falls or hover over fixed position.
Embodiment 2
A kind of unmanned plane line of electric force based on machine vision is as Figure 1-4 located and is fallen system, on the basis of embodiment 1, DGPS navigating instrument 1 adopts 2 GPS, and 1 is arranged at ground and makes base station, 1 is arranged on unmanned plane, and 2 receiver synchronized tracking observe identical gps satellite.Differential dynamic positioning DGPS of the present invention is by 2 GPS, and 1 is arranged at known point (ground control station) and makes base station, 1 for unmanned plane, 2 receiver synchronized tracking observe identical gps satellite.Pseudo-range Observations that base station is surveyed compares with known distance, obtains pseudorange modified value, is transferred to the receiver on unmanned plane by Data-Link.GPS on unmanned plane is while observation gps satellite, receive the corrected parameter from base station, observation pseudorange is revised, then positions with revised pseudorange, clear out positional parameter, positioning result is the coordinate between space, WGS-84 the earth's core in coordinate system.
Embodiment 3
A kind of unmanned plane line of electric force based on machine vision is as Figure 1-4 located and is fallen system, on the basis of embodiment 1, vision guided navigation instrument 2 comprises ccd image sensor 5 and video processor 6(as dsp chip, special image signal processing card), described video processor 6 comprises video frequency collection card 7 and image processing circuit 8, the video signal transmission that ccd image sensor 5 exports by described video frequency collection card 7 is to image processing circuit 8, and described image processing circuit 8 completes and obtains unique point coordinates transmission in image on main control computer 3 to characteristic pattern process.Image processing circuit 8 can adopt RTD2674S model integrated circuit to realize.
Video processor comprises video frequency collection card and image processing circuit, first the vision signal that CCD exports amplifies by video frequency collection card, carry out the separated in synchronization of field signal, by the video signal transmission that detects to image processing circuit, image processing circuit completes the unique point coordinate obtained the process of characteristic pattern in the Zhe Jiang district of photography in image, and coordinates transmission can be removed the location parameter of unmanned plane relative to Zhe Jiang district to main control computer.
Digital Image Processing is the core forming machine vision navigation instrument.Main process is divided into Image semantic classification, feature point extraction and position calculation three steps.Its principle process is as Fig. 4, first image acquisition is passed through, then the image collected is carried out gray processing process, feature point extraction is obtained again by image rectification and filtering, non-unique point is discharged and filters, then unique point coordinate information is carried out just registration, the information after registration detects and linear position calculating through Threshold selection, binaryzation, feature point extraction, unique point again, then draws positioning landing position coordinates.
Embodiment 4
A kind of unmanned plane line of electric force based on machine vision is as Figure 1-4 located and is fallen system, on the basis of embodiment 1, ccd image sensor 5 adopts a video camera, described video camera is fixed on rotatable platform (accompanying drawing does not show), described rotatable platform rotates at deflection and the angle of pitch two degree of freedom, in prior art, can be implemented in deflection and the angle of pitch two degree of freedom rotating technique features are as the criterion.What the present invention adopted is single camera vision system, and namely vision system only has a video camera.Video camera is fixed on rotatable platform, allows platform to rotate, so that tracking characteristics region at deflection and the angle of pitch two degree of freedom.Video camera mainly completes the feature collection of Zhe Jiang district, and the present invention adopts common color camera, and shot image pixel is 1920 × 1080, and signal to noise ratio (S/N ratio) is better than 48dB, converts light signal to vision signal and send into video processor with it.
Embodiment 5
A kind of unmanned plane line of electric force based on machine vision is as Figure 1-4 located and is fallen system, and on the basis of embodiment 1, servomechanism 4 comprises apparatus for controlling of lifting 9, steering control device 10 and engine control system 11.Long-distance Control can completing unmanned plane driving, opening and closing the functions such as control as made unmanned plane elevating control, course changing control and engine.
The above; it is only preferred embodiment of the present utility model; not any pro forma restriction is done to the utility model; according to technical spirit of the present utility model; within spirit of the present utility model and principle; the any simple amendment that above embodiment is done, equivalently replace and improve, within the protection domain all still belonging to technical solutions of the utility model.
Claims (5)
1. the unmanned plane line of electric force based on machine vision is located and is fallen system, comprise DGPS navigating instrument (1), vision guided navigation instrument (2), main control computer (3) and servomechanism (4), it is characterized in that: described vision guided navigation instrument (2) by the unique point coordinates transmission that collects on main control computer, the position data of unmanned plane is processed by main control computer (3) by described DGPS navigating instrument (1), the position data of the unique point coordinate information that described main control computer (3) gathers according to vision guided navigation instrument (2) and unmanned plane, by controlling servomechanism (4), unmanned plane is landed.
2. a kind of unmanned plane line of electric force based on machine vision according to claim 1 is located and is fallen system, it is characterized in that: described DGPS navigating instrument (1) adopts 2 GPS, 1 is arranged at ground and makes base station, 1 is arranged on unmanned plane, and 2 receiver synchronized tracking observe identical gps satellite.
3. a kind of unmanned plane line of electric force based on machine vision according to claim 1 is located and is fallen system, it is characterized in that: described vision guided navigation instrument (2) comprises ccd image sensor (5) and video processor (6), described video processor (6) comprises video frequency collection card (7) and image processing circuit (8), the video signal transmission that ccd image sensor (5) exports by described video frequency collection card (7) is to image processing circuit (8), described image processing circuit (8) completes and obtains unique point coordinates transmission in image on main control computer (3) to characteristic pattern process.
4. a kind of unmanned plane line of electric force based on machine vision according to claim 3 is located and is fallen system, it is characterized in that: described ccd image sensor (5) adopts a video camera, described video camera is fixed on rotatable platform, and described rotatable platform rotates at deflection and the angle of pitch two degree of freedom.
5. a kind of unmanned plane line of electric force based on machine vision according to claim 1 is located and is fallen system, it is characterized in that: described servomechanism (4) comprises apparatus for controlling of lifting (9), steering control device (10) and engine control system (11).
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| CN201521022298.2U CN205176663U (en) | 2015-12-10 | 2015-12-10 | System of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision |
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| CN201521022298.2U CN205176663U (en) | 2015-12-10 | 2015-12-10 | System of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957732A (en) * | 2017-11-29 | 2018-04-24 | 重庆固恒通信设备有限公司 | Unmanned plane lands redundant pilot system automatically |
| CN109739257A (en) * | 2018-12-21 | 2019-05-10 | 中科院合肥技术创新工程院 | Merge the patrol unmanned machine closing method and system of satellite navigation and visual perception |
| CN112304304A (en) * | 2020-10-23 | 2021-02-02 | 国网智能科技股份有限公司 | Patrol unmanned aerial vehicle, system and method suitable for transformer substation |
-
2015
- 2015-12-10 CN CN201521022298.2U patent/CN205176663U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957732A (en) * | 2017-11-29 | 2018-04-24 | 重庆固恒通信设备有限公司 | Unmanned plane lands redundant pilot system automatically |
| CN109739257A (en) * | 2018-12-21 | 2019-05-10 | 中科院合肥技术创新工程院 | Merge the patrol unmanned machine closing method and system of satellite navigation and visual perception |
| CN112304304A (en) * | 2020-10-23 | 2021-02-02 | 国网智能科技股份有限公司 | Patrol unmanned aerial vehicle, system and method suitable for transformer substation |
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