Background technology
Along with economy and technical development, unmanned plane during flying platform is more and more applied, patrolling and examining technical field at unmanned plane mainly utilizes high-resolution CCD camera system to obtain remote sensing image, and automatic shooting and the acquisition of image is realized by aerial and ground control system, realize planning and the monitoring of flight path, the compression of information data and automatic transmission, the functions such as Yunnan snub-nosed monkey, can be widely used in national ecological environmental protection, aeroplane photography, mapping, mineral resources exploration, the condition of a disaster monitors, road and bridge construction, traffic patrolling, power-line patrolling, security monitoring, emergent mitigation, emergency command, rainmaking, national defense safety, land resources are explored, town planning, seismic survey, environmental monitoring, forest fire protection, Crop Estimation, protected location wild animal monitoring, air samples, maritime affairs are scouted, border is maked an inspection tour, the prohibition of drug is scouted, fire inspection, ecological environmental protection, marine environmental monitoring, land use survey, water resources development, crop growth monitoring and the yield by estimation, agricultural operation, Natural calamity monitoring and assessment, city planning and municipal administration, forest disease and pest protection and monitoring, the fields such as digital city.
In recent years the many rotor unmanned aircrafts risen rely on the features such as its mobility strong, easily manipulation, pollution-free, easy care and convenient transport, instead of traditional single rotor unmanned helicopter gradually; Many rotor wing unmanned aerial vehicles stability is stronger, can be suspended in aerial, and by adjustment posture, carry out careful observation to circuit, human eye makes an inspection tour the dead angle can't see on ground, it can easily be settled, and realizes " zero dead angle " and makes an inspection tour; By the photo analysis of high definition, more easily find the fine defects on lack of standardization, the road of workman construction operation; Therefore be badly in need of a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system, with unmanned vehicle be patrol and examine carrier, surface-monitoring equipment is the road and bridge cruising inspection system supported, and utilizes the advantage of its wide covering, high-level efficiency, highly reliable, low-risk and low cost.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, and provide that a kind of easy to operate, speed is fast, zero dead angle, efficiency is high, monitoring range is wide, the autonomous flight of low-risk, low cost four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system.
The object of the present invention is achieved like this: a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system, it comprises autonomous flight four rotor wing unmanned aerial vehicle and processor, described autonomous flight four rotor wing unmanned aerial vehicle is provided with flight controller, the main body of described flight controller is by processor, some brushless electric machines, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor composition, described processor is connected with some brushless electric machines, power supply, The Cloud Terrace, video camera, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, described The Cloud Terrace is connected with video camera and processor, described video camera is connected with The Cloud Terrace and processor, the equal connection handling device of described brushless electric machine, described power supply, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, the equal connection handling device of figure transmission module, described AHRS module is the course attitude reference system of flight controller, is provided with three-axis gyroscope, three axis accelerometer and three axle magnetic resistance meters in AHRS module, described Big Dipper module is wirelessly connected with satellite navigation system.
Described brushless electric machine is at least 1.
Described video camera is Digital Video.
Described processor is flush bonding processor.
Described processor is ARM Cortex-M4 flush bonding processor.
Described satellite navigation system is Beidou satellite navigation system.
A kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction method for inspecting, it comprises following steps:
Step (1): land station's host computer input needs the region patrolled and examined, and host computer track optimization and image analysis software calculate the flight path of unmanned plane, and import flight controller by serial ports;
Step (2): unmanned plane Beidou navigation module receives navigation information and according to flight path autonomous flight, by keeping away barrier sensor avoiding obstacles, arriving and needing the center patrolling and examining region;
Step (3): unmanned plane hovers, the The Cloud Terrace of below drives video camera to do 360 degree of rotation sweep regions to be inspected;
Step (4): to patrol and examine when zone radius is greater than 5m unmanned plane according to the constant velocity spiral polar equation of setting: r(θ)=a+ b(θ) launch track edge region and continue to patrol and examine;
Step (5): the high definition picture photographed or video recording are passed back on the host computer of land station by 5.8GHz figure transmission module;
Step (6): host computer track optimization and image analysis software carry out treatment and analysis to the image information passed back, finds that potential safety hazard will send warning.
Beneficial effect of the present invention: the present invention adopts multi-rotor aerocraft as patrolling and examining carrier using road and bridge cruising inspection system, and in conjunction with the image procossing of aerial images and recognition technology, for the quick, intelligent diagnosis of the on-the-spot operation lack of standardization of road and bridge construction and potential safety hazard provides technical support; The present invention forms a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system by big-dipper satellite, autonomous flight four rotor wing unmanned aerial vehicle, land station, flight controller, has that easy to operate, speed is fast, zero dead angle, efficiency is high, monitoring range is wide, the advantage of low-risk, low cost; Autonomous flight four rotor wing unmanned aerial vehicle that the present invention is arranged have mobile flexibly, monitoring range is wide, easy to operate, operating cost is low, low-risk advantage; Some brushless electric machines that the present invention is arranged effectively can control the flight attitude of autonomous flight four rotor wing unmanned aerial vehicle, are conducive to it and accurately fly along track; The processor that the present invention is arranged is ARM Cortex-M4 flush bonding processor, has low in energy consumption, that processing speed is fast advantage; The video camera that the present invention is arranged is Digital Video, and to have that shooting speed is fast, data store convenient, take advantage capacious; Total, the present invention have easy to operate, speed fast, zero dead angle, efficiency is high, monitoring range is wide, the advantage of low-risk, low cost.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
Embodiment 1
As depicted in figs. 1 and 2, a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system, it comprises autonomous flight four rotor wing unmanned aerial vehicle and processor, described autonomous flight four rotor wing unmanned aerial vehicle is provided with flight controller, the main body of described flight controller is by processor, some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, video camera forms, described processor is connected with some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, described The Cloud Terrace is connected with video camera, described AHRS module is the course attitude reference system of flight controller, is provided with three-axis gyroscope, three axis accelerometer and three axle magnetic resistance meters in AHRS module, described Big Dipper module is wirelessly connected with satellite navigation system.
Described brushless electric machine is 4.
During the invention process, first flight controller is set at autonomous flight four rotor wing unmanned aerial vehicle, flight controller adopt processor, some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, video camera composition, processor is connected with some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keeps away barrier sensor, figure transmission module, The Cloud Terrace connects video camera, after completing the installation of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system, can come into operation, flight controller receives Big Dipper locating information also according to the flight path autonomous flight preset, by keeping away barrier sensor avoiding obstacles, arrive overhead, preset to patrol and examine road and bridge construction field conduct with clockwise spiral expansion mode, video recording or shooting high definition graphic form can be adopted to pass field condition back land station by image transmission module, land station's upper-computer processing software carries out graphical analysis to the information of passing back, find the potential safety hazard existed in advance, autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system carries out patrolling and examining work according to the following steps specifically.
Step (1): land station's host computer input needs the region patrolled and examined, and host computer track optimization and image analysis software calculate the flight path of unmanned plane, and import flight controller by serial ports.
Step (2): unmanned plane Beidou navigation module receives navigation information and according to flight path autonomous flight, by keeping away barrier sensor avoiding obstacles, arriving and needing the center patrolling and examining region.
Step (3): unmanned plane hovers, the The Cloud Terrace of below drives video camera to do 360 degree of rotation sweep regions to be inspected.
Step (4): to patrol and examine when zone radius is greater than 5m unmanned plane according to the constant velocity spiral polar equation of setting: r(θ)=a+ b(θ) launch track edge region and continue to patrol and examine.
Step (5): the high definition picture photographed or video recording are passed back on the host computer of land station by 5.8GHz figure transmission module.
Step (6): host computer track optimization and image analysis software carry out treatment and analysis to the image information passed back, finds that potential safety hazard will send warning.
Road and bridge of the present invention, cruising inspection system adopted multi-rotor aerocraft as patrolling and examining carrier, and in conjunction with the image procossing of aerial images and recognition technology, for the quick, intelligent diagnosis of the on-the-spot operation lack of standardization of road and bridge construction and potential safety hazard provides technical support; The present invention forms a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system by big-dipper satellite, autonomous flight four rotor wing unmanned aerial vehicle, land station, flight controller, has that easy to operate, speed is fast, zero dead angle, efficiency is high, monitoring range is wide, the advantage of low-risk, low cost; Autonomous flight four rotor wing unmanned aerial vehicle that the present invention is arranged have mobile flexibly, monitoring range is wide, easy to operate, operating cost is low, low-risk advantage; Total, the present invention have easy to operate, speed fast, zero dead angle, efficiency is high, monitoring range is wide, the advantage of low-risk, low cost.
Embodiment 2
As shown in figures 1 and 3, a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system, it comprises autonomous flight four rotor wing unmanned aerial vehicle and processor, described autonomous flight four rotor wing unmanned aerial vehicle is provided with flight controller, the main body of described flight controller is by processor, some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, video camera forms, described processor is connected with some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, described The Cloud Terrace is connected with video camera, described AHRS module is the course attitude reference system of flight controller, is provided with three-axis gyroscope, three axis accelerometer and three axle magnetic resistance meters in AHRS module, described Big Dipper module is wirelessly connected with satellite navigation system.
Described brushless electric machine is 4.
Described video camera is Digital Video.
Described processor is flush bonding processor.
Described processor is ARM Cortex-M4 flush bonding processor.
Described satellite navigation system is Beidou satellite navigation system.
During the invention process, first flight controller is set at autonomous flight four rotor wing unmanned aerial vehicle, flight controller adopt processor, some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keep away barrier sensor, figure transmission module, video camera composition, processor is connected with some brushless electric machines, power supply, The Cloud Terrace, Big Dipper module, data radio station, barometric altimeter, AHRS module, keeps away barrier sensor, figure transmission module, The Cloud Terrace connects video camera, after completing the installation of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system, can come into operation, flight controller receives Big Dipper locating information also according to the flight path autonomous flight preset, by keeping away barrier sensor avoiding obstacles, arrive overhead, preset to patrol and examine road and bridge construction field conduct with clockwise spiral expansion mode, video recording or shooting high definition graphic form can be adopted to pass field condition back land station by image transmission module, land station's upper-computer processing software carries out graphical analysis to the information of passing back, find the potential safety hazard existed in advance, a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system carries out patrolling and examining work according to the following steps.
Step (1): land station's host computer input needs the region patrolled and examined, and host computer track optimization and image analysis software calculate the flight path of unmanned plane, and import flight controller by serial ports.
Step (2): unmanned plane Beidou navigation module receives navigation information and according to flight path autonomous flight, by keeping away barrier sensor avoiding obstacles, arriving and needing the center patrolling and examining region.
Step (3): unmanned plane hovers, the The Cloud Terrace of below drives video camera to do 360 degree of rotation sweep regions to be inspected.
Step (4): to patrol and examine when zone radius is greater than 5m unmanned plane according to the constant velocity spiral polar equation of setting: r(θ)=a+ b(θ) launch track edge region and continue to patrol and examine.
Step (5): the high definition picture photographed or video recording are passed back on the host computer of land station by 5.8GHz figure transmission module.
Step (6): host computer track optimization and image analysis software carry out treatment and analysis to the image information passed back, finds that potential safety hazard will send warning.
Road and bridge of the present invention, cruising inspection system adopted multi-rotor aerocraft as patrolling and examining carrier, and in conjunction with the image procossing of aerial images and recognition technology, for the quick, intelligent diagnosis of the on-the-spot operation lack of standardization of road and bridge construction and potential safety hazard provides technical support; The present invention forms a kind of autonomous flight four rotor wing unmanned aerial vehicle road and bridge construction cruising inspection system by big-dipper satellite, autonomous flight four rotor wing unmanned aerial vehicle, land station, flight controller, has that easy to operate, speed is fast, zero dead angle, efficiency is high, monitoring range is wide, the advantage of low-risk, low cost; Autonomous flight four rotor wing unmanned aerial vehicle that the present invention is arranged have mobile flexibly, monitoring range is wide, easy to operate, operating cost is low, low-risk advantage; Some brushless electric machines that the present invention is arranged effectively can control the flight attitude of autonomous flight four rotor wing unmanned aerial vehicle, are conducive to it and accurately fly along track; The processor that the present invention is arranged is ARM Cortex-M4 flush bonding processor, has low in energy consumption, that processing speed is fast advantage; The video camera that the present invention is arranged is Digital Video, and to have that shooting speed is fast, data store convenient, take advantage capacious; Total, the present invention have easy to operate, speed fast, zero dead angle, efficiency is high, monitoring range is wide, the advantage of low-risk, low cost.