[0043] Such as figure 1 As shown, the lock tracking method of helicopter inspection power line includes the following steps:
[0044] (1) The position coordinate tracking method is adopted in the far area, and the three-dimensional corner of the pod is determined according to the current position coordinates of the helicopter and the position coordinates of the measured target, and the measured target is quickly and initially locked;
[0045] (2) Entering the area to be inspected, the position coordinate tracking method is adopted. According to the current position coordinates of the helicopter and the position coordinates of the measured target, the flight attitude of the helicopter is determined by the flight attitude detector and the current pole and tower number is read by the radio frequency reader. Control the three-dimensional turning angle of the pod to quickly and accurately lock the measured target;
[0046] (3) Enter the work area and use the position coordinate tracking method to lock and track the measured target and use the image recognition tracking method to lock and track the partial components of the measured target.
[0047] When the pilot is flying away from the area according to the navigation route, the pod will automatically search for the target. The airborne system mainly determines the coordinates of the helicopter based on the information data of GPS and Beidou satellites, and the data of the electronic map to determine the power line under test. The coordinates of the poles and power lines. In this way, the distance and angle between the aircraft and the measured power line can be calculated on the electronic map, and the three-dimensional turning angle of the pod can be controlled according to the calculation result, so that the pod is initially aligned with the measured target. Because the distance between the helicopter and the tower is far greater than the positioning error of GPS and Beidou satellites when away from the zone, the coordinate tracking method can be used to quickly and preliminarily lock the measured target.
[0048] When the helicopter enters the area to be inspected, the distance between the helicopter and the measured target decreases. At this time, the airborne system control program will use the radio frequency reader to read the tower number, and then use the longitude and latitude information and altitude provided by GPS and Beidou satellites to determine the helicopter Use the information provided by the navigation electronic map to determine the position coordinates of the target to be measured, and then determine the tilt angle and lateral roll angle of the aircraft according to the data information of the helicopter's flight status detector, and control the pod based on the above information Finally, control the infrared thermal imager in the pod to lock the target under test, such as a tower, and place the entire tower in the field of view of the infrared thermal imager. After locking the tower, the system automatically prompts the pilot and the operator to lock the target. The entire process is automatically completed by the onboard system control program without manual intervention. In this case, the detection of the flight status detector is very important. Because the various angles and speeds of the aircraft are known, coupled with the radio frequency identification technology, the GPS and GPS can be greatly eliminated in the small distance of the inspection area. The Beidou satellite has inaccurate positioning errors, so it can quickly and accurately lock the target.
[0049] Analyze the GPS information finally adopted: Set the priority of the tower GPS data use in the system settings. If it is set to database priority, the GPS data of the basic data of the database tower will be used directly; if the radio frequency priority is used, the following processing will be performed. The aircraft enters the current tower area and receives the corresponding radio frequency data, which includes the radio frequency number, tower number, and tower’s GPS data. First, the radio frequency acquisition program first verifies the correctness of the data by itself, and collects 4 times. If the data is consistent, the data collected by the radio frequency is considered to be correct; then read the GPS data stored in the database of the basic data of the tower and the two The GPS data is compared. If the distance between the two is within a set range, such as 20 meters, the GPS in the RF card is considered correct, and the GPS data is regarded as the final GPS data used.
[0050] When the helicopter enters the work area, the airborne system mainly uses infrared image recognition and tracking technology. In the area to be inspected, the location coordinate tracking method and the radio frequency card reader have been used to quickly and accurately lock the overall target of the tower. At this time, the airborne system control program will control the infrared thermal imaging camera in the pod to track the tower to work Area. Since the pod is equipped with an infrared thermal imager, a high-definition visible light camera and an ultraviolet imager, it will be possible to take infrared, visible light, and ultraviolet sequentially to obtain the required image information. Among them, the infrared thermal imaging camera can be a fully digital thermal imaging camera, so that the original infrared 16-bit digital signal can be obtained, not just the image video signal, so that the quantitative judgment of infrared data can be carried out, while the visible light and ultraviolet can only enter Enough to make qualitative judgments. Quantitative judgment can better complete the locking and tracking of the tower, and better analyze the problems of the detected target. However, qualitative judgment can only be judged by manual intervention, and it is difficult to realize automatic analysis and judgment of control programs to track the tower.
[0051] Such as figure 2 As shown, the above position coordinate tracking method includes the following steps:
[0052] (1) Collect the space position coordinates of the aircraft through GPS and Beidou positioning system, determine the pitch angle and lateral roll angle of the aircraft through the data information obtained by the flight attitude detector, and transmit the acquired data information to the three-dimensional corner of the pod Calculation module
[0053] (2) The pod three-dimensional corner calculation module combines the relevant information data of the measured target position, the relevant data information of the current position and status of the helicopter, and the three-dimensional installation angle of the pod and the helicopter to calculate the three-dimensional corner of the pod;
[0054] (3) Control the pod to rotate to the required position through the pod control program, make the pod point to the measured target, and calculate the focal length of the airborne equipment in the pod through the focus coordination algorithm in the pod control program.
[0055] The airborne system control program will combine GPS information, Beidou information, flight attitude detector and electronic map data to control the pod for preliminary orientation alignment.
[0056] The lock is mainly based on the calculation of GPS information, Beidou information and electronic map. The coordinates of the helicopter are determined according to the information data of GPS and Beidou satellites, and the coordinates of the measured target are determined according to the data of the electronic map. In this way, the distance and angle between the aircraft and the power line under test can be calculated on the electronic map. Since the distance between the helicopter and the tower is far greater than the positioning error of GPS and Beidou satellites when it is far away, the coordinate tracking method can quickly and preliminarily lock the target under test.
[0057] When the target to be measured is a wire, the position of the wire is calculated according to the coordinate information of the adjacent poles connected to the wire, and then combined with the above method to control the approximate tracking of the wire by the pod, and according to the infrared characteristics of the wire, the infrared heat Like performing analysis to extract the position and angle of the wire, the automatic control pod realizes the automatic tracking function of the wire.
[0058] The aforementioned image recognition tracking method includes the following steps:
[0059] (1) The pod control program uses image recognition technology to identify the offset of the measured target according to the designated measured target, and then controls the three-dimensional corner of the pod to automatically lock and track the measured target;
[0060] (2) After locking the tested target, send the position coordinates of some local components of the tested target or the local location where suspicious failures are found to the pod embedded control program through the pod control protocol;
[0061] (3) Analyze the continuous video images through the embedded program of the pod, analyze the offset direction and offset of some local parts of the tested target or the local position where a suspicious failure is found, and control the three-dimensional corner of the pod, thereby Control the pod for automatic tracking.
[0062] The above-mentioned image recognition and tracking method can adopt infrared image recognition technology to recognize the target under test, and use the infrared thermal imager in the pod to lock and track the target under test.
[0063] The pod control program uses image recognition technology to identify the deviation of the target according to the specified target, and then controls the pod to automatically track the target. When the pod is locked to a large target, such as a tower, it needs to target certain components or find suspicious For detailed tracking and detection of the faulty target, you can double-click the target area in the display window with the mouse, and the system will send the coordinates of the target to the pod embedded control program through the pod control protocol, and then the pod embedded control program will Analyze the continuous video images and analyze the deviation direction of the target, so as to control the pod for automatic tracking. The advantage of this tracking method is that the continuous video image is analyzed and identified, and there is no system parameter error, so it can accurately track small parts To detect the target, the system can also convert it according to the fault coordinates returned by the intelligent identification system, and send it directly to the pod embedded program for image recognition and tracking of the pod.
[0064] In the work area, when the image recognition tracking method is not effective for the partial components on the tower, the manual control tracking method is adopted.
[0065] The manual control tracking method includes the following steps:
[0066] Control the three-dimensional corner of the pod by operating the handle;
[0067] Control the focal length of the infrared thermal imager by operating the keys;
[0068] Control the focal length and optical lens multiple of the UV imager by operating the buttons;
[0069] Control the focal length and optical lens multiple of the visible light camera by operating the keys.
[0070] The manual control tracking method can assist the lock tracking of the target.
[0071] The lock tracking method of helicopter inspection power line also includes the following steps:
[0072] When the target to be measured is a wire, the position of the wire is calculated according to the position coordinate information of the adjacent poles connected to the wire, and then the position coordinate tracking method is used to control the approximate tracking of the wire by the pod, and the infrared image recognition tracking method is used according to the wire Infrared features, analyze the infrared thermal image information data to extract the position and angle of the wire, and automatically control the pod to realize the automatic tracking of the wire.
[0073] The above is a description of the present invention in combination with specific embodiments, but the present invention is not limited to the details shown. In addition, within the scope of equivalence of the claims and without departing from the spirit of the present invention, details can be Make various improvements.
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