Near infrared video automatic navigation method suitable for breakwater patrolling unmanned aerial vehicle
A technology for automatic navigation and drones, applied in three-dimensional position/channel control and other directions, can solve problems such as drone difficulties, and achieve the effect of improving operational efficiency and aerial photography quality
Active Publication Date: 2019-05-17
TIANJIN RES INST FOR WATER TRANSPORT ENG M O T
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However, when the breakwater is arc-shaped or zigzag-shaped, it is a problem to keep the drone flying along the breakwater
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[0037] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the following embodiments in no way limit the present invention.
[0038] The near-infrared video automatic navigation method suitable for breakwater inspection drones is designed for the current working conditions of existing drones used for breakwater inspections. By adding the function of automatic navigation to the drone, it can realize The goal is to promote the UAV to automatically track the flight of the breakwater, improve the operation efficiency and the quality of the aerial photography.
[0039] Such as figure 1 As shown, the specific steps of the near-infrared video automatic navigation method suitable for breakwater inspection drones are as follows:
[0040] Step 1. Set the flying speed of the drone to 5m / s. During the flight of the drone, use the near-infrared camera configured on the platform of the drone to monitor the breakw...
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The invention discloses a near infrared video automatic navigation method suitable for a breakwater patrolling unmanned aerial vehicle. The method comprises the following steps: 1) performing continuous image collection by using a near infrared camera configured on an unmanned aerial vehicle cloud cradle to acquire matrix data; 2) converting each image into a histogram, and redefining pixel valuesof the water body and the breakwater by distinguishing thresholds t of the water body and the breakwater; 3) realizing flight height adjusting by comparing the number of the pixel with the pixel value as one in each binary image with a standard value; 4) adjusting a translation direction by computing an average value x0 of an abscissa x of the pixels with the pixel value as one in each binary image, and turning around a nose by utilizing the regression lines of the abscissa x and the ordinate y at the same time. The near infrared video automatic navigation method suitable for the breakwater patrolling unmanned aerial vehicle can guarantee that each collected image is an effective image, that is, the breakwater in each image is located in the center of the photo, and the working performance of the breakwater polling and the aerial photography quality are effectively improved.
Description
technical field [0001] The invention relates to the technical field of downhole operations in oil and gas fields, in particular to a near-infrared video automatic navigation method suitable for breakwater inspection drones. Background technique [0002] Breakwater inspection is a daily maintenance requirement after strong winds and waves. The purpose is to find out the signs of problems in time and guide the next step of detailed and professional diagnosis above and below water. UAVs are used to fly along the breakwater, continuously take pictures of the breakwater vertically downward, and finally use the computer to detect the breakwater indoors. Inspection efficiency and visual display capabilities of inspection results. However, when the breakwater is in the shape of a circular arc or a broken line, it is a problem to let the drone always fly along the breakwater. For arc-shaped breakwaters, it is necessary to set a route composed of dense points for the UAV; for broken...
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IPC IPC(8): G05D1/10
Inventor 彭士涛胡健波
Owner TIANJIN RES INST FOR WATER TRANSPORT ENG M O T