A method for inspecting ship landing aid lighting system based on drone

Abstract

The present invention discloses a method for inspecting a ship's landing aid lighting system based on an unmanned aerial vehicle, which is characterized in that the ship's landing aid lighting system is inspected using an unmanned aerial vehicle visual system, and includes the following steps: according to the arrangement of the ship's dynamic and static landing aid lighting fixtures, the installation positions of each device in the ship's landing aid lighting system are drawn respectively; with the center of the ship's helicopter landing deck, a circular planning route is drawn with An mine, B n mine, and Cn mine from the ship, A>B>C, and different observation points are set respectively on the circular planning route. The inspection method disclosed by the present invention improves work efficiency and timeliness, reduces resource consumption and economic costs, improves the success rate of the test, and the test verification is more comprehensive.

Description

Technical Field

[0001] The invention relates to a method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle, and belongs to the field of ship inspection. Background Art

[0002] As an important part of the helicopter platform system, the helicopter landing aid lighting system of the ship has the main task of providing a variety of light signals for helicopter pilots and deck crews for take-off and landing and operation tasks at night or in low visibility conditions to ensure the safe take-off and landing of helicopters. Generally, after the construction of a ship is completed, mooring and navigation tests must be carried out to verify the completeness, installation quality, main technical indicators, and operational stability and reliability of the system and equipment. During the navigation test, the visibility distance, lighting angle, and lighting color of the static and dynamic helicopter landing aid lighting systems must be inspected. The current inspection method has the following deficiencies:

[0003] (1) In the traditional test process, the ship needs to enter the designated sea area and coordinate with relevant departments for helicopters to assist in the test. Usually, the conditions of the test aircraft, weather conditions, human resources, etc. are very demanding. The human resource coordination is complicated, inefficient, and wastes resources.

[0004] (2) In traditional tests, the landing aid lighting system is usually arranged in the navigation test stage. For the drone-based inspection method, the ship can be moored, anchored, and sailed at low speed in a place with open vision. The test process is more flexible and convenient.

[0005] (3) Traditional tests require human coordination in advance, which has poor timeliness in arranging the ship's navigation test plan and is not conducive to the overall navigation test plan arrangement.

[0006] (4) During the test, there were many participants in the ship's tower and the environment was noisy, which was not conducive to communication between the pilot and the helicopter pilot. The helicopter had to pass over the top of the ship many times for testing, and the success rate of the test was low.

[0007] (5) The traditional test is that the helicopter enters the ship's landing aid lighting system from the rear of the ship, and the aircraft passes through the top of the ship to observe the lights. This cannot fully verify the lighting angle of the landing aid lights and cannot meet the actual verification of the helicopter entering the ship from different directions. Summary of the invention

[0008] The technical problem to be solved by the present invention is that the verification method of the ship-borne landing aid lighting system by actually driving a helicopter has the disadvantages of high economic cost, low safety, low efficiency, great difficulty in force coordination, insufficient test verification, etc.

[0009] In order to solve the above technical problems, the technical solution of the present invention is to provide a method for inspecting a ship landing aid lighting system based on a drone, which is characterized in that the ship landing aid lighting system is inspected using a drone vision system, comprising the following steps:

[0010] Step 1: Draw the installation position of each device in the ship's landing aid lighting system according to the layout of the ship's dynamic and static landing aid lighting fixtures;

[0011] Step 2: The ship is moored, anchored or sailing at a low speed in a relatively open area to ensure that the ship's lighting system is not blocked from the drone's field of view;

[0012] Step 3: With the helicopter landing deck of the ship as the center, draw a circular planning route with a distance of An mile, Bn mile, and Cn mile from the ship, A>B>C;

[0013] Step 4: Determine the mother ship's marker light observation point N1 on the circular planning route 1 at a distance of An mile from the ship. The remote-controlled drone moves along the circular planning route 1 and inspects the mother ship's marker light at each mother ship's marker light observation point. N1≥2;

[0014] Step 5: Determine the light observation point N2 for the hangar obstacle lights and mast obstacle lights on the circular planning route 2 at a distance of Bn mile from the ship. The remote-controlled UAV moves along the circular planning route 2 and inspects the hangar obstacle lights and mast obstacle lights at each light observation point. N2 ≥ 2;

[0015] Determine a glide angle indicator light observation point on the circular planning route 2 at a distance of Bn mile from the ship, remotely control the drone to move to the glide angle indicator light observation point, and inspect the glide angle indicator light at a height of H1 from the horizontal plane according to the glide angle indicator light angle requirements;

[0016] Step 6: Determine the observation point N3 for the stern outline lights and the rear wall outline lights of the hangar on the circular planning route 3 at a distance of Cn mile from the ship. The remote-controlled UAV moves along the circular planning route 2 and inspects the stern outline lights and the rear wall outline lights of the hangar at each observation point. N3 ≥ 2;

[0017] Step 7: Determine a lighting observation point for the platform boundary light, front extreme limit light, and takeoff and landing signal lights, as well as a lighting observation point for the glide path indicator light, on the planned route 1 at a distance of D n mile from the ship, where D < C. When the remotely controlled unmanned aircraft moves to the lighting observation point for the platform boundary light, front extreme limit light, and takeoff and landing signal lights along the planned route 1, inspect the lights of the platform boundary light, front extreme limit light, and takeoff and landing signal lights. When the remotely controlled unmanned aircraft moves to the lighting observation point for the glide path indicator light along the planned route 1, inspect the glide path indicator light at a position with a height of H2 from the horizontal plane according to the requirements of the glide path indicator light angle.

[0018] Step 8: Determine a lighting observation point for the glide path indicator and roll indicator lights on the planned route 2 at a distance of E m from the ship. When the remotely controlled unmanned aircraft moves to the glide path indicator and roll indicator lights along the planned route 2, inspect the lights of the roll indicator light and, according to the requirements of the glide path indicator light angle, inspect the glide path indicator light at a position with a height of H3 from the horizontal plane.

[0019] Step 9: Determine a lighting observation point for the hover refueling course light according to the planned route 3. When the remotely controlled unmanned aircraft moves to the lighting observation point for the hover refueling course light along the planned route 3, inspect the lights of the hover refueling course light.

[0020] Preferably, in step 1, each device in the ship landing aid lighting system includes a platform boundary light, a front extreme limit light, a hangar obstacle light, a hover refueling course light, a takeoff and landing signal light, a mast obstacle light, a mother ship identification light, a stern outline light, a hangar rear wall contour light, a glide path indicator, and a roll indicator.

[0021] Preferably, in step 3, draw circular planned routes at distances of 10 n mile, 3 n mile, and 2 n mile from the ship.

[0022] Preferably, in step 4, the mother ship identification light observation points at N1 are evenly distributed along the circular planned route 1.

[0023] Preferably, in step 5, the hangar obstacle light and mast obstacle light observation points at N2 are evenly distributed along the circular planned route 2.

[0024] Preferably, in step 5, H1 is determined as 3 n mile multiplied by tan14°; in step 7, H2 is determined as 1.5 n mile multiplied by tan6°; in step 8, H3 is determined as 100 m multiplied by tan4°.

[0025] Preferably, in step 5, one of the hangar obstacle light and mast obstacle light observation points at N2 is also used as the glide path indicator light observation point.

[0026] Preferably, in step 6, the lighting observation points of the stern marker lights and the hangar rear wall contour lights at N3 are evenly distributed along the circular planning route three.

[0027] Preferably, in step 7, the lighting observation points of the platform boundary lights, the front limit position lights and the take-off and landing signal lights coincide with the lighting observation point of the glide angle indicator lights.

[0028] Preferably, in step 9, the position of the observation point of the hovering refueling heading light is closer to the ship than the positions of the observation points of the glide angle indicator and roll indicator lights.

[0029] The verification method disclosed in the present invention improves work efficiency and timeliness, reduces resource consumption and economic costs, increases the test success rate, and makes the test verification more comprehensive. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Plan route maps for drones;

[0031] Figure 2 Arrangement for lighting fixtures - deck view;

[0032] Figure 3 Arrangement for light fixtures - mast view;

[0033] Figure 4 Arrangement for lighting fixtures - rear view;

[0034] Figure 5 The planned route of dynamic landing aid lighting is shown. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0036] The present invention discloses a method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle, comprising the following steps:

[0037] 1) The remote control drone is planning the route Figure 1 At A1 in the figure, the UAV is 10 miles away from the ship. The mother ship’s marker light is turned on on the ship, and the UAV’s visual system is used to observe the color and installation position of the mother ship’s marker light. Figure 2 Serial number 6 position;

[0038] 2) The remote-controlled drone follows the planned route A1-A2-A3-A4 and checks the visibility, luminous angle and light color of the mother ship's marker lights in accordance with Appendix 1;

[0039] 3) The remote control drone returns on the planned route Figure 1 At A1 in the middle, turn off the mother ship's marker light;

[0040] 4) Remote control drone is planning the route Figure 1 At B1 in the figure, the UAV is 3 miles away from the ship. The hangar obstacle lights and mast obstacle lights are turned on in sequence on the ship. The UAV vision system is used to observe the light colors and installation positions of the hangar obstacle lights and mast obstacle lights in sequence. Figure 2 , 3 , 4, serial numbers 3 and 8;

[0041] 5) The remote-controlled drone follows the planned route B1-B2-B3-B4, and checks the visibility, luminous angle and light color of the hangar obstacle lights and mast obstacle lights in accordance with Appendix 1;

[0042] 6) The remote control drone returns according to the planned route Figure 1 At B1, the UAV is 3 miles away from the ship. Turn off the hangar obstacle light or mast obstacle light on the ship, and turn on the roll indicator. Use the UAV vision system to observe the light color and installation position of the ship's downhill indicator. Figure 2 , 4 Medium serial number 6;

[0043] 7) The remote-controlled drone descends along the planned route Figure 1 At C1 in the middle, the UAV is 2n mile away from the ship. The downslide indicator on the ship is turned off, and the stern marker lights and the hangar rear wall outline lights are turned on in sequence. The UAV visual system is used to observe the light colors and installation positions of the ship's stern marker lights and the hangar rear wall outline lights in sequence. Figure 4 In the serial number 10, 11 position;

[0044] 8) The remote-controlled UAV (at the same height as C1) plans the route C1-C2-C3-C4, and checks the visibility, luminous angle and light color of the stern marker lights and the rear wall marker lights of the hangar in sequence according to Appendix 1;

[0045] 9) The remote control drone returns to the planned route Figure 1 At C1, turn off the stern marker lights or the hangar rear wall outline lights, and turn on the downhill indicator;

[0046] 10) Glide down along the planned route Figure 1 At D, the drone is 1.5n mile away from the ship. Observe the color of the ship's downhill indicator light. At the same time, turn off the downhill indicator.

[0047] 11) Figure 1 At D in the middle, the UAV is 1.5n mile away from the ship. The platform boundary lights, front limit position lights and take-off and landing signal lights are turned on on the ship in sequence. The UAV visual system is used to observe the color and installation position of the ship's platform boundary lights, front limit position lights and take-off and landing signal lights in sequence. Figure 2 , 4 The middle serial number is 1, 2, and 5;

[0048] 12) Glide down along the planned route to Figure 1 At point E in the middle, the drone is 100m away from the ship. Observe the light color of the ship's downhill indicator. At the same time, turn off the downhill indicator.

[0049] 13) Turn on the roll indicator on the ship and observe the light color and installation position of the ship's roll indicator. Figure 4 Middle serial number 7 position;

[0050] 14) Glide down along the planned route Figure 1 At F in the middle, turn off the ship's roll indicator and turn on the hovering refueling heading light. At this time, the UAV is above the helicopter landing platform. Observe the color and installation position of the ship's hovering refueling heading light. Figure 2 In the serial number 4 position.

[0051] Appendix 1 Performance table of lighting fixtures for landing-aid lighting system

[0052]

Claims

1. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle, characterized in that: Use a drone vision system to inspect the ship's landing aid lighting system, including the following steps: Step 1: Draw the installation positions of each device in the ship's landing aid lighting system on the ship according to the layout of the dynamic and static landing aid lighting fixtures of the ship. Step 2: Moor, anchor the ship or navigate at low speed in an open area to ensure that there is no obstruction to the ship's lighting system when observed from the drone's field of view. Step 3: With the center of the ship's helicopter landing deck as the center, draw circular planned routes at distances of An mile, Bn mile, and Cn mile from the ship, where A > B > C. Step 4: Determine the observation points for the mother ship marker light at N1 on the circular planned route 1 at a distance of An mile from the ship. Remote control the drone to move along the circular planned route 1 and inspect the mother ship marker light at each observation point for the mother ship marker light. N1 ≥ 2. Step 5: Determine the observation points for the hangar obstruction light and mast obstruction light at N2 on the circular planned route 2 at a distance of Bn mile from the ship. Remote control the drone to move along the circular planned route 2 and inspect the hangar obstruction light and mast obstruction light at each observation point for the hangar obstruction light and mast obstruction light. N2 ≥ 2. Determine an observation point for the glide slope indicator light on the circular planned route 2 at a distance of Bn mile from the ship. Remote control the drone to move to the observation point for the glide slope indicator light and inspect the glide slope indicator light at a position with a height of H1 from the horizontal plane according to the requirements of the glide slope indicator light angle. Step 6: Determine the observation points for the stern outline light and the hangar rear wall contour light at N3 on the circular planned route 3 at a distance of Cn mile from the ship. Remote control the drone to move along the circular planned route 2 and inspect the stern outline light and the hangar rear wall contour light at each observation point for the stern outline light and the hangar rear wall contour light. N3 ≥ 2. Step 7: Determine an observation point for the platform boundary light, the front extreme limit light, and the landing signal light, as well as an observation point for the glide slope indicator light on the planned route 1 at a distance of Dn mile from the ship, where D < C. When the remote-controlled drone moves along the planned route 1 to the observation points for the platform boundary light, the front extreme limit light, and the landing signal light, inspect the platform boundary light, the front extreme limit light, and the landing signal light. When the remote-controlled drone moves along the planned route 1 to the observation point for the glide slope indicator light, inspect the glide slope indicator light at a position with a height of H2 from the horizontal plane according to the requirements of the glide slope indicator light angle. Step 9: Determine an observation point for the glide slope indicator and the roll indicator light on the planned route 2 at a distance of Em from the ship. When the remote-controlled drone moves along the planned route 2 to the glide slope indicator and the roll indicator light, inspect the roll indicator light and inspect the glide slope indicator light at a position with a height of H3 from the horizontal plane according to the requirements of the glide slope indicator light angle. Step 10: Determine an observation point for the hovering refueling course light according to the planned route 3. Remote control the drone to move along the planned route 3 to the observation point for the hovering refueling course light and inspect the hovering refueling course light.

2. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 1, the equipment in the ship landing aid lighting system includes platform boundary lights, front limit position lights, hangar obstacle lights, hovering refueling heading lights, take-off and landing signal lights, mast obstacle lights, mother ship marker lights, stern marker lights, hangar rear wall contour lights, glide angle indicators and roll indicators.

3. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 3, circular planning routes are drawn at 10n mile, 3n mile, and 2n mile from the ship.

4. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 4, the mother ship marker light observation point at N1 is evenly distributed along the circular planning route.

5. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 5, the hangar obstacle lights and mast obstacle lights at N2 are evenly distributed along the circular planning route 2.

6. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 5, H1 is determined as 3n mile multiplied by tan14°; in step 7, H2 is determined as 1.5n mile multiplied by tan6°; in step 8, H3 is determined as 100m multiplied by tan4°.

7. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 5, one of the hangar obstacle light and mast obstacle light observation points at N2 is used as the glide angle indicator light observation point.

8. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 6, the lighting observation points of the stern marker lights and the hangar rear wall contour lights at N3 are evenly distributed along the circular planning route three.

9. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 7, the light observation points of the platform boundary lights, front limit position lights and take-off and landing signal lights coincide with the light observation points of the glide angle indicator lights.

10. A method for inspecting a ship landing aid lighting system based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step 9, the position of the observation point of the hovering refueling heading light is closer to the ship than the positions of the observation points of the glide angle indicator and the roll indicator light.

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