Unmanned aerial vehicle automatic inspection system based on relative space coordinate system

Abstract

The invention discloses an unmanned aerial vehicle automatic inspection system based on a relative space coordinate system, and relates to the field of unmanned aerial vehicle inspection. In the inspection process of an unmanned aerial vehicle, image data of an entity engineering site are collected, and an analysis module establishes the relative space coordinate system at a reference point position according to three reference points; pavement center line coordinates are marked on the relative space coordinate system every 10 meters, the pavement center line serves as a reference, unmanned aerial vehicle pavement inspection route coordinates are generated according to a certain height from the pavement, and the control module converts the relative space coordinates obtained through calculation into a needed unmanned aerial vehicle local coordinate system and then imports the needed unmanned aerial vehicle local coordinate system into an unmanned aerial vehicle flight control system. The unmanned aerial vehicle can complete an automatic inspection task without a satellite positioning signal according to the unmanned aerial vehicle pavement inspection route coordinates in the relative space coordinate system, so that the unmanned aerial vehicle can be conveniently positioned and navigated, the method is suitable for mountainous road surfaces with poor signals, the inspection efficiency of the unmanned aerial vehicle is improved, the requirement of human intervention is reduced, and the efficiency and the safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle inspection, and in particular to an unmanned aerial vehicle automatic inspection system based on a relative space coordinate system. Background Art

[0002] Unmanned aerial vehicle, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by an onboard computer. With the rapid development of UAV technology, UAVs have shown great development potential in both military and civilian fields due to their small size and low cost.

[0003] In the prior art, there is a UAV automated inspection system with the Chinese publication number: CN106327604B. The present invention relates to the field of water conservancy detection technology, including a UAV, a control center and an imaging device mounted on the UAV, the UAV flies according to the path preset by the control center, and is characterized in that: the UAV is provided with a communication device, a data storage device, a positioning device, a parachute and a pop-up device, wherein the data of the imaging device and the positioning device are stored in the data storage device, the data storage device is fixedly connected to the communication device and communicates with the control center via the communication device; the positioning device controls the pop-up device to pop up, the pop-up end of the pop-up device protrudes out of the surface of the UAV, the data storage device and the communication device are hidden in the pop-up end of the pop-up device, and a parachute is tied to the data storage device; when the positioning device detects that the UAV does not fly according to the preset path, the pop-up device pops up the data storage device and the communication device. Compared with the prior art, the present invention ensures the safe transmission of data and improves the data transmission rate.

[0004] In the prior art, such as China Publication No. CN113204247B, the present invention discloses a drone inspection system, which includes: a drone operation management platform, and at least one drone communicating with the drone operation management platform; when the drone in the present invention receives the inspection instruction sent by the drone operation management platform, it reads the inspection target information contained in the instruction; then the inspection path is planned according to the current battery power and the inspection target information to obtain the initial inspection path; then the initial inspection path is adjusted according to the current meteorological information to obtain the adjusted target inspection path; finally, it flies to the target inspection position according to the target inspection path, obtains the inspection scene model corresponding to the target inspection position, and inspects the inspection object according to the inspection scene model. Compared with the existing drone inspection technology that relies too much on manual operation, the drone inspection system of the present invention can realize automated inspection to a large extent, improve inspection efficiency, and save manpower and material resources.

[0005] In the prior art, such as the Chinese publication number CN106774374B, the present invention discloses an automatic inspection method and system for unmanned aerial vehicles, the method comprising: obtaining the ideal position information of the unmanned aerial vehicle, the ideal position information comprising a first spatial coordinate; obtaining the actual position information of the unmanned aerial vehicle, the actual position information comprising a second spatial coordinate; obtaining the ideal posture of the unmanned aerial vehicle according to the ideal position information and the actual position information; obtaining the actual posture of the unmanned aerial vehicle; obtaining the inspection control information of the unmanned aerial vehicle according to the ideal posture and the actual posture; based on the inspection control information, enabling the unmanned aerial vehicle to perform automatic inspection. The method and system provided in this application can solve the technical problems of low flight accuracy and low automation level when unmanned aerial vehicles perform transmission line inspections in the prior art, and achieve the technical effects of fully automatic inspection of unmanned aerial vehicles and improved flight accuracy.

[0006] To sum up, when drones are conducting inspections, most of them use satellite positioning to conduct inspection flights. However, drones are widely used nowadays. Sometimes when drones are conducting inspections, they may encounter unstable satellite signals or no signals, especially when inspecting roads in mountainous areas. At this time, due to the failure of the satellite positioning system and unstable signal reception, drones cannot conduct inspections, and it is difficult to locate and navigate drones. Summary of the invention

[0007] The purpose of the present invention is to solve the problem that the automatic inspection system of a drone based on a relative space coordinate system is used in the case where the satellite signal is unstable or there is no signal. When the drone conducts inspection, the automatic inspection task can be completed according to the coordinates of the drone road inspection route in the relative space coordinate system, thereby facilitating the positioning and navigation of the drone.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] The UAV automatic inspection system based on the relative space coordinate system includes the following steps:

[0010] S1. The drone takes aerial photos of the physical project site, and the collection module obtains the project site image data;

[0011] S2, importing the image data into the processing module to obtain the position of each reference point on the project site on the image;

[0012] S3, the analysis module determines three reference points that are not in the same plane, and establishes a relative spatial coordinate system based on the three reference points at the reference point positions;

[0013] S4. Mark a road centerline coordinate every ten meters on the relative space coordinate system;

[0014] S5. The control module uses the center line of the road surface as a reference and generates the coordinates of the UAV road inspection route at a certain height from the road surface, and imports them into the UAV flight control system.

[0015] Preferably, in step S1, the UAV performs aerial photography under flight working conditions, the flight time is 11:00-13:00, the flight path covers the entire physical engineering site, and the image data obtained display the landform and topography of the physical engineering site. The UAV flight speed is 6m / s to avoid aircraft instability due to excessive flight speed during flight. The heading overlap is 55%-65%, the lateral overlap is 35%-40%, the altitude difference between adjacent photos on the same route is 10-20m, and the maximum altitude and minimum altitude difference are 20-30m.

[0016] Preferably, in step S2, the processing module is used for processing and stitching images to generate a high-resolution panoramic image.

[0017] Preferably, in step S3, the analysis module selects three known positions in the physical engineering area as reference points, the three reference points including the positions of known markers, and confirms that the three reference points are not on the same plane by calculating the vector cross product between the three reference points.

[0018] Preferably, in step S3, the vector cross product formula between the three reference points is N = (Y2-Y1)*(Z3-Z1)-(Z2-Z1)*(Y3-Y1), (Z2-Z1)*(X3-X1)-(X2-X1)*(Z3-Z1), (X2-X1)*(Y3-Y1)-(Y2-Y1)*(X3-X1), wherein: N is the vector between the reference points, when the vector N is not zero, the three reference points are not in the same plane, when the vector N is zero, the three reference planes are in the same plane, and the coordinates of the three reference points are (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) respectively.

[0019] Preferably, in step S4, the centerline coordinates of the road surface first determine the coordinates of the starting point of the relative spatial coordinate system and the flight direction of the drone, and determine the flight direction in combination with the heading angle, and use the heading angle and distance to calculate the coordinates of the next point at an interval of 10 meters, and use the next point as the new starting point to recalculate the coordinates of the next point until the physical engineering site is covered.

[0020] Preferably, in step S4, the starting point coordinates are (A0, B0), the heading angle is α, and the coordinates of the next point with an interval of 10 meters are calculated by the formula: (A0+10×cos(α), B0+10×sin(α)), where 10 is the distance of the coordinate interval, α is the heading angle, and the next midline coordinate is calculated.

[0021] Preferably, in step S5, the UAV road inspection route coordinates are based on the road centerline coordinate point, and the height of each point is adjusted to the inspection flight height. At the road centerline coordinate point (A0, B0), its height is adjusted to the inspection flight height h, and the UAV road inspection route coordinates (A0, B0, h) are generated, where h is the inspection flight height.

[0022] Preferably, in step S5, the control module converts the calculated relative space coordinates into a local coordinate system of the required UAV, and then imports the local coordinate system into the UAV flight control system.

[0023] The beneficial effects of the present invention are:

[0024] During the inspection process, the drone of the present invention first collects image data of the physical engineering site, selects the position of three markers, which is also the reference point, and determines that the three reference points are not on the same plane by calculating the vector cross product between the reference points. At this time, the analysis module establishes a relative space coordinate system at the reference point position according to the three reference points, marks a road centerline coordinate every 10 meters on the relative space coordinate system, and then uses the road centerline as a reference to generate the drone road inspection route coordinates at a certain height from the road surface. The control module converts the calculated relative space coordinates into the local coordinate system of the required drone, and then imports them into the drone flight control system. In this way, the drone does not need to rely on satellite positioning signals, but only needs to rely on the drone road inspection route coordinates in the relative space coordinate system to complete the automatic inspection task, which is convenient for the positioning and navigation of the drone, and is suitable for mountain roads with poor signals, improves the drone inspection efficiency, reduces the need for human intervention, and improves efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure is a flowchart of the steps of an embodiment of the automatic inspection system of a drone based on a relative space coordinate system of the present invention.

[0026] Figure 2 This is a system flow chart of the UAV automatic inspection system based on the relative space coordinate system of the present invention. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments, unless otherwise specified, are conventional methods, and the materials, reagents, etc. used in the following embodiments, unless otherwise specified, can all be obtained from commercial channels.

[0028] Combine the following Figure 1 and Figure 2 The present invention is further described.

[0029] The UAV automatic inspection system based on the relative space coordinate system includes the following steps:

[0030] S1. The drone takes aerial photos of the physical project site, and the collection module obtains the image data of the project site.

[0031] The present invention is further configured as follows: the UAV performs aerial photography under flight working conditions, the flight time is 11:00-13:00, the flight path covers the entire physical engineering site, and the image data obtained display the landform and topography of the physical engineering site. The UAV flight speed is 6m\s, which is used to avoid the instability of the aircraft due to excessive flight speed during the flight of the UAV. The heading overlap is 55%-65%, the lateral overlap is 35%-40%, the altitude difference between adjacent photos on the same route is 10-20m, and the maximum altitude and minimum altitude difference are 20-30m.

[0032] S2. Import the image data into the processing module to obtain the position of each reference point on the project site on the image.

[0033] The present invention is further configured as follows: the processing module is used for processing and splicing images to generate a high-resolution panoramic image.

[0034] S3. The analysis module determines three reference points that are not in the same plane, and establishes a relative space coordinate system based on the three reference points at the reference point positions.

[0035] The present invention is further configured as follows: the analysis module selects three known positions in the physical engineering area as reference points, the three reference points include positions of known markers, and by calculating vector cross products between the three reference points, it is confirmed that the three reference points are not on the same plane.

[0036] The present invention is further configured as follows: the vector cross product formula between the three reference points is: N = (Y2-Y1)*(Z3-Z1)-(Z2-Z1)*(Y3-Y1), (Z2-Z1)*(X3-X1)-(X2-X1)*(Z3-Z1), (X2-X1)*(Y3-Y1)-(Y2-Y1)*(X3-X1), wherein: N is the vector between the reference points, when the vector N is not zero, the three reference points are not on the same plane, when the vector N is zero, the three reference planes are in the same plane, and the coordinates of the three reference points are (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) respectively.

[0037] S4. Mark the centerline coordinate of the road surface every ten meters in the relative space coordinate system.

[0038] The present invention is further configured such that the centerline coordinates of the road surface first determine the coordinates of the starting point of the relative spatial coordinate system and the flight direction of the drone, and determine the flight direction in combination with the heading angle, and use the heading angle and distance to calculate the coordinates of the next point at an interval of 10 meters, and use the next point as a new starting point to recalculate the coordinates of the next point until the physical engineering site is covered.

[0039] The present invention is further configured as follows: the starting point coordinates are (A0, B0), the heading angle is α, and the coordinates of the next point with an interval of 10 meters are calculated by the formula: (A0+10×cos(α), B0+10×sin(α)), where 10 is the distance of the coordinate interval, α is the heading angle, and the next midline coordinate is calculated.

[0040] S5. The control module uses the center line of the road surface as a reference and generates the coordinates of the UAV road inspection route at a certain height from the road surface, and imports them into the UAV flight control system.

[0041] The present invention is further configured as follows: the UAV road inspection route coordinates are based on the road centerline coordinate point, and the height of each point is adjusted to the inspection flight height. At the road centerline coordinate point (A0, B0), its height is adjusted to the inspection flight height h, and the UAV road inspection route coordinates (A0, B0, h) are generated, where h is the inspection flight height.

[0042] The present invention is further configured as follows: the control module converts the calculated relative spatial coordinates into a local coordinate system of the required UAV, and then imports it into the UAV flight control system. The local coordinate system is used for precise positioning and control of the UAV in a specific scenario, making it more convenient for the UAV to be used when the satellite positioning signal is weak.

[0043] To sum up, during the inspection process, the drone of the present invention first collects image data of the physical engineering site, selects the position of three markers, which is the reference point, and calculates the vector cross product between the reference points to determine that the three reference points are not on the same plane. At this time, the analysis module establishes a relative space coordinate system at the reference point position based on the three reference points, and marks a road centerline coordinate every 10 meters on the relative space coordinate system. Then, using the road centerline as a reference, the drone road inspection route coordinates are generated at a certain height from the road surface, and the control module converts the calculated relative space coordinates into the local coordinate system of the required drone, and then imports them into the drone flight control system. In this way, the drone does not need to rely on satellite positioning signals, but only needs to rely on the drone road inspection route coordinates in the relative space coordinate system to complete the automatic inspection task, which is convenient for drone positioning and navigation. It is suitable for mountainous roads with poor signals, improves the efficiency of drone inspections, reduces the need for human intervention, and improves efficiency and safety.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. The UAV automatic inspection system based on relative space coordinate system is characterized by: The following steps are involved: S1. The drone takes aerial photos of the physical project site, and the collection module obtains the project site image data; S2, importing the image data into the processing module to obtain the position of each reference point on the project site on the image; S3, the analysis module determines three reference points that are not in the same plane, and establishes a relative spatial coordinate system based on the three reference points at the reference point positions; S4. Mark a road centerline coordinate every ten meters on the relative space coordinate system; S5. The control module uses the center line of the road surface as a reference and generates the coordinates of the UAV road inspection route at a certain height from the road surface, and imports them into the UAV flight control system.

2. The UAV automatic inspection system based on relative space coordinate system according to claim 1 is characterized in that: In step S1, the UAV performs aerial photography under flight working conditions. The flight time is 11:00-13:

00. The flight path covers the entire physical engineering site. The image data obtained display the landform and topography of the physical engineering site. The UAV flight speed is 6m / s to avoid aircraft instability due to excessive flight speed during flight. The heading overlap is 55%-65%, the lateral overlap is 35%-40%, the altitude difference between adjacent photos on the same route is 10-20m, and the maximum altitude and minimum altitude difference are 20-30m.

3. The UAV automatic inspection system based on relative space coordinate system according to claim 1 is characterized in that: In step S2, the processing module is used to process and stitch images to generate a high-resolution panoramic image.

4. The UAV automatic inspection system based on relative space coordinate system according to claim 1 is characterized in that: In step S3, the analysis module selects three known positions in the physical engineering area as reference points, wherein the three reference points include positions of known markers, and calculates vector cross products between the three reference points to confirm that the three reference points are not on the same plane.

5. The UAV automatic inspection system based on relative space coordinate system according to claim 4 is characterized in that: In step S3, the vector cross product formula between the three reference points is N = (Y2-Y1)*(Z3-Z1)-(Z2-Z1)*(Y3-Y1), (Z2-Z1)*(X3-X1)-(X2-X1)*(Z3-Z1), (X2-X1)*(Y3-Y1)-(Y2-Y1)*(X3-X1), where: N is the vector between the reference points. When the vector N is not zero, the three reference points are not in the same plane. When the vector N is zero, the three reference planes are in the same plane, and the coordinates of the three reference points are (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3) respectively.

6. The UAV automatic inspection system based on relative space coordinate system according to claim 1 is characterized in that: In step S4, the centerline coordinates of the road surface first determine the coordinates of the starting point of the relative spatial coordinate system and the flight direction of the drone, and determine the flight direction in combination with the heading angle. The heading angle and distance are used to calculate the coordinates of the next point at an interval of 10 meters. The next point is used as the new starting point, and the coordinates of the next point are recalculated until the physical engineering site is covered.

7. The UAV automatic inspection system based on relative space coordinate system according to claim 6 is characterized in that: In step S4, the starting point coordinates are (A0, B0), the heading angle is α, and the coordinates of the next point with an interval of 10 meters are calculated by the formula: (A0+10×cos(α), B0+10×sin(α)), where 10 is the distance of the coordinate interval and α is the heading angle, and the next midline coordinates are calculated.

8. The UAV automatic inspection system based on relative space coordinate system according to claim 1 is characterized in that: In step S5, the UAV road inspection route coordinates are adjusted to the inspection flight height at each point based on the road centerline coordinate point. At the road centerline coordinate point (A0, B0), its height is adjusted to the inspection flight height h to generate the UAV road inspection route coordinates (A0, B0, h), where h is the inspection flight height.

9. The UAV automatic inspection system based on relative space coordinate system according to claim 1 is characterized in that: In step S5, the control module converts the calculated relative space coordinates into the local coordinate system of the required UAV, and then imports them into the UAV flight control system.

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