CN108900968A

CN108900968A - A kind of locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment

Info

Publication number: CN108900968A
Application number: CN201810736328.8A
Authority: CN
Inventors: 唐巍; 彭炼; 吕培庚; 耿柯; 苏林; 周勇军; 吴玉峰; 杜雪松; 腾黎
Original assignee: Chongqing Electric Power College; Chongqing City Power Supply Co of State Grid Chongqing Electric Power Co Ltd; State Grid Corp of China SGCC
Current assignee: Chongqing Electric Power College; Chongqing City Power Supply Co of State Grid Chongqing Electric Power Co Ltd; State Grid Corp of China SGCC
Priority date: 2018-07-02
Filing date: 2018-07-02
Publication date: 2018-11-27
Anticipated expiration: 2038-07-02
Also published as: CN108900968B

Abstract

The invention relates to the technical field of unmanned aerial vehicle inspection equipment, and discloses an unmanned aerial vehicle inspection equipment for positioning tracking and remote image acquisition and return, including a fuselage and an unmanned aerial vehicle positioning information comparison and analysis system, and the side of the fuselage An adjustment sleeve is fixedly installed in the middle, and the other side of the adjustment sleeve is fixedly equipped with a moving rod, and the other end of the moving rod is movably fitted with a rotating rod through the adjusting handle, and the other end of the rotating rod is fixedly installed with a balance box. A drive propeller is fixedly installed on the front side of the balance box away from the fuselage. The UAV inspection equipment for positioning tracking and remote image acquisition and return adjusts the angle between the moving rod and the rotating rod by adjusting the handle, so that the size of the entire UAV device can be changed, making it suitable for a variety of complex or narrow In the working environment, it avoids the problem that the working detection range of the UAV is limited due to environmental restrictions, and greatly improves the practicability of the device.

Description

A kind of locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment

Technical field

The present invention relates to unmanned planes to make an inspection tour equipment technical field, specially a kind of locating and tracking and remote image collection passback Unmanned plane make an inspection tour equipment.

Background technique

With the development of modern science and technology, the high technology equipments such as unmanned plane are also increasingly wider to the inspection application of route General, especially power grid is laid with distance far, and when encountering the natural calamities such as ice and snow floods, earthquake, landslide, line attendant does not have Standby advantageous transport advantages, line walking work can not also be carried out, in addition, setting up the mountain area bad environments of steel tower, route is rugged, to patrolling The personal safety of informant person constitutes threat.However it is equipped with high-definition digital video camera and camera and GPS positioning system Unmanned plane can carry out positioning autonomous cruise along power grid, therefore have other routine inspection modes irreplaceable using unmanned plane inspection Advantage.

It there is problems currently with unmanned plane inspection route：It is especially by information acquired in unmanned plane inspection Great amount of images information also needs to be identified, classified and deleted one by one by artificial mode at present, and sorted image also needs It is associated with corresponding route, shaft tower and equipment thereon, then judge defect situation and audited accordingly and defect elimination Work, workload is huge, and efficiency is very low, simultaneously because complexity diversification and the existing unmanned plane of unmanned plane detection environment All for fixed device, cause existing unmanned plane that there is limitation to the detection of some narrow environments, therefore needs to design a kind of number According to automated analysis and it is suitable for the unmanned machine equipments of a variety of environment.

Summary of the invention

(1) the technical issues of solving

In view of the deficiencies of the prior art, the present invention provides the unmanned planes that a kind of locating and tracking and remote image collection return Equipment is maked an inspection tour, has the advantages that data are analysis automated and Adapter Property is high, current unmanned plane is solved and also needs by artificial Mode identified, classified and deleted one by one, sorted image also needs and corresponding route, shaft tower and setting thereon It is standby associated, then judge defect situation and carry out corresponding audit and defect elimination work, workload is huge, and efficiency is very low, simultaneously Complexity diversification and existing unmanned plane due to unmanned plane detection environment are all fixed device, cause existing unmanned plane to one The detection of a little narrow environments has the problem of limitation.

(2) technical solution

To realize that above-mentioned data are analysis automated and the high purpose of Adapter Property, the present invention provide the following technical solutions：It is a kind of Locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment, including fuselage and unmanned plane location information comparative analysis system It unites, adjusting set is fixedly installed in the middle part of the fuselage side, the other side fixing sleeve of the adjusting set is equipped with mobile bar, described The other end of mobile bar is movably installed with rotating bar by regulation handle, and the other end of the rotating bar is fixedly installed with balance The front of case, the tandem-driving bogie is fixedly installed with driving propeller far from one end of fuselage.

The unmanned plane location information comparative analysis system includes camera, and the output end of the camera is electrically connected with Camera information receiving end, the output end of the camera information receiving end be electrically connected Information Compression supply unit and GPS output unit, the output end of the Information Compression supply unit are electrically connected with unmanned plane Information repositories, the unmanned plane The output end of Information repositories is electrically connected with information comparison-of-pair sorting's device, and the output end of the GPS output unit is electrically connected There is geographic information database, the input terminal of the output end and information comparison-of-pair sorting's device of the geographic information database electrically connects It connects, the output end of the information comparison-of-pair sorting device is electrically connected with defect record and the audit management device of information, the letter The defect record of breath and the output end of audit management device are electrically connected with storage unit, the storage unit it is defeated Outlet is electrically connected with automatic patching system, and the automatic patching system is electrically connected with ground data library by information conveyance.

Preferably, the side of the mobile bar is fixedly installed with the pointer positioned at regulation handle edge, the mobile bar Side be equipped with scale compatible with pointer, the side of the mobile bar is fixedly installed with the fixation positioned at adjusting set inner cavity Button.

Preferably, the automatic patching system includes unmanned plane signal transmitter unit, the unmanned plane signal transmitter unit Output end be electrically connected with ground installation sensing unit, the output end of the ground installation sensing unit is electrically connected with model Confirm that matching unit, the output end of the model confirmation matching unit are electrically connected with ground data library by information conveyance.

Preferably, the defect record of the information and audit management device include external information supply unit, the outside The output end of information conveyance unit is electrically connected with the total library of unmanned machine information, and the output end in the unmanned total library of machine information electrically connects It is connected to information comparison processing unit, the output end of the information comparison processing unit is electrically connected with information shortcoming recording device.

Preferably, the input of the output end and geographic information database of the defect record of the information and audit management device End is electrically connected, and the output end of the storage unit and the input terminal of information comparison-of-pair sorting device are electrically connected.

Preferably, the quantity of the driving propeller is four, and four driving propellers are located at the front and back of fuselage Four sides of left and right.

(3) beneficial effect

Compared with prior art, the present invention provides the unmanned plane tours that a kind of locating and tracking and remote image collection return Equipment has following beneficial effect：

1, the locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment, are compared by unmanned plane location information Data are transmitted back to ground data library using automatic patching system and protected by the image data that analysis system records camera It deposits, realizes Unmanned Aerial Vehicle Data automation detection, identification and classification, it is low to avoid the bothersome laborious and accuracy of artificial observation process The problem of, greatly improve the working efficiency of the unmanned machine equipment.

2, the locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment, and by setting information, comparison-of-pair sorting is filled Set judgement and the progress that the image data and original database comparative analysis of camera record are completed and automated to information Corresponding audit and defect elimination work, avoid that workload caused by manual review is huge, and the low-down problem of efficiency greatly mentions The high practicability of the equipment.

3, the locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment, regulate and control movement by regulation handle Then angle between bar and rotating bar is suitable for Various Complex or narrow so that changing the size of entire unmanned machine equipment In operating environment, avoid because the problem that environmental restrictions cause unmanned plane Industrial detection range limited, greatly improves this The practicability of equipment.

Detailed description of the invention

Fig. 1 is schematic structural view of the invention；

Fig. 2 is partial structurtes schematic side view of the present invention；

Fig. 3 is unmanned plane location information comparative analysis system structure diagram of the present invention；

Fig. 4 is automatic patching system structural block diagram of the present invention；

Fig. 5 is defect record and the audit management apparatus structure block diagram of information of the present invention.

In figure：1, fuselage；2, adjusting set；3, mobile bar；4, regulation handle；5, rotating bar；6, tandem-driving bogie；7, spiral is driven Paddle；8, fixing buckle；9, scale；10, unmanned plane location information comparative analysis system；11, camera；12, camera information receives End；13, Information Compression supply unit；14, unmanned plane Information repositories；15, GPS output unit；16, geographic information database； 17, information comparison-of-pair sorting device；18, the defect record of information and audit management device；19, storage unit；20, automatic Match system；21, information conveyance；22, ground data library；23, unmanned plane signal transmitter unit；24, ground installation sensing unit； 25, model confirms matching unit；26, external information supply unit；27, the total library of unmanned machine information；28, information comparison processing is single Member；29, information shortcoming recording device.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Please refer to Fig. 1-5, the unmanned plane of a kind of locating and tracking and remote image collection passback makes an inspection tour equipment, including fuselage 1 With unmanned plane location information comparative analysis system 10, be fixedly installed with adjusting set 2 in the middle part of 1 side of fuselage, adjusting set 2 it is another Side fixing sleeve is equipped with mobile bar 3, and the side of mobile bar 3 is fixedly installed with the pointer positioned at 4 edge of regulation handle, mobile bar 3 Side be equipped with scale 9 compatible with pointer, the side of mobile bar 3 is fixedly installed with the fixing buckle positioned at 2 inner cavity of adjusting set 8, the angle between mobile bar 3 and rotating bar 5 is regulated and controled by regulation handle 4, so that more becoming the big of entire unmanned machine equipment It is small, make suitable for Various Complex or narrow operating environment, avoid because environmental restrictions lead to unmanned plane Industrial detection The limited problem of range, greatly improves the practicability of the equipment, and the other end of mobile bar 3 passes through 4 movable sleeve of regulation handle Equipped with rotating bar 5, the other end of rotating bar 5 is fixedly installed with tandem-driving bogie 6, and the front of tandem-driving bogie 6 is fixed far from one end of fuselage 1 Driving propeller 7 is installed, before the quantity of driving propeller 7 is four, and four driving propellers 7 are located at fuselage 1 Four sides of left and right afterwards are driven the setting of propeller 7 using four, ensure that entire unmanned plane in the steady of flight course, increases The safety of the equipment.

Unmanned plane location information comparative analysis system 10 includes camera 11, and the output end of camera 11, which is electrically connected with, to be taken the photograph As head information receiving end 12,13 He of Information Compression supply unit has been electrically connected in the output end of camera information receiving end 12 GPS output unit 15, the output end of Information Compression supply unit 13 are electrically connected with unmanned plane Information repositories 14, unmanned plane letter The output end of breath repository 14 is electrically connected with information comparison-of-pair sorting device 17, and the output end of GPS output unit 15 is electrically connected There is geographic information database 16, the input terminal of the output end and information comparison-of-pair sorting device 17 of geographic information database 16 electrically connects It connects, the output end of information comparison-of-pair sorting device 17 is electrically connected with defect record and the audit management device 18 of information, information The input terminal of the output end of defect record and audit management device 18 and geographic information database 16 is electrically connected, information analysis list The output end of member 19 and the input terminal of information comparison-of-pair sorting device 17 are electrically connected, will by setting information comparison-of-pair sorting device 17 The data and original database comparative analysis that camera 11 detects complete automation to the judgement of information and carry out corresponding Audit and defect elimination work, avoid that workload caused by manual review is huge, and the low-down problem of efficiency greatly improves this The practicability of equipment, the defect record of information and audit management device 18 include external information supply unit 26, and external information is defeated The output end of unit 26 is sent to be electrically connected with the total library 27 of unmanned machine information, the output end in the unmanned total library 27 of machine information is electrically connected with Information compares processing unit 28, and the output end of information comparison processing unit 28 is electrically connected with information shortcoming recording device 29, benefit Data are transmitted back to ground data library 22 with automatic patching system 20 to save, realize Unmanned Aerial Vehicle Data automation detection, Identification and classification avoid the bothersome laborious and low accuracy problem of artificial observation process, greatly improve the unmanned plane and set Standby working efficiency, the defect record of information and the output end of audit management device 18 are electrically connected with storage unit 19, The output end of storage unit 19 is electrically connected with automatic patching system 20, and automatic patching system 20 is sent out including unmanned plane signal Unit 23 is penetrated, the output end of unmanned plane signal transmitter unit 23 is electrically connected with ground installation sensing unit 24, ground installation sense The output end of unit 24 is answered to be electrically connected with model confirmation matching unit 25, the output end of model confirmation matching unit 25 passes through letter Breath conveying 21 is electrically connected with ground data library 22, and data are transmitted back to ground data library 22 using automatic patching system 20 and are carried out It saves, realizes Unmanned Aerial Vehicle Data automation detection, identification and classification, avoid the bothersome laborious and accuracy of artificial observation process Low problem, greatly improves the working efficiency of the unmanned machine equipment, and automatic patching system 20 is electrical by information conveyance 21 It is connected with ground data library 22.

When work, the environment detected as needed first rotates regulation handle 4 according to scale 9, adjusts mobile bar 3 and turns Angle between lever 5 is to specified angle, and then the remote control unmanned plane is detected, using camera 11 by the number of observation It is delivered in geographic information database 16 according to by Information Compression supply unit 13, it then will using information comparison-of-pair sorting device 17 Information automation comparative analysis, then pass through 18 msu message of defect record and audit management device of information, it will after being finally completed Information Conduction is into ground data library 22.

In conclusion the locating and tracking and the unmanned plane of remote image collection passback make an inspection tour equipment, positioned by unmanned plane Data are transmitted back to ground using automatic patching system 20 by the image data that information comparative analysis system 10 records camera 11 Database 22 is saved, and realizes Unmanned Aerial Vehicle Data automation detection, identification and classification, it is bothersome to avoid artificial observation process Laborious and low accuracy problem, greatly improves the working efficiency of the unmanned machine equipment；Pass through setting information comparison-of-pair sorting The data and original database comparative analysis that device 17 detects camera 11 complete automation and go forward side by side to the judgement of information The corresponding audit of row and defect elimination work, it is huge to avoid workload caused by manual review, the low-down problem of efficiency, greatly Improve the practicability of the equipment；Regulate and control the angle between mobile bar 3 and rotating bar 5 by regulation handle 4, so that more becoming whole The size of a unmanned machine equipment, make suitable for Various Complex or narrow operating environment, avoid because environmental restrictions lead The problem for causing unmanned plane Industrial detection range limited, greatly improves the practicability of the equipment；Solves current unmanned plane also It needs to be identified, classified and deleted one by one by artificial mode, sorted image also needs and corresponding route, bar Tower and equipment thereon are associated, then judge defect situation and carry out corresponding audit and defect elimination work, and workload is huge, efficiency It is very low, simultaneously because the complexity diversification of unmanned plane detection environment and existing unmanned plane are all fixed device, cause existing Unmanned plane has the problem of limitation to the detection of some narrow environments.

It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.

It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims

1. An unmanned aerial vehicle inspection device for positioning tracking and remote image acquisition and return, comprising a fuselage (1) and a comparative analysis system (10) for unmanned aerial vehicle positioning information, characterized in that: the side of the fuselage (1) An adjustment sleeve (2) is fixedly installed in the middle of the adjustment sleeve (2), the other side of the adjustment sleeve (2) is fixedly sleeved with a moving rod (3), and the other end of the moving rod (3) is movable through the adjustment handle (4). A rotating rod (5), the other end of the rotating rod (5) is fixedly equipped with a balance box (6), and the front of the balance box (6) is fixedly installed with a driving propeller (7) at one end away from the fuselage (1) ;

The comparative analysis system (10) of the positioning information of the UAV includes a camera (11), and the output end of the camera (11) is electrically connected with a camera information receiving end (12), and the camera information receiving end (12) The output ends are electrically connected with an information compression delivery unit (13) and a GPS output unit (15) respectively, and the output terminals of the information compression delivery unit (13) are electrically connected with an unmanned aerial vehicle information repository (14), and the The output end of the UAV information repository (14) is electrically connected with an information comparison and classification device (17), and the output end of the GPS output unit (15) is electrically connected with a geographic information database (16), and the geographic information The output end of the database (16) is electrically connected to the input end of the information comparison and classification device (17), and the output end of the information comparison and classification device (17) is electrically connected to the information defect record and audit management device (18), The output end of the information defect record and audit management device (18) is electrically connected to an information analysis unit (19), and the output end of the information analysis unit (19) is electrically connected to an automatic matching system (20). The automatic matching system (20) is electrically connected to a ground database (22) through an information transmission (21).

2. A UAV inspection device for positioning tracking and remote image acquisition and return according to claim 1, characterized in that: the sides of the moving rod (3) are fixedly installed with pointer, the side of the moving rod (3) is provided with a scale (9) matching the pointer, and the side of the moving rod (3) is fixedly installed with a fixing buckle (8) located in the inner cavity of the adjusting sleeve (2) ).

3. the unmanned aerial vehicle inspection equipment of a kind of positioning tracking and remote image collection and return according to claim 1, it is characterized in that: described automatic matching system (20) comprises unmanned aerial vehicle signal transmitting unit (23), so The output end of the UAV signal transmitting unit (23) is electrically connected to the ground equipment sensing unit (24), and the output end of the ground equipment sensing unit (24) is electrically connected to the model confirmation matching unit (25), so The output end of the model confirmation matching unit (25) is electrically connected to the ground database (22) through the information transmission (21).

4. A kind of drone inspection equipment for positioning tracking and remote image acquisition and return according to claim 1, characterized in that: the information defect record and audit management device (18) includes an external information delivery unit (26 ), the output end of the external information delivery unit (26) is electrically connected with the UAV information general library (27), and the output end of the UAV information general library (27) is electrically connected with an information comparison processing unit (28), the output terminal of the information comparison processing unit (28) is electrically connected with an information deficiency recording device (29).

5. A kind of unmanned aerial vehicle inspection equipment for positioning tracking and remote image acquisition and return according to claim 1, characterized in that: the defect record of the information and the output terminal of the audit management device (18) and the geographic information database The input end of (16) is electrically connected, and the output end of the information analysis unit (19) is electrically connected with the input end of the information comparison and classification device (17).

6. The unmanned aerial vehicle inspection equipment for a kind of positioning tracking and remote image acquisition and return according to claim 1, characterized in that: the number of the driving propellers (7) is four, and the four driving propellers (7) ) are respectively located on the front, rear, left, and right four sides of the fuselage (1).