The invention discloses an unmanned aerial vehicle indoor pipeline detection image acquisition method based on UWB. An unmanned aerial vehicle, a UWB base station and an upper computer are cooperatively utilized to duplicate an indoor three-dimensional stereogram, an arrangement form of the indoor pipelines is scaled and displayed in an upper computer in equal proportion, firstly, a visual navigation system and a GPS positioning system of the unmanned aerial vehicle are used for roughly positioning the position of a to-be-detected pipeline, an area where the to-be-detected pipeline is locatedis illuminated by using an irradiation light source of the unmanned aerial vehicle, auxiliary positioning of the to-be-detected pipeline is performed by using the positioning information of a UWB label, and the unmanned aerial vehicle is guided to automatically approach the to-be-detected pipeline according to an image returned by camera equipment carried by the unmanned aerial vehicle so as to perform further accurate shooting. The method is advantaged in that based on the ultra-wideband pulse technology, centimeter-level accurate positioning of the unmanned aerial vehicle can be implemented,working efficiency of existing indoor pipeline detection is improved, and safety of inspection personnel is further ensured.

    本发明公开了一种基于UWB的无人机室内管道检测图像采集方法,协同利用无人机、UWB基站、上位机来复刻室内三维立体图,并将室内管道排布形态等比例缩放显示在上位机中,先利用无人机的视觉导航系统、GPS定位系统对待检测管道位置进行大致定位,然后利用无人机的照射光源照亮待检测管道所处的区域,接着利用UWB标签的定位信息对待检测管道进行辅助定位,根据无人机搭载的摄像设备传回的图像来引导无人机自动靠近待检测管道,以进行进一步的精确拍摄。基于超宽带脉冲技术,可以对无人机实施厘米级的精准定位,提高现有室内管道检测工作效率,进一步确保巡检人员安全。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Unmanned aerial vehicle indoor pipeline detection image acquisition method based on UWB


    Weitere Titelangaben:

    一种基于UWB的无人机室内管道检测图像采集方法


    Beteiligte:
    ZHAO LINGLING (Autor:in) / LIU JUN (Autor:in)

    Erscheinungsdatum :

    2020-05-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



    Unmanned aerial vehicle depth image acquisition method and unmanned aerial vehicle

    CHEN YOUSHENG | Europäisches Patentamt | 2016

    Freier Zugriff

    Indoor unmanned aerial vehicle, indoor unmanned aerial vehicle system and control method

    BAI FAN / ZHU TIANCHENG / ZHANG ZHIXIONG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Pipeline defect detection method based on unmanned aerial vehicle spectrum and unmanned aerial vehicle

    WANG YANFEI / LIU LIBO / HU QIANG | Europäisches Patentamt | 2023

    Freier Zugriff

    Unmanned aerial vehicle pipeline system and unmanned aerial vehicle

    LI ZHIYONG | Europäisches Patentamt | 2023

    Freier Zugriff

    Unmanned aerial vehicle image acquisition system

    TU JIANGANG / SHI XIAOMIN / WANG HUI et al. | Europäisches Patentamt | 2020

    Freier Zugriff