The invention discloses an unmanned aerial vehicle high-pressure water washing method based on first vision, an unmanned aerial vehicle comprises a vehicle body, a holder device, a spray gun, a camera and a range finder, a gun head is arranged at the front end of the spray gun, the camera is arranged on the gun head, the range finder is arranged on the camera, the gun head is provided with a spraying end, and a lens of the camera directly faces the front of the spraying end; the washing method comprises the steps that the unmanned aerial vehicle moves to the periphery of an insulator, and the gun head faces the insulator; the holder device is adjusted to align the center of the lens of the camera to the bottom of the insulator, and the gun head is allowed to incline upwards; and the spray gun conveys high-pressure water to the gun head, the spraying end sprays a water column to wash the insulator, and the unmanned aerial vehicle moves from bottom to top relative to the insulator. According to the unmanned aerial vehicle high-pressure water washing method based on the first vision, the angle of the holder device can be adjusted according to the picture shot by the camera and the target distance measured by the range finder, so that the spray gun can be accurately aligned with the insulator, and the washing effect is improved. The method can be applied to the field of unmanned aerial vehicles.
本发明公开了一种基于第一视觉的无人机高压水冲洗方法,无人机包括机身、云台装置、喷枪、摄像机、测距仪,喷枪的前端设有枪头,摄像机设于枪头,测距仪设于摄像机,枪头设有喷出端,摄像机的镜头正对喷出端的前方;冲洗方法包括:无人机移动到绝缘子的外围,枪头朝向绝缘子;调整云台装置使摄像机的镜头中心对准绝缘子的底部,枪头向上倾斜;喷枪输送高压水到枪头,喷出端喷出水柱冲洗绝缘子,无人机相对于绝缘子从下往上移动。本发明的基于第一视觉的无人机高压水冲洗方法,可根据摄像机所拍摄的画面及测距仪所测量的目标距离调整云台装置的角度,从而使得喷枪能够准确对准绝缘子,提高冲洗效果。本发明可应用于无人机领域中。
Unmanned aerial vehicle high-pressure water washing method based on first vision
基于第一视觉的无人机高压水冲洗方法
2021-12-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT |
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