Automatic inspection method of UAV based on line coordinate sequence

Abstract

The invention discloses a UAV automatic inspection method based on a line coordinate sequence. The steps of the method are as follows: a ground station reads a line node coordinate file to obtain the line node coordinates; converts the line node coordinates and numbers the line nodes; Calculate the initial aiming point and determine the next aiming direction; calculate the current aiming point; calculate the rotation angle of the turntable according to the coordinates of the current aiming point, automatically select the current line node to be aimed at according to the position of the aircraft and the line node set, and The coordinates of the nodes and the flight data downloaded in real time automatically calculate the angle that the photoelectric pod needs to rotate, and automatically send this angle to the flight controller, so as to effectively reduce the work intensity of the ground station operators and improve the work efficiency of the UAV system , to achieve the purpose of automatic line inspection.

Description

technical field [0001] The invention relates to the technical field of robot inspection nodes, in particular to an automatic inspection method for drones based on a line coordinate sequence. Background technique [0002] When the UAV performs line inspection operations, it is necessary to align the visual axis of the photoelectric pod with the points of interest in the line (hereinafter referred to as "line nodes") in real time to accurately obtain video images of line nodes. In the actual flight operation, the ground station operator selects different line nodes from several nodes on the line through comparative analysis according to the different positions of the aircraft, and manually turns the visual axis direction of the photoelectric pod to the line node. During the entire line inspection operation, the ground station operator needs to continuously select the line nodes corresponding to the position of the aircraft and manually adjust the photoelectric pod. This method...

AI Technical Summary

Problems solved by technology

In the actual flight operation, the ground station operator selects different line nodes from several nodes on the line through comparative analysis according to the different positions of the aircraft, and manually turns the visual axis direction of the photoelectric pod to the line node. During the entire line inspection operation, the ground station operator needs to continuously select the line nodes corresponding to the position of the aircraft and manually adjust the photoelectric pod. This method is inefficient. If the line nodes are automatically selected according to the flight parameters and the line node set, It is necessary to use the exhaustive method to calculate the distance between the current position of the aircraft and each line node, and select the node with the closest distance for sighting

During the entire flight operation process, this method needs to continuously calculate the distance between the aircraft and all nodes, the calculation amount is large, and the timeliness is poor; moreover, this method cannot guarantee the integrity principle and order principle of line node selection

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