• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Flight inspection system (1), of the type comprising, at least, an optical sensor (2) for taking images mounted on a gimbal (3) in turn mounted on an aircraft, where: -the gimbal (3) comprises a sensor orientation mechanism of at least three axes, with suppression of gaps, and -the gimbal (3) is controlled by a processing unit (4) with a GPS (5) of double catchment with refined position and an inertial unit (6). The invention also comprises an operating method for said system, so that the position of the object and of the aircraft in absolute coordinates is obtained with the highest possible technological precision capable of predicting its drifts and of maintaining the frame in the taking of images to high speed. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2711004A1
    申请号:ES201731255
    申请日:2017-10-25
    公开日:2019-04-29
    发明作者:Borragan Ignacio Jose Alonso
    申请人:Ingenio 3000 S L；
    IPC主号:
    专利说明:

    [0001]
    [0002]
    [0003]
    [0004] Object of the Invention
    [0005]
    [0006] The present invention relates to an in-flight inspection system and to a method for said system, usable for example for the inspection of lines and power lines.
    [0007]
    [0008] BACKGROUND OF THE INVENTION
    [0009]
    [0010] Currently in the revision of electrical lines according to regulations should be done on foot, using other means -from helicoptero mainly- as long as they produce
    [0011] similar results. The inspection by helicopter is of interest, since it allows moving at great speed in comparison with a foot inspection on the ground, and directly from point to point without being prejudiced by the existence of obstacles or by orography.
    [0012]
    [0013] The inspection by helicopter has two aspects: the inspection of fixed elements, mainly the support of the lines and the inspection of the laying cables. The inspection of fixed elements, is currently carried out by direct visual can be supported by images taken from helicopter. As these are fixed elements with generally known coordinates, the system for taking images from the helicopter can be programmed so that, using a motorized gyro-stabilized gimbal, these images can be taken from the flight at an acceptable velocity and aim. To perform the aiming with these gimbals requires the intervention of an operator to perform a continuous aim (to continuously aim at the object as the helicopter moves), or perform a manual pre-aim and have an artificial vision system for, once the previous aim has been carried out and the references taken out of it, allow the gimbal to automatically follow the object in question in relative coordinates (referenced to the aircraft). Absolute coordinates (GPS) are not used since the obtaining of real-time absolute coordinates in this system does not have the necessary accuracy due to the noise or delay of the signal depending on the position, when traversing the distance between the satellite and the receiver through the atmosphere, which is an important distortor when precision is sought.
    [0014]
    [0015] The second aspect consists in the inspection of the cables of the laying, which, given the mobility characteristics of the cables due to dilatation and the wind and their small size, can not be programmed positionally nor can artificial vision systems be used. Therefore it requires the flight close to the line while an operator is driving the camera so that at all times it points to the cables.
    [0016]
    [0017] In both cases, and especially in the cable inspection of the lines, the flight close to the lines is very compromising from the point of view of safety, requiring expert pilots able to fly without deviating scarcely any of the distance established to the line to be inspected, and accidents having occurred due to the reach of the helicopter to the line.
    [0018]
    [0019] In both cases, in addition, the taking of images is continuous, that is, what is taken is a video since then it is necessary to analyze said images and select the vblidas to obtain the results of the inspection in terms acceptable by the regulations. Therefore the maximum resolution of the images is the maximum resolution achievable in video currently (4K), which often is not enough, so the use of these images is an aid to direct visual inspection.
    [0020]
    [0021] On the other hand, none of the described systems allows photogrammetry on the images taken during the inspections, since distances inevitably vary from the recorded elements, so there are no reliable references available to establish a measurement pattern in said images. Therefore, if you want to perform photogrammetry you have to make a flight much slower and more precise, very rigid with respect to the distance lateral to the run, and of course at a constant height with respect to the ground, or completely horizontal.
    [0022]
    [0023] Description of the invention
    [0024]
    [0025] The system of the invention serves in a most optimal way to perform inspections of power lines, as well as for any other purpose that requires the taking from helicopter or similar of imageries with great speed and precision of aim, to safe distances, all this by means of the procedure of invention.
    [0026]
    [0027] According to the invention, the flight inspection system is of the type comprising, at least, a bpt sensor (a camera of images and / or thermal camera for example) for taking images mounted on a gimbal in turn mounted in an aircraft; and according to the invention:
    [0028] -the gimbal comprises a sensor orientation mechanism of at least three axes, with suppression of gaps, and
    [0029] -The gimbal is controlled by a processing unit that includes, at least, a GPS of double capture with refined position (that is, receiving differential corrections GNSS in real time via satellite, allows you to obtain an accurate position and an azimuth in real time), and an inertial unit with the corresponding gyroscopes and accelerometers, and the processing unit comprising an interface for introducing the parameters of the images to be taken, which in any case will include the absolute coordinates of the object, and the alignments of points of the desired images of the images to be recorded, being able to also understand the desired scene size, if photogrammetrics are going to be taken on the images taken.
    [0030]
    [0031] Obviously the system also comprises means of storage and / or retransmission of the images taken.
    [0032]
    [0033] For its part, the process of the invention comprises the following steps carried out by the processing unit:
    [0034] -introduce previously the coordinates of the object or objects to be recorded (they can be several coordinates of the same object, for example several coordinates of a high-voltage laying that pick up their supports and intermediate coordinates of the run), and the alignments of taking images that define the points of view from which you want to record images of the object (so it is not necessary to control the distance of the aircraft to the object, since it will take the image when going through the planned alignment, since the optical sensor always goes to be pointing to the object),
    [0035] -get in the GPS position of the aircraft from a GPS system (5) of double capture with refined position, and from the position readings also obtain the height of flight of the aircraft, its trajectory, speed and its rotated position regarding the trajectory (angle of guinada),
    [0036] - obtaining accelerations in the three axes of the aircraft from an inertial unit, and obtaining from them the pitch and roll angles of the aircraft,
    [0037] - predict the next position of the aircraft (GPS position and navigation angles), and calculate the pointing direction of the optical sensor (2) to the following coordinates (those that were previously entered) of the object to be registered. This stage is ideally done by a kalman filter, and is necessary to know the position of the aircraft since its movement is faster than the GPS response speed,
    [0038] -determination of a differential PID (speed control and rotation angle) so that the gimbal's motors align the sensor with the calculated aiming direction, so that the sensor is always pointing to the target coordinates of the sensor. object,
    [0039] -compair the aiming direction calculated with the alignments entered (programmed) and make an image capture by the sensor in case of coincidence with any of them, and
    [0040] - Return successively to the obtaining stage in the GPS position of the aircraft to carry out the next programmed image capture.
    [0041]
    [0042] In the present document, as GPS of double catchment it is understood a GPS with two antennas arranged at a sufficient distance -or two GPS with their respective antennas arranged at a sufficient distance- to obtain two simultaneous readings and calculate from them the angle of guinada of the aircraft. For example, if both antennas are located on the longitudinal axis of the aircraft, forward and aft, the location of these two points determines the axis of the aircraft, and since its trajectory is known, the angle between the axis and the trajectory can be determined. (also known, which is the direction between the position of the GPS between two simultaneous readings), which is precisely the angle of guinada.
    [0043]
    [0044] In this way, by means of the GPS system with position refinement, the position of the object and the aircraft is obtained in absolute coordinates with the highest possible technological precision, which is the first expected effect to obtain a good accuracy of aim in the capture of images. But not only this, since an aircraft is an object subject to drifts (by the action of wind or by others) in the three dimensions, the only way to predict in some way these position changes with the immediacy and precision necessary for the operation of the system in the parameters sought (since the data offered by GPS are not available with the high frequency required by the speed sought) is through the unit of inertial measurement, which will detect in the three axes the acceleration changes instantaneous of the aircraft with respect to the absolute coordinates and given that it is well-known physical variables, the processing unit will be able to calibrate and quantify the drifts, so that the exact position can be obtained in absolute coordinates, and since the absolute coordinates of the fixed elements to be inspected are also known, the necessary turns of the gimbal structures to perform the aim in real time. This fundamentally provides the speed sought in the system. The third main element, which is the mechanism of orientation of the sensor with suppression of clearances is necessary to be able to maintain a sufficient distance to the object to be inspected without the necessary clearances of the drives causing the object to get out of the desired frame. Since also the system calculates the positions locally between readings of the GPS in function of the measurements of the inertial unit, that is to say, in relative coordinates, this high precision is necessary, since otherwise any error is dragged in the successive measurements causing the system to fail at the end.
    [0045]
    [0046] Thus, it is possible to take images with sufficient speed and accuracy to perform inspections in flight at speeds of up to 200 km / h, and with maximum resolutions currently achievable by the technology (up to 50 MP nowadays, and being a functional system with better resolutions). even), without imposing an excessively rigid route to the aircraft (usually a helicopter) since the speed of operation and precision of the system allow variations of the lateral distance to the run and height of the helicopter, which is why it can be arranged in the sensor or main camera a variable optics or zoom to obtain a sufficient size of the images taken. Given, in addition, the implementation of this zoom, an additional indirect or unexpected result was obtained, which is that it could be adjusted by zooming a constant GSD (ground sample distance or real distance corresponding to a pixel) so that measurements are allowed on the images taken (photogrammetry) obtaining valid results for all the normative requirements of the inspection, and therefore obviating the necessity of the direct visual inspection of these fixed elements, for which the system allows to be configured in the means of single inspection of fixed elements of the network, instead of being a complement.
    [0047]
    [0048] In addition to the above, it was a surprise for the applicant in the tests carried out to verify that, thanks to the rapidity of the aim and the taking of images and their high resolution, the system was able to continue in flight to the cables of the laying from the distances of operation of inspection for fixed elements, thus serving also to realize vblidas inspections of the cables of the laying at great speed, without the need to make slow flights and dangerously close to the cables of the laying, and with all the benefits of the system (great resolution and photogrammetry). Furthermore, in any case and given the large number of images taken from the elements to be inspected from several non-coplanar points of view (as the helicopter moves during the inspection), the system serves to obtain stereoimage (in 3 dimensions) of the images. inspected objects. So it is capable, for example, of detecting broken protruding veins of the cables at speeds of 200 km / h and at safe distances from the electric line.
    [0049]
    [0050] Brief Description of the Drawings
    [0051]
    [0052] Figure 1 shows a block diagram of the system of the invention.
    [0053]
    [0054] Figure 2.- Shows a detailed view of the gimbal of the system of the invention, in which the actuating elements of the first and second structures are not shown for better appreciation of the rest of the elements.
    [0055]
    [0056] Figure 3. * Shows a partial view of the system gimbal of the invention.
    [0057]
    [0058] Figure 3a.-Shows a view of the upper base of the first rotating structure of the sensor orientation mechanism provided in the gimbal.
    [0059]
    [0060] Figure 4.- Shows a partially exploded view of the third rotating structure of the gimbal where a first support for fixation of a bpt sensor can be seen.
    [0061]
    [0062] Figure 5.- Shows a partially exploded view of the third rotating structure of the gimbal from a point of view opposite to that of figure 4, where a second support for fixing a variable optics for the optical sensor can be seen.
    [0063]
    [0064] Description of the Preferred Realization Form
    [0065]
    [0066] The flight inspection system (1) of the invention (see fig 1) is of the type that they comprise, at least one optical sensor (2) for taking images mounted on a gimbal (3) in turn mounted on an aircraft, not shown, and according to the invention:
    [0067] -the gimbal (3) comprises a sensor orientation mechanism (2) of at least three axes, with suppression of clearances, and
    [0068] -the gimbal (3) is controlled by a processing unit (4) comprising, at least, a GPS (5) of double pickup with refined position and an inertial unit (6) provided with gyroscopes and accelerometers, and
    [0069] the processing unit (4) comprising an interface for the introduction of operating parameters, said parameters comprising at least the absolute coordinates of the object, and the alignments of the desired points of view.
    [0070]
    [0071] The system also comprises means for storing the images taken or for retransmission for viewing or recording from a remote observation or recording station. In this example said storage means comprise a memory (21) incorporated in the sensor (2) itself.
    [0072]
    [0073] For its part, the orientation mechanism of the sensor (2) of the gimbal (3) can comprise, for example, in at least one of its positioning axes, at least (see FIGS. 2, 3 and 3a) two actuating elements (76). , 86, 96) of opposite driving directions fed with different powers; while the driven output of said shaft comprises a single functional driven shaft. In this way, of the two actuating elements of each axis, the higher power commands the movement of the corresponding axis dragging the lower power, whose function is limited to maintaining a tension opposite that eliminates any slack in the transmission elements (gears, straps, etc). The feeding of differential powers opposed to the two actuator elements (76, 86, 96) of each axis, for example, can be carried out by means of the incorporation in the processing unit (4) of a variable regulator, not shown, depending on the speeds of rotation . This makes it possible to adapt the powers supplied to the speeds of rotation and faster, more precise and smoother operation.
    [0074]
    [0075] In this non-limiting example, it has been provided that said mechanism for orienting the sensor (2) of the gimbal (3) with suppression of clearances comprises a first rotational structure (7) according to a first vertical positioning axis (70) of yawing (yaw). ) (see fig 3), a second rotating structure (8) according to a second axis (80) of horizontal positioning of pitch (pitch) and a third rotating structure (9) (see fig 2) according to a third axis (90) of variable positioning of roll (roll), which simplifies the calculations by matching the calculation parameters with the navigation axes and of orientation of the gimbal (3).
    [0076]
    [0077] The first rotational structure (7) comprises in this embodiment (see fig 3) two bases (71, 72), one upper and one lower, in contact through a first bearing (73) (see fig 3a) as it allows the free and independent rotation of each base around the first guiding axis (70); the upper base (71) comprising anchors (74) for its direct or indirect attachment to the aircraft; and the second structure (8) being fixed in the lower base (72); and comprising in one of the bases (71, 72) integrally a first ring (75) concentric with the first axis (70). and in the other base, two first actuating elements (76), which in the exploded view of figure 3 are shown coupled to the first crown (75) for better understanding of the operation. In this case the functional driven shaft is the lower base, which rotates about the first axis (70).
    [0078]
    [0079] The second rotating structure (8) comprises, for example, two facing arms (81) provided at their ends with an axle holder (82) for fixing the third structure (9) as shown in figures 2 and 3; comprising at least one of said arms (81) a transmission (83) mechanically coupled to an axial gear (91) belonging to the third structure (9) (shown in fig 3, but not in fig 2) and whose axis of support coincides with the second axis (80) of pitch and is supported on the shaft (82); two actuator elements (86) being mechanically coupled to said transmission (83). The coupling between said second actuator elements (86) and the axial gear (91) can be realized, for example, by means of a transmission belt, not shown. In this case the functional driven shaft is the shaft carrier (82), which rotates about the second shaft (80).
    [0080]
    [0081] As for the third rotating structure (9) (see fig 2), it would comprise two hollow and concentric cylindrical sectors (91, 92), an outer sector (91) mounted on the journal carrier (82) of the second structure (8) of rotating shape around the second pitch axis (80) for rotating support of the third structure (9) around this second axis (80), and an inner sector (92) rotating concentrically with respect to the outer sector (91) around the third axis (90) of warping; comprising in the inner sector (92), at least one first support (93) (see fig 4) for fixing the bptic sensor (2) and a second support (94) (see fig 5) for fixing a variable optics (20) for the sensor (2); comprising in one of the sectors (91, 92) a second crown (95) concentric with the third axis (90) of warping and in the other sector two third actuating elements (96) (see fig 2). Each hollow cylindrical sector (91, 92) would comprise two pianos (97), parallel to each other, joined by fixing bars (98); comprising second bearings (99) ring pianos interposed between the inner faces of the rings (97) of the outer sector (91) and the outer faces of the rings (97) of the inner sector (92). In this case the functional driven shaft is the inner sector (92), which rotates about the third axis (90).
    [0082]
    [0083] The first support (93) (see fig 4) is crossed by first screws, not shown, for fixing the sensor (2) to the interior sector (92) at an exact height, while the second support (94) is fixed the optics (20).
    [0084]
    [0085] The power and data connections to the sensors (2) and optics (20) are very preferably materialized by circular collectors, not shown, and contact slots against said collectors, arranged between the structures (7, 8, 9) of the gimbal (3). This allows the free rotation of the structures if you have to return to starting positions to avoid tangling of cables, which is a typical problem of wired connections.
    [0086]
    [0087] The actuator elements (76, 86, 96) preferably comprise stepper motors with 1/50 encoders arranged on their primary axis. Said encoders very preferably comprise direct reading encoders (purely magnetic, without mechanisms).
    [0088]
    [0089] It is provided that the system (1) can optionally incorporate an artificial vision system (40) (see fig 1) that can serve to refine the pointing in motion. Said artificial vision system (40) in this example comprises a second image sensor (41) and an image processor (42) for identifying the object in the scene and calculating the deviation from the expected position by the processing unit (4). ).
    [0090]
    [0091] The flight inspection procedure of the invention, which is implemented in system (1) of the invention, comprises the following steps carried out in a processing unit (4):
    [0092] -introduce previously the coordinates of the object or objects to be registered, and the image-taking alignments that define the points of view from which you want to register images of the object,
    [0093] -Get the GPS position of the aircraft from a GPS system (5) with double pickup with refined position, and from the position readings also get the height of the aircraft, its trajectory, its speed and its angle of guinada,
    [0094] - obtaining accelerations in the three axes of the aircraft from an inertial unit (6), and obtaining from them the pitch and roll angles of the aircraft,
    [0095] - predict the next position of the aircraft (GPS position and navigation angles), and calculate the pointing direction of the bpt sensor (2) to the previously entered coordinates of the object to be registered,
    [0096] -determination of a differential PID for driving the gimbal (3) to align the sensor (2) with said pointing direction
    [0097] -compair the aiming direction calculated with the alignments entered and take an image shot by the sensor (2) in case of coincidence with any of them, and - return successively to the obtaining stage in the GPS position of the aircraft for perform the next programmed image pickup.
    [0098]
    [0099] The prediction of the next posture of the aircraft and the calculation of the pointing direction of the bpt sensor to the previously entered coordinates of the object to be recorded are most preferably carried out by a kalman filter with, at least, the following entries:
    [0100] -Position and speed,
    [0101] -angle of guinada,
    [0102] - rotated system position, speed of rotation and accelerations in the three axes,
    [0103] -position of the sensor (2) in the gimbal (3) (by means of the encoders arranged in all the axes of the gimbal (3).
    [0104] -weather
    [0105] -coordinates of the objects and alignments of taking of images,
    [0106] and whose outputs are the position of the aircraft, and the direction of aiming the set of cameras at each instant.
    [0107] The working process of a kalman filter is known, and by means of which the position and orientation of the gimbal (3) at a given moment is obtained using the navigation equations of the aircraft extended to the rotations of the gimbal, so that, in each input reading that is received, the algorithm filters them and predicts the states at a later time.
    [0108] The additional provision of a step of tracking the object in the images taken comprising the following sub-steps has been foreseen:
    [0109] -looking at the images taken for established reference points of the object by artificial vision system,
    [0110] -determining the deviation of the position of said reference points from the position expected in the image by means of the artificial vision system, and
    [0111] - send the deviation obtained to the processing unit for correction of its estimates. In this way you can correct deviations in the predictions made by the kalman filter.
    [0112]
    [0113] In order to make measurements on the images taken, and given the use in the system (1) of a variable optics (20), the procedure provides for an optional step of adjusting said optics (20) for adjustment to a fixed real size (this is, to adjust a constant GSD, or real distance equivalent to a pixel) so that counting the number of pixels in one direction gives a distance measurement in the image, in said direction (photogrammetry)
    [0114]
    [0115] Notwithstanding the foregoing, and since the described description corresponds only to a preferred embodiment of the invention, it will be understood that within its essential nature multiple variations of detail, also protected, could be introduced, which could affect the shape, size or the materials of manufacture of the assembly or its parts, without this implying any alteration of the invention as a whole, limited only by the claims that are provided in the following.
    权利要求:
    Claims (18)
    [1]
    1. - Flight inspection system (1), of the type comprising, at least, an optical sensor (2) for taking images mounted on a gimbal (3) in turn mounted on an aircraft; characterized because:
    -the gimbal (3) comprises a sensor orientation mechanism of at least three axes, with suppression of clearances, and
    the gimbal (3) is controlled by a processing unit (4) comprising, at least, a GPS (5) of double captation with position refinement and an inertial unit (6) provided with gyroscopes and accelerometers, and
    the processing unit (4) comprising an interface for introducing operating parameters, said parameters comprising at least the absolute coordinates of the object, and the alignments of the desired points of view.
    [2]
    2. System (1) flight inspection according to claim 1 characterized in that it comprises a means of storing or retransmission of the images taken.
    [3]
    3. Flight inspection system (1) according to any of the previous claims, characterized in that it comprises a variable optics (20) associated to the sensor (2) and a control of activation of the bptica (20) for adjustment to a fixed real distance
    [4]
    4. Flight inspection system (1) according to any of the preceding claims, characterized in that the mechanism with suppression of clearances comprises, in at least one of its positioning axes, at least two actuating elements (76, 86, 96). ) of opposite driving directions fed with different powers; while the driven output of said shaft comprises a single functional driven shaft.
    [5]
    5. - Flight inspection system (1) according to claim 4, characterized in that the processing unit (4)) comprises a variable regulator as a function of the speeds of rotation for the differential power supply to the motors of the actuating elements (76). , 86, 96)
    [6]
    6. Flight inspection system (1) according to any of the preceding claims, characterized in that the mechanism with suppression of clearances comprises a first structure (7) rotatable according to a first vertical positioning axis (70) of yaw (yaw), a second rotatable structure (8) according to a second axis (80) of horizontal positioning of pitch (pitch) and a third structure (9) rotating according to a third axis (90) of variable positioning of roll (roll)
    [7]
    7. - Flight inspection system (1) according to claim 6 characterized in that the first rotating structure (7) comprises two bases (71, 72), one upper and one lower, in contact through a common first bearing (73) ; the upper base (71) comprising anchors (74) for direct or indirect attachment to the aircraft; and the second structure (8) being fixed in the lower base (72); and comprising on one of the bases jointly a first crown (75) concentric to the first axis (70), and on the other base jointly two first actuator elements (76).
    [8]
    8. Flight inspection system (1) according to claim 6 or 7, characterized in that the second rotating structure (8) comprises two opposite arms (81) provided at their ends with an axle carrier (82) for fixing the third structure (9). ); comprising, at least, one of said arms (81) a transmission (83) mechanically coupled to an axial gear (91) belonging to the third structure (9) and whose supporting axis coincides with the second pitch axis (80) and it is supported on the axle carrier (82); two actuating elements (86) being mechanically coupled to said transmission (83).
    [9]
    9. - Flight inspection system (1) according to any of claims 6 to 8 characterized in that the third rotating structure (9) comprises two hollow and concentric cylindrical sectors (91, 92), an outer sector (91) mounted on the carrier (82) of the second structure (8) rotatably about the second pitch axis (80) for rotating support of the third structure (9) around this second axis (80) and a concentrically rotating inner sector (92) with respect to the outer sector (91) around the third axis (90) of warping; comprising in the interior sector (92), at least, a first support (93) for fixing the optical sensor (2) and a second support (94) for setting the optics (20) variable for the sensor (2); comprising in one of the sectors (91, 92) a second crown (95) concentric with the third axis (90) of warping and in the other sector two third actuating elements (96).
    [10]
    10. System (1) of flight inspection according to claim 9, characterized in that each hollow cylindrical sector (91, 92) comprises two pianos (97), parallel to each other, joined by fixing bars (98); comprising second bearings (99) ring pianos interposed between the inner faces of the rings (97) of the outer sector (91) and the outer faces of the rings (97) of the inner sector (92)
    [11]
    11. - Flight inspection system (1) according to any of claims 6 to 10, characterized in that the power and data connections to the sensors (2) and optics (20) are materialized by circular collectors and contact slots against said collectors arranged between the structures (7, 8, 9) of the gimbal (3).
    [12]
    12. Flight inspection system (1) according to any of claims 4 to 11, characterized in that the actuator elements (76, 86, 96) comprise stepper motors with 1/50 encoders arranged on their primary axis.
    [13]
    13. Flight inspection system (1) according to any of the preceding claims, characterized in that it optionally includes an artificial vision system (40)
    [14]
    14. - Flight inspection system (1) according to claim 13, characterized in that the artificial vision system (40) comprises a second image sensor (41) and an image processor (42) to identify the object in the scene and calculate the deviation from the position expected by the processing unit (4).
    [15]
    15-Flight inspection procedure characterized in that it comprises the following steps carried out in a processing unit (4):
    -introduce previously the coordinates of the object or objects to be registered, and the image-taking alignments that define the points of view from which you want to record images of the object,
    -To obtain the GPS position of the aircraft from a GPS system (5) of double captation with refined position, and from the position readings also obtain the height of flight of the aircraft, its trajectory, its speed and its angle of Guiftada,
    -acquire accelerations in the three axes of the aircraft from an inertial unit (6), and obtain from them the pitch and roll angles of the aircraft,
    - predict the next position of the aircraft, and calculate the pointing direction of the sensor (2) bptico to the previously entered coordinates of the object to be registered, -determination of a differential PID for driving the gimbal (3) to align the sensor (2) with said pointing direction,
    -compare the direction of aiming calculated with the alignments entered and make an image capture by the sensor (2) in case of coincidence with any of them, and - return successively to the stage of obtaining the GPS position of the aircraft for perform the next programmed image pickup.
    [16]
    16. Flight inspection procedure according to claim 15, characterized in that the prediction of the following posture of the aircraft and the calculation of the pointing direction of the bpt sensor to the previously entered coordinates of the object to be registered are made by a kalman filter with , at least, the following entries:
    -Position and speed,
    -angle of guinada,
    - rotated system position, speed of rotation and accelerations in the three axes,
    -position of the sensor (2) in the gimbal (3),
    -weather,
    -coordinates of the objects and alignments of taking pictures,
    and whose outputs are the position of the aircraft, and the direction of aiming of the set of cameras at each moment.
    [17]
    17. Flight inspection procedure according to claim 15 or 16, characterized in that it comprises an additional step of tracking the object in the images taken, comprising the following sub-steps:
    -search in the images taken a set reference points of the object by artificial vision system,
    -determine the deviation of the position of said reference points with respect to the position expected in the image by means of the artificial vision system, and
    - send the deviation obtained to the processing unit (4).
    [18]
    18. Flight inspection procedure according to claim 15, 16 or 17, characterized in that it comprises a step of adjusting a bptica associated with the sensor (2) for adjustment to a fixed real size in order to be able to adjust the size of the image taken for measurement of distances by photogrammetry
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    同族专利:
    公开号 | 公开日
    ES2711004B2|2020-06-11|
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