CN118032063B

CN118032063B - Wind power equipment transportation topography measurement system and method based on unmanned aerial vehicle oblique photography

Info

Publication number: CN118032063B
Application number: CN202410436803.5A
Authority: CN
Inventors: 刘小林; 黄子胜; 黄佩兵; 付俊峰; 李强; 李志伟
Original assignee: Power China Jiangxi Hydropower Engineering Bureau Co ltd
Current assignee: Power China Jiangxi Hydropower Engineering Bureau Co ltd
Priority date: 2024-04-12
Filing date: 2024-04-12
Publication date: 2024-06-14
Anticipated expiration: 2044-04-12
Also published as: CN118032063A

Abstract

The application relates to a wind power equipment transportation topography measurement system and method based on unmanned aerial vehicle oblique photography. The server receives a soil detection instruction sent by the transport vehicle; analyzing the soil detection instruction, determining a detection road section, and controlling the terrain detection equipment to perform soil detection on the detection road section to obtain soil data; the detection road section is a road section to be reached by the transport vehicle; processing and analyzing the soil data to determine whether to perform route adjustment and/or road surface finishing; if it is determined to perform the route adjustment and/or the road surface finishing, outputting a route adjustment plan and/or a road surface finishing instruction. According to the application, the unmanned aerial vehicle is provided with the terrain detection equipment, so that the terrain of the road section to be reached by the transport vehicle is detected, whether the detected road section needs to be subjected to route adjustment and/or road surface finishing is determined, and the route adjustment and/or the road surface finishing is timely carried out, so that the transport vehicle can safely and stably run.

Description

Wind power equipment transportation topography measurement system and method based on unmanned aerial vehicle oblique photography

Technical Field

The application relates to the technical field of wind power equipment transportation, in particular to a wind power equipment transportation topography measurement system and method based on unmanned aerial vehicle oblique photography.

Background

The wind power equipment mainly comprises fan blades, hubs, towers and the like, each part belongs to overrun objects in common highway transportation, and special vehicles are required to be adopted for transportation. In the actual transportation process, the wind energy resources are rich in areas which are far away, the road condition is severe, the mountain-coiling highway is staggered, the road is narrow, the transportation equipment is overlong, the turning is easy to cause, and the danger coefficient is large.

In the prior art, in the transportation process of wind power equipment, a plurality of accompanying vehicles and a plurality of accompanying persons are generally equipped so as to ensure the safe and stable running of the transportation vehicles of the wind power equipment.

However, when an emergency is met, observation, regulation and control are needed by a follower beside the transportation of the wind power equipment. Because the transportation vehicle of the wind power equipment has large volume and more vision blind areas. Therefore, the accompanying personnel are easily accidentally injured by wind power equipment or transport vehicles in the observation process, the risk coefficient is large, the transport efficiency is influenced, and the improvement is needed.

Disclosure of Invention

The application provides a wind power equipment transportation topography measurement system and method based on unmanned aerial vehicle oblique photography, which are used for reducing the risk coefficient in the transportation process of wind power equipment and improving the transportation efficiency.

In a first aspect, the present application provides a wind power equipment transportation topography measurement method based on unmanned aerial vehicle oblique photography, which is applied to a wind power equipment transportation topography measurement system based on unmanned aerial vehicle oblique photography, wherein the wind power equipment transportation topography measurement system comprises an unmanned aerial vehicle and a server, the unmanned aerial vehicle comprises a topography detection device, and the wind power equipment transportation topography measurement method based on unmanned aerial vehicle oblique photography is applied to the server, and the method comprises:

receiving a soil detection instruction sent by a transport vehicle;

analyzing the soil detection instruction, determining a detection road section, and controlling the terrain detection equipment to perform soil detection on the detection road section to obtain soil data; the detection road section is a road section to be reached by the transport vehicle;

processing and analyzing the soil data to determine whether to perform route adjustment and/or road surface finishing;

If it is determined to perform the route adjustment and/or the road surface finishing, outputting a route adjustment plan and/or a road surface finishing instruction.

The technical scheme has the following advantages:

By equipping the terrain detection equipment on the unmanned aerial vehicle, before the transport vehicle arrives, the terrain of the road section to be arrived is detected, whether the road section to be detected needs to be subjected to route adjustment and/or road surface finishing is determined through detection, and route adjustment and/or road surface finishing is timely carried out, so that the transport vehicle can safely and stably run, the transport vehicle does not need to carry the terrain detection equipment along with the accompanying personnel, walks on rugged and complex mountain roads, danger coefficients are reduced, transport efficiency is improved, and compared with the transport vehicle in the prior art, the transport vehicle has higher flexibility and safety through observation of the accompanying personnel.

Optionally, the terrain detection device includes a sampler and a pressure sensor, the wind power device transportation terrain measurement system includes a road surface finishing device, analyzes the soil detection instruction, determines a detection road section, controls the terrain detection device to perform soil detection on the detection road section to obtain soil data, and includes:

According to the soil detection instruction, controlling a sampler to sample soil of the detection road section to obtain a sampling result;

according to the sampling result, obtaining soil data;

the processing analysis is carried out on the soil data to determine whether to carry out route adjustment and/or road surface finishing, and the processing analysis comprises the following steps:

determining an actual soil density value according to the soil data, comparing the actual soil density value with a preset normal soil density value, and judging whether to perform route adjustment and/or road surface finishing according to a comparison result;

If the actual soil density value is smaller than the preset normal soil density value, outputting a road surface finishing instruction to control the road surface finishing device to harden the soil;

If the actual soil density value is larger than or equal to the preset normal soil density value, outputting a pressure test instruction to control the pressure sensor to perform pressure test on the soil of the detection road section, and judging whether pavement finishing is performed or not according to a test result.

The technical scheme has the following advantages:

Accurately evaluating the soil condition of a wind power equipment transportation road through unmanned aerial vehicle sampling and professional soil analysis; according to the soil density comparison result, intelligently deciding whether to carry out pavement finishing or not, and ensuring the road bearing capacity; meanwhile, the soil bearing capacity is comprehensively evaluated through pressure test, and potential problems are timely found, so that the safety and stability of transportation of wind power equipment are ensured.

Optionally, the determining whether to perform pavement finishing according to the test result includes:

Determining an actual soil depression value according to the test result;

Comparing the actual soil pressing value with a preset normal pressing value, and judging whether pavement finishing is performed or not according to a comparison result;

and if the actual soil pressing value is larger than the preset normal pressing value, outputting a pavement finishing instruction to control the pavement finishing device to harden the soil of the detected road section.

The technical scheme has the following advantages:

the actual soil pressing value is obtained through a pressure test and is compared with a preset normal pressing value, whether pavement finishing is needed or not is intelligently judged, and if the actual soil pressing value exceeds a normal range, a finishing instruction is output, so that the road can safely bear wind power equipment; the scheme is efficient and accurate, can obviously reduce transportation risk and ensures smooth proceeding of wind power projects.

Optionally, the unmanned aerial vehicle includes a hardening density detection apparatus, and the method further includes:

analyzing the pavement finishing instruction, determining a hardening treatment scheme according to an analysis result, and sending the hardening treatment scheme to a pavement finishing device;

Controlling the pavement finishing device to carry out hardening treatment according to the hardening treatment scheme, and controlling the hardening density detection equipment to carry out hardening density detection on hardened soil after the hardening treatment is completed;

Receiving a detection result of the hardening density detection equipment, and determining whether hardening is qualified or not according to the detection result;

And if the soil is not hardened, outputting a second road surface finishing instruction to control the road surface finishing device to carry out secondary hardening treatment on the soil of the detected road section according to the second road surface finishing instruction.

The technical scheme has the following advantages:

By deeply analyzing the road surface finishing instructions, an accurate hardening treatment scheme is formulated, and the road surface finishing device is controlled to implement; after hardening, the hardening quality is ensured by using hardening density detection equipment, and if the hardening quality is not qualified, a second pavement finishing instruction is timely sent out for secondary hardening; the process not only improves the accuracy of hardening treatment, but also ensures the transportation safety of wind power equipment, and effectively reduces the risk caused by road surface problems.

Optionally, the hardening density detection apparatus includes a tilt photographing mechanism, and after the hardening treatment is completed, the hardening density detection apparatus is controlled to perform hardening density detection on hardened soil, including:

after the hardening treatment is finished, sending an image acquisition instruction to the oblique photographing mechanism;

controlling the oblique photographing mechanism to photograph the image of the hardened road surface according to the image acquisition instruction to obtain a field image of the hardened road surface;

analyzing the field image to obtain soil hardening density data; the soil hardening density data comprises an initial crushed stone density value;

And determining whether hardening is qualified according to the detection result, comprising the following steps:

Comparing the initial crushed stone density value with a preset crushed stone density value, and judging whether the crushed stone density value is qualified or not according to a comparison result;

And if the hardening is not qualified, outputting a second pavement finishing instruction, wherein the second pavement finishing instruction comprises:

And if the initial broken stone density value is smaller than the preset broken stone density value, outputting a second pavement finishing instruction according to the current hardening condition.

The technical scheme has the following advantages:

By the method provided by the embodiment, the pavement hardening effect can be accurately detected and evaluated, and the secondary hardening treatment is timely performed according to the detection result, so that the stability and the safety of the transportation route of the wind power equipment are improved, the transportation risk is reduced, and the smooth transportation of the wind power equipment is ensured.

Optionally, the oblique photographing mechanism comprises an infrared camera, and the method further comprises:

when the transport vehicle runs on the hardened road surface, controlling the oblique photographing mechanism to photograph the transport vehicle in real time, and obtaining an actual picture of the transport vehicle;

After hardening treatment, a coordinate system is established by taking the hardened road surface as an X axis and the direction vertical to the hardened road surface as a Y axis, and real-time analysis is carried out on the actual picture to obtain an inclination angle;

Comparing the inclination angle with a preset inclination angle threshold value, and judging whether the transport vehicle is abnormally inclined or not;

If the real-time inclination angle of the transport vehicle is larger than a preset inclination angle threshold value, determining that the transport vehicle is abnormally inclined, controlling the transport vehicle to brake, sending an inspection instruction to an infrared camera, and controlling the infrared camera to inspect the transport vehicle according to the inspection instruction to obtain specific inspection data;

Receiving the specific inspection data, analyzing the specific inspection data, and determining a specific inclination reason of the transport vehicle;

the transport vehicle, and/or the road surface, is adjusted according to the specific inclination of the transport vehicle.

The technical scheme has the following advantages:

Through tilting photographic mechanism and infrared camera, realize carrying out real-time supervision and anomaly detection to the running state of transport vehicle on the road surface after the hardening treatment, once the transport vehicle takes place the unusual slope, can take corresponding processing measure immediately, guarantee the safety and the smooth going on of transportation.

Optionally, the wind power plant transportation topography measurement system comprises a soil filling device, the method further comprising:

before the transport vehicle reaches the steep slope, controlling a tilt photographing mechanism to photograph the steep slope to obtain an image of the steep slope;

Analyzing the image of the steep slope to determine the gradient of the steep slope and the horizontal distance between the transport vehicle and the bottom of the steep slope;

the method comprises the steps of calling data of wind power equipment and data of a transport vehicle in a preset database, and determining the height of the transport vehicle, the length of the wind power equipment and the inclination angle of the wind power equipment during transportation;

determining whether touch is generated between the transport vehicle and the abrupt slope according to the height of the transport vehicle, the length of the wind power equipment, the inclination angle of the wind power equipment during transportation, the gradient of the abrupt slope and the horizontal distance between the transport vehicle and the bottom of the abrupt slope;

Will be And/>Comparison is performed:

If it is </>The tail of the wind power equipment cannot touch the steep slope;

If it is ≥/>The tail of the wind power equipment may touch a steep slope.

Wherein,Vertical height representing lowest point of tail of wind power equipment,/>Representing the vertical distance of the steep slope;

Wherein, The height of the transportation vehicle, the length of the wind power equipment and the inclination angle of the wind power equipment during transportation can be used, and the following formula can be specifically referred to:

;

Wherein, Is the vertical height of the lowest point of the tail of the wind power equipment,/>In order to transport the height of the vehicle,For the length of wind power equipment,/>The inclination angle of the blade during transportation;

Wherein, The gradient of the steep slope and the horizontal distance between the transport vehicle and the bottom of the steep slope can be used for obtaining, and the following formula can be specifically referred to:

;

Wherein, Representing the vertical distance of a steep slope,/>Is the inclination angle of abrupt slope,/>A horizontal distance from the transport vehicle to the bottom of the steep slope;

If the wind power equipment is determined to touch the steep slope, controlling soil filling equipment to fill soil into the steep slope, and reducing the gradient of the steep slope;

After the filling is completed, the transport vehicle is controlled to continue traveling.

The technical scheme has the following advantages:

The state of the transport vehicle and the state of the steep slope are continuously monitored, and corresponding adjustment is made according to actual conditions, so that the safety and smooth running of the transport process are ensured.

Optionally, the analyzing the field image to obtain soil hardening density data includes:

Receiving the live image;

Analyzing the field image to obtain three-dimensional data of the field image;

Generating a three-dimensional model of the mountain road surface according to the three-dimensional data;

And analyzing the three-dimensional model of the mountain road surface, extracting distribution density information of broken stone, and obtaining soil hardening density data.

The technical scheme has the following advantages:

the method can realize high-efficiency and accurate image shooting and analysis on the hardened pavement to obtain soil hardening density data, the data are helpful for knowing hardening conditions of the pavement in time, possible problems are found and solved, and safe and smooth transportation of wind power equipment is ensured.

Optionally, the transport vehicle comprises a cleaning mechanism, the method further comprising:

when rainfall is sudden in the travelling process of the transport vehicle, controlling the oblique photographing mechanism to photograph wheels of the transport vehicle in real time;

Receiving a shooting picture of the oblique shooting mechanism;

And judging whether to control the cleaning mechanism to clean the soil adhered to the wheels of the transport vehicle according to the shot picture.

The technical scheme has the following advantages:

through real-time monitoring and intelligent control, emergency is effectively handled, and transportation safety and stability are ensured.

In a second aspect, the present application provides a wind power equipment transportation topography measurement system based on unmanned aerial vehicle oblique photography, comprising:

the receiving module is used for receiving a soil detection instruction sent by the transport vehicle;

The instruction analysis module is used for analyzing the soil detection instruction, determining a detection road section, and controlling the terrain detection equipment to perform soil detection on the detection road section to obtain soil data;

The data processing analysis module is used for processing and analyzing the soil data and determining whether to adjust a route and/or repair a road surface;

and the output module is used for outputting a route adjustment plan and/or a road surface finishing instruction when the route adjustment and/or the road surface finishing are/is determined.

Optionally, the data processing analysis module is specifically configured to:

according to the sampling result, obtaining soil data;

Optionally, the data processing analysis module is specifically configured to:

Determining an actual soil depression value according to the test result;

Optionally, the system further comprises a road surface hardening control and monitoring module for:

Optionally, the data processing analysis module is specifically configured to:

Optionally, the system further comprises a tilt monitoring and adjustment module for:

After hardening treatment, a coordinate system is established by taking the hardened pavement as an X axis and the direction vertical to the hardened pavement as a Y axis, and real-time analysis is carried out on the actual picture according to the coordinate system to obtain an inclination angle;

Optionally, the system further comprises a steep slope safety traffic control module for:

Will be And/>Comparison is performed:

If it is </>The tail of the wind power equipment cannot touch the steep slope;

If it is ≥/>The tail of the wind power equipment may touch a steep slope;

Wherein, Vertical height representing lowest point of tail of wind power equipment,/>Representing the vertical distance of the steep slope;

;

Optionally, the data processing analysis module is specifically configured to:

Receiving the live image;

Analyzing the field image to obtain three-dimensional data of the field image;

Optionally, the system further comprises a cleaning control module for:

Receiving a shooting picture of the oblique shooting mechanism;

The technical scheme adopted by the application has the following advantages:

according to the application, the terrain detection equipment is arranged on the unmanned aerial vehicle, the terrain of the road section to be reached is detected before the transport vehicle arrives, whether the detected road section needs to be subjected to route adjustment and/or road surface finishing can be determined through detection, and the route adjustment and/or the road surface finishing can be timely carried out, so that the transport vehicle can safely and stably run, and therefore, a follower does not need to carry the terrain detection equipment, the transport vehicle walks on rugged and complex mountain roads, the danger coefficient is reduced, the transport efficiency is improved, and compared with the transport vehicle observed by the follower in the prior art, the transport vehicle has higher flexibility and safety.

According to the method, the soil condition of the transportation road of the wind power equipment is accurately estimated through unmanned aerial vehicle sampling and professional soil analysis; according to the soil density comparison result, intelligently deciding whether to carry out pavement finishing or not, and ensuring the road bearing capacity; meanwhile, the soil bearing capacity is comprehensively evaluated through pressure test, and potential problems are timely found, so that the safety and stability of transportation of wind power equipment are ensured.

According to the method, the actual soil depression value is obtained through a pressure test, and is compared with the preset normal depression value, whether pavement trimming is needed or not is intelligently judged, if the actual soil depression value exceeds the normal range, a trimming instruction is output, and the safety bearing of wind power equipment on a road is ensured; the scheme is efficient and accurate, can obviously reduce transportation risk and ensures smooth proceeding of wind power projects.

The application makes an accurate hardening treatment scheme by deeply analyzing the road surface finishing instruction, and controls the road surface finishing device to implement; after hardening, the hardening quality is ensured by using hardening density detection equipment, and if the hardening quality is not qualified, a second pavement finishing instruction is timely sent out for secondary hardening; the process not only improves the accuracy of hardening treatment, but also ensures the transportation safety of wind power equipment, and effectively reduces the risk caused by road surface problems.

The method can realize accurate detection and evaluation of the road surface hardening effect, and carry out timely secondary hardening treatment according to the detection result, thereby being beneficial to improving the stability and safety of the transportation route of the wind power equipment, reducing the transportation risk and ensuring the smooth transportation of the wind power equipment.

According to the application, through the oblique photographing mechanism and the infrared camera, real-time monitoring and abnormal detection of the running state of the transport vehicle on the hardened road surface are realized, and once abnormal inclination of the transport vehicle is found, corresponding treatment measures can be immediately taken, so that the safety and smooth running of the transport process are ensured.

According to the application, the states of the transport vehicle and the steep slope are continuously monitored, and corresponding adjustment is made according to actual conditions, so that the safety and smooth proceeding of the transport process are ensured.

The application can realize high-efficiency and accurate image shooting and analysis on the hardened road surface to obtain the soil hardening density data, which is helpful for people to know the hardening condition of the road surface in time, discover and solve the possible problems and ensure the safe and smooth transportation of wind power equipment.

The application effectively handles emergency through real-time monitoring and intelligent control, and ensures the safety and stability of transportation.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a flowchart of a wind power equipment transportation topography measurement method based on unmanned aerial vehicle oblique photography according to an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a wind power equipment transportation topography measurement system based on unmanned aerial vehicle oblique photography according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the application are described in further detail below with reference to the drawings.

However, when an emergency is met, observation, regulation and control are needed by a follower beside the transportation of the wind power equipment. Because the transportation vehicle of the wind power equipment has large volume and more vision blind areas. Therefore, the detection equipment with a certain weight is required to be carried by the follower, the periphery of the transport vehicle is observed and detected for a long time, and when the follower walks on a rugged mountain road with the detection equipment with a certain weight, the phenomenon of road collapse is easily encountered, and danger is encountered; moreover, the accompanying personnel are easily accidentally injured by wind power equipment or transport vehicles in the observation process, the risk coefficient is large, the transport efficiency is influenced, and the improvement is needed.

Based on the method, the wind power equipment transportation topography measuring system and method based on unmanned aerial vehicle oblique photography are provided, topography detection equipment is arranged on the unmanned aerial vehicle, topography of a road section to be arrived is detected before the transportation vehicle arrives, whether route adjustment and/or road surface trimming are needed for the detected road section can be determined through detection, and route adjustment and/or road surface trimming are/is timely carried out, so that the transportation vehicle can safely and stably run, and accordingly a follower does not need to carry the topography detection equipment, walk on a rugged and complex mountain road, danger coefficients in the transportation process of the wind power equipment are reduced, and transportation efficiency is improved.

Figure 1 is a schematic view of an application scenario provided by the present application,

In the process of transporting wind power equipment, the scheme of the application is applied to transportation. Specifically, a transportation vehicle terminal, a server, an unmanned aerial vehicle and a terrain detection device are arranged in the wind power equipment transportation terrain measurement system to communicate, so that the wind power equipment transportation method is jointly realized, risk coefficients in the wind power equipment transportation process are reduced, and transportation efficiency is improved. Reference may be made to the following examples for specific implementation.

Fig. 2 is a flowchart of a wind power equipment transportation topography measurement method based on unmanned aerial vehicle oblique photography according to an embodiment of the present application, where the method of the present embodiment may be applied to a server in the above scenario. As shown in fig. 2, the method includes:

s201, receiving a soil detection instruction sent by the transport vehicle.

Wherein the soil detection instructions may be considered specific instructions and requirements issued by the transport vehicle for a particular area or parcel; the method can contain detailed information such as the position, sampling depth, sampling method, detection project and the like of the sampling points so as to ensure the accuracy and effectiveness of soil detection work.

The transport vehicle may be considered as a special vehicle for transporting wind power equipment specially, and in order to ensure convenience of soil sampling detection, a corresponding detection vehicle may be equipped in front of the transport vehicle to perform soil detection or other detection work, where the detection vehicle includes a soil analysis instrument and other detection instruments that may be involved.

In order to ensure the safety of the transport vehicle and the wind power equipment, the transport vehicle sends out a soil detection instruction before the transport vehicle loaded with the wind power equipment runs to a mountain road with complex terrain.

S202, analyzing the soil detection instruction, determining a detection road section, and controlling the terrain detection equipment to perform soil detection on the detection road section to obtain soil data.

The detection section may be a section to be reached by the transport vehicle.

The terrain detection equipment can be a special instrument for measuring and analyzing the terrain characteristics, can comprise a GPS positioning device, a laser scanner, a soil detector and other sensors and tools, and can acquire detailed information such as the geographic position, the height, the gradient, the landform and the like of a detected road section.

The soil data may be a series of information about the nature and state of the soil obtained by soil detection, and may include various aspects of the density, moisture content, texture, structure, etc. of the soil.

The soil detection instruction is analyzed, and the specific position of the road section to be detected is determined by the following method:

interpreting the soil detection instruction, and determining information about the road section position in the soil detection instruction;

positioning road section: determining a specific position of a road section on a map according to information in a soil detection instruction by using a GIS or map tool;

Arranging sampling points: according to road section conditions and soil detection instruction requirements, uniformly arranging sampling points to cover the whole road section;

Recording and verification: recording analysis results, and checking with soil detection instructions to ensure no errors.

After the detection road section is determined, controlling the terrain detection equipment to perform soil detection on the detection road section, and obtaining various data of the soil.

S203, processing and analyzing the soil data to determine whether to perform route adjustment and/or road surface finishing.

Processing and analyzing various data of the obtained soil, determining whether to replace a driving route in time according to an analysis result, and/or finishing a road surface to continue passing, wherein the method can be realized in the following manner:

Data screening and cleaning: abnormal values, repeated items and irrelevant information are removed from the obtained soil data, and the accuracy and the reliability of the data are ensured;

Index analysis and comparison: according to key indexes (such as soil texture, nutrient content, pollutant level and the like) in the soil data, comparing the key indexes with standard values or historical data, and analyzing the soil quality condition;

risk assessment and prediction: based on the analysis result, evaluating potential risks of the current soil conditions on the running of the transport vehicle, such as road surface stability, sliding risks and the like, and predicting possible problems;

Decision support and advice: and combining the risk assessment and the prediction result, providing decision support for whether to carry out route adjustment or road surface finishing, and providing corresponding suggestions or measures.

S204, if the route adjustment and/or the road surface finishing are determined, outputting a route adjustment plan and/or a road surface finishing instruction.

The route adjustment plan may be considered as adjusting the current travel route to select a safe, appropriate route.

The road surface finishing instruction can be regarded as specific instructions and requirements sent for specific areas or plots; the location of the dressing, method details of the dressing may be included to ensure the accuracy and effectiveness of the pavement dressing operation.

And if the road surface can be continuously passed after finishing, sending out a road surface finishing instruction.

If the normal traffic is not possible, an output route adjustment plan is sent out, and the driving route is replaced in time.

According to the method provided by the embodiment, the terrain detection equipment is arranged on the unmanned aerial vehicle, the terrain of the road section to be reached is detected before the transport vehicle arrives, whether the road section to be detected needs to be subjected to route adjustment or not and/or road surface finishing is determined through detection, and route adjustment and/or road surface finishing is performed timely, so that the transport vehicle can safely and stably run, and therefore the transport vehicle does not need to carry the terrain detection equipment along with the transport vehicle, walks on rugged and complex mountain roads, danger coefficients are reduced, transport efficiency is improved, and compared with the transport vehicle observed through the following person in the prior art, the transport vehicle has higher flexibility and safety.

In some embodiments, the control sampler samples soil of the detection road section according to the soil detection instruction to obtain a sampling result; according to the sampling result, obtaining soil data; determining an actual soil density value according to the soil data, comparing the actual soil density value with a preset normal soil density value, and judging whether to perform route adjustment and/or road surface finishing according to a comparison result; if the actual soil density value is smaller than the preset normal soil density value, outputting a road surface finishing instruction to control the road surface finishing device to harden the soil; if the actual soil density value is larger than the preset normal soil density value, outputting a pressure test instruction to control the pressure sensor to perform pressure test on the soil of the detection road section, and judging whether to perform pavement finishing according to the test result.

The terrain detection equipment comprises a sampler and a pressure sensor, and the wind power equipment transportation terrain measurement system comprises a pavement finishing device;

Wherein, the actual soil density value; the actual soil density value is a soil density value obtained by measuring a soil sample through a detection vehicle after the soil sample is collected through a sampler at a detection road section.

The preset normal soil density value is preset according to the transportation requirement of the wind power equipment and the soil characteristics and is used for judging whether the soil is suitable for transportation.

The sampler can be a non-disturbance sampler which is specially designed for keeping the soil undisturbed, and can reduce disturbance to the soil in the sampling process, so that the internal structure of the soil is kept as much as possible.

The pressure sensor can be a device or a device which can sense pressure signals and convert the pressure signals into usable output electric signals according to a certain rule; in soil pressure measurement, the pressure sensor can test the bearing capacity of soil through the sensing element and send out processed signals through the circuit.

Among them, the road surface finishing device may be considered to mean a dedicated mechanical device for repairing and reinforcing the road surface or soil. When the actual soil density value is detected to be lower than the preset normal soil density value, the pavement finishing device is started to harden the soil, such as compacting, grouting or other enhancement measures, so as to improve the density and bearing capacity of the soil.

Specifically, because wind power equipment is generally installed in mountain areas with rich wind energy resources, and the mountain areas have no existing roads, new development roads are needed; considering that the volume of the wind power equipment is overlarge, and considering the development speed and the development cost, a mountain-climbing road is generally selected to be developed, and the softness of soil cannot be ensured, namely the soil density cannot be ensured.

Therefore, before the transport vehicle reaches the mountain-climbing road, the unmanned aerial vehicle is controlled to move to a detection road section according to a soil detection instruction, the sampler is controlled to sample the detection road section, namely the transport vehicle reaches the road section according to the soil detection instruction, and the sampler collects soil samples at a plurality of different positions through the mechanical arm and the drill bit in the transport vehicle, so that the representativeness of sampling results is ensured;

After sampling is completed, controlling the unmanned aerial vehicle to carry a sampler to send a soil sample to a following detection vehicle, and carrying out detailed analysis on a sampling result on the detection vehicle through a professional soil analysis instrument to obtain soil data, wherein the soil data comprises key information such as soil density, water content, components and the like;

the detailed analysis of the sampling result can be realized in the following manner:

Sample preparation: receiving a soil sample sent by an unmanned aerial vehicle, and ensuring that the sample is not polluted or damaged in the transportation process; carrying out proper treatment on the sample, such as removing impurities such as large stones, root systems and the like, and drying or drying at low temperature to ensure the stability and preservability of the sample;

physical property analysis: measuring soil density by using a related instrument, and measuring the water content of the soil by using a hygrometer or a drying method;

Mineral composition analysis: analyzing mineral composition in soil by using an X-ray diffractometer, an infrared spectrometer and other equipment to know the main mineral type and content of the soil;

data analysis and arrangement: all analysis data are arranged into a table or a report, so that the subsequent comparison and interpretation are convenient.

Then, calculating an actual density value of the soil according to the soil data, and comparing the actual density value of the soil with a preset normal soil density value;

If the actual soil density value is lower than the preset normal soil density value, judging that the soil of the road section is too soft and can not effectively support transport vehicles to pass, and outputting a road surface finishing instruction at the moment; subsequently, the road surface finishing device is controlled to harden the soil of the detected road section according to the road surface finishing instruction.

Wherein, the concrete mode of hardening treatment is as follows:

Compaction of the soil may be performed using a road surface conditioning device;

Some hardening materials such as broken stone, cement and the like can be added to the pavement to enhance the bearing capacity of the soil;

some hardening materials, such as crushed stone, cement, etc., may be added during compaction of the soil using the road finishing device to enhance the load bearing capacity of the soil.

In contrast, if the actual soil density value is greater than or equal to the preset normal soil density value, the road section soil can be judged to be relatively hard; however, in order to judge whether the soil has sufficient bearing capacity under the condition of normal density, whether pavement finishing is performed or not is determined; therefore, after the actual soil density value is determined to be greater than or equal to the preset normal soil density value, outputting a pressure test instruction, and controlling the pressure sensor to perform pressure test on the soil of the detection road section according to the pressure test instruction;

and controlling the pressure sensor to perform pressure test on the soil at a plurality of points to obtain test results of the soil under different pressures, and analyzing the characteristics of the soil such as hardness, elasticity and the like according to the test results to judge whether the soil has sufficient bearing capacity.

The soil hardness, elasticity and other characteristics are analyzed, and whether the soil has sufficient bearing capacity is judged, so that the soil can be realized in the following manner:

Data arrangement and analysis: and (3) arranging test results, including pressure values, deformation amount, displacement amount and the like of the soil, and drawing a pressure-deformation curve or a pressure-displacement curve by using the data so as to intuitively show the response of the soil under different pressures.

Soil hardness analysis: by analyzing the pressure-deformation curve, the difficulty of deformation of the soil when the soil is subjected to pressure can be observed; harder soil deforms less under the same pressure, while softer soil deforms more; and setting a threshold value or range of the hardness according to the actual demand and engineering standard, and judging whether the hardness of the soil meets the requirement.

Soil elasticity analysis: by observing the pressure-displacement curve, the rebound resilience performance of the soil after unloading can be estimated; the soil with good elasticity can be quickly restored to the original state after being unloaded, and the soil with poor elasticity can be permanently deformed; and judging whether the elasticity of the soil is sufficient or not by combining engineering requirements and an evaluation standard of the soil elasticity.

And (3) carrying out bearing capacity assessment: the analysis results of hardness and elasticity are synthesized, and the overall bearing capacity of the soil is estimated; considering deformation and rebound characteristics of soil under different pressures, and possible local weak areas or layers; judging whether the soil has sufficient bearing capacity according to engineering requirements and the standard of the bearing capacity of the soil. If the requirements are not met, a corresponding road surface finishing scheme needs to be formulated.

The pressure test instruction can be a control signal, and aims to control the pressure sensor to detect soil of a road section, and perform pressure test on a plurality of points, wherein the pressure test instruction contains key information such as a test target, test parameters, test requirements and the like.

If the soil is judged to have insufficient bearing capacity, determining that pavement finishing is needed; and corresponding finishing schemes, such as pavement material replacement, pavement structure adjustment and the like, are formulated according to the test results.

According to the method provided by the embodiment, the soil condition of the transportation road of the wind power equipment is accurately estimated through unmanned aerial vehicle sampling and professional soil analysis; according to the soil density comparison result, intelligently deciding whether to carry out pavement finishing or not, and ensuring the road bearing capacity; meanwhile, the soil bearing capacity is comprehensively evaluated through pressure test, and potential problems are timely found, so that the safety and stability of transportation of wind power equipment are ensured.

In some embodiments, determining an actual soil depression value based on the test results; comparing the actual soil pressing value with a preset normal pressing value, and judging whether to carry out pavement finishing according to a comparison result; and if the actual soil pressing value is larger than the preset normal pressing value, outputting a road surface finishing instruction to control the road surface finishing device to harden the soil of the detected road section.

The actual soil depression value may be an actual measurement value obtained after the pressure sensor performs a pressure test on the soil at the detection section.

The preset normal pressing value may be a soil pressing reference value preset according to road design standards, soil types, use requirements and other factors.

Specifically, after the pressure test is finished, the pressure sensor is controlled to send out the collected pressure test data in real time, and after the data is received, the actual soil depression value is calculated and determined according to a preset algorithm;

Next, comparing the actual soil depression value with a preset normal soil depression value for judging whether the soil is suitable for transportation;

If the actual soil depression value is larger than the preset normal soil depression value, the soil is softer, the weight of wind power equipment can not be born, transportation risks exist, and at the moment, whether pavement finishing is needed or not is determined.

If the road surface is determined to be required to be trimmed, outputting a road surface trimming instruction, sending the instruction to a road surface trimming device, and after receiving the instruction, the road surface trimming device goes to a detection road section to carry out hardening treatment;

after the hardening treatment is finished, the unmanned aerial vehicle can be controlled to carry the pressure sensor again to carry out soil pressure test so as to verify whether the hardening effect meets the requirement, and if the hardened soil pressing value is in a normal range, the pavement is successfully trimmed, and the transportation of wind power equipment can be carried out.

According to the method provided by the embodiment, the actual soil depression value is obtained through the pressure test and is compared with the preset normal depression value, whether pavement trimming is needed or not is intelligently judged, and if the actual soil depression value exceeds the normal range, a trimming instruction is output, so that the road can safely bear wind power equipment; the scheme is efficient and accurate, can obviously reduce transportation risk and ensures smooth proceeding of wind power projects.

In some embodiments, analyzing the road surface finishing instructions, determining a hardening treatment scheme according to the analysis result, and transmitting the hardening treatment scheme to the road surface finishing apparatus; controlling the pavement finishing device to carry out hardening treatment according to the hardening treatment scheme, and controlling the hardening density detection equipment to carry out hardening density detection on hardened soil after the hardening treatment is completed; receiving a detection result of hardening density detection equipment, and determining whether hardening is qualified or not according to the detection result; and if the soil is not hardened, outputting a second road surface finishing instruction to control the road surface finishing device to carry out secondary hardening treatment on the soil of the detected road section according to the second road surface finishing instruction.

The hardening density detection device may include a laser scanner, an infrared measuring instrument and the like, and can accurately measure the hardening density of the soil.

Wherein the second road surface finishing instruction can be regarded as specific instructions and requirements sent for the road surface with unqualified hardening; the location of the dressing, method details of the dressing may be included to ensure the accuracy and effectiveness of the pavement dressing operation.

Specifically, analyzing the pavement finishing instruction to determine a required hardening treatment scheme; the hardening treatment scheme may include detailed information of the kind, amount, spraying manner, etc. of the hardening agent, and once the hardening treatment scheme is determined, the scheme is immediately transmitted to the road finishing apparatus.

Next, the road surface finishing device is controlled to carry out hardening treatment according to a hardening treatment scheme, the road surface finishing device comprises the steps of paving broken stone on a road surface, spraying hardening agent and the like, and in the whole hardening treatment process, the unmanned aerial vehicle is controlled to continuously monitor the treatment progress, so that the hardening treatment is ensured to be carried out according to a preset scheme.

And after the hardening treatment is finished, controlling hardening density detection equipment to detect hardening density of the hardened soil.

After the detection is finished, controlling hardening density detection equipment to send out a detection result, analyzing the detection result according to a preset qualification standard, comparing the detection result with the preset qualification standard, and judging whether hardening is qualified or not;

The preset standard of qualification may be a standard or threshold set by the pointer for specific road or soil hardening treatment, and is used for judging whether the hardened soil meets the expected quality requirement, and is usually formulated according to the design requirement of the road, the use condition, the soil type, the expected bearing capacity and other factors.

If the hardening density reaches or exceeds a preset standard, judging that hardening is qualified; otherwise, judging that the hardening is unqualified.

If the hardening is unqualified, outputting a second road surface finishing instruction, performing secondary hardening treatment on the unqualified road section according to the control of the road surface finishing device, and performing hardening density detection again by the unmanned aerial vehicle after the secondary hardening treatment is finished so as to ensure that the hardening effect meets the requirement.

By the method provided by the embodiment, an accurate hardening treatment scheme is formulated by deeply analyzing the road surface finishing instruction, and the road surface finishing device is controlled to implement; after hardening, the hardening quality is ensured by using hardening density detection equipment, and if the hardening quality is not qualified, a second pavement finishing instruction is timely sent out for secondary hardening; the process not only improves the accuracy of hardening treatment, but also ensures the transportation safety of wind power equipment, and effectively reduces the risk caused by road surface problems.

In some embodiments, after the hardening process is completed, an image acquisition instruction is sent to the oblique photography mechanism; controlling the oblique photographing mechanism to photograph the image of the hardened road surface according to the image acquisition instruction to obtain a field image of the hardened road surface; analyzing the field image to obtain soil hardening density data; the soil hardening density data includes an initial crushed stone density value; comparing the initial crushed stone density value with a preset crushed stone density value, and judging whether the crushed stone density value is qualified or not according to a comparison result; and if the initial broken stone density value is smaller than the preset broken stone density value, outputting a second pavement finishing instruction according to the current hardening condition.

The oblique photographing mechanism may be a photographing apparatus for acquiring multi-angle, high-resolution images of a ground object.

Wherein, the initial crushed stone density value can be a distribution density value reflecting the crushed stone layer after the first hardening treatment.

The preset crushed stone density value can be a distribution density reference value of a crushed stone layer preset according to factors such as road design requirements, crushed stone types, using conditions and the like, is usually determined according to engineering experience, test data or related standards, and is used as an important basis for evaluating the hardening quality of the pavement.

The image acquisition instruction can be a control signal or a command for controlling the oblique photographing mechanism to photograph the image.

Specifically, after the pavement hardening treatment is completed, an image acquisition instruction is sent to the oblique photographing mechanism, and after the oblique photographing mechanism receives the instruction, the oblique photographing mechanism immediately starts and starts to perform multi-angle image photographing on the hardened pavement.

After shooting is completed, the unmanned aerial vehicle sends out a shot field image, the field image is subjected to deep processing and analysis by utilizing an image analysis algorithm, and the broken stone distribution characteristic information of the road surface is extracted to obtain an initial broken stone density value.

And then comparing the initial crushed stone density value with a preset crushed stone density value, wherein the preset crushed stone density value is preset according to the transportation requirement of wind power equipment and the pavement hardening standard, and if the initial crushed stone density value is greater than or equal to the preset crushed stone density value, the pavement is hardened to be qualified, and the pavement has enough bearing capacity and stability.

If the initial crushed stone density value is smaller than the preset crushed stone density value, the pavement is unqualified, and further hardening treatment is needed, and at this time, a second pavement finishing instruction is made according to the current hardening condition and the initial crushed stone density value, and the instruction can comprise a secondary hardening treatment scheme for the unqualified road section, such as increasing the number of crushed stones, the using amount of hardening agent and the like.

And then, immediately controlling the road surface finishing device to go to the unqualified road section to carry out secondary hardening treatment according to the second road surface finishing instruction, and after the secondary hardening treatment is finished, controlling the oblique photographing mechanism again to carry out image photographing and hardening density detection so as to ensure that the hardening effect meets the requirement.

In some embodiments, when the transport vehicle travels on the hardened road surface, controlling the oblique photographing mechanism to photograph the transport vehicle in real time, so as to obtain an actual picture of the transport vehicle; after the hardening treatment, a coordinate system is established by taking the hardened pavement as an X axis and the direction vertical to the hardened pavement as a Y axis, and real-time analysis is carried out on an actual picture according to the coordinate system to obtain an inclination angle; comparing the inclination angle with a preset inclination angle threshold value, and judging whether the transport vehicle is abnormally inclined or not; if the real-time inclination angle of the transport vehicle is larger than the preset inclination angle threshold value, determining that the transport vehicle is abnormally inclined, controlling the transport vehicle to brake, sending an inspection instruction to the infrared camera, and controlling the infrared camera to inspect the transport vehicle according to the inspection instruction to obtain specific inspection data; receiving specific inspection data, analyzing the specific inspection data, and determining a specific inclination reason of the transport vehicle; the transport vehicle, and/or the road surface, is adjusted according to the specific inclination of the transport vehicle.

The actual image may be a running condition of the transport vehicle on the hardened road surface, which is obtained by the oblique photographing mechanism in real time, and includes information such as the posture, position, speed, and relative relation with the road surface of the transport vehicle.

The inclination angle may be an included angle between the vehicle body and the road surface during the traveling process of the transport vehicle.

The inspection instruction can be a control signal used for triggering the infrared camera to inspect the transport vehicle.

The infrared camera may be a device that captures infrared radiation emitted by an object and converts it into a visible image.

Specifically, when the transport vehicle starts to travel on the hardened road surface, the oblique photographing mechanism is controlled to start working, the transport vehicle is photographed in real time, an actual picture obtained by photographing is sent out, and then the actual picture is analyzed in real time.

Setting the hardened road surface as an X axis and the direction vertical to the road surface as a Y axis, establishing a coordinate system, and calculating the real-time inclination angle of the transport vehicle in the coordinate system by carrying out image recognition and analysis on the transport vehicle in an actual picture;

And then comparing the calculated real-time inclination angle with a preset inclination angle threshold value, wherein the inclination angle threshold value is preset according to the characteristics and the safety requirements of the transport vehicle and is used for judging whether the transport vehicle is abnormally inclined or not.

The real-time inclination angle can be a picture photographed in real time by the inclination photographing mechanism, and the inclination degree of the transport vehicle in the running process is obtained through image processing and analysis and calculation, and is dynamically changed and updated continuously along with the running state of the vehicle, the road surface condition and the change of the external environment.

The preset inclination angle threshold value may be a corresponding inclination angle value for judging whether the transport vehicle is abnormally inclined or not and affecting the travel of the transport vehicle.

If the real-time inclination angle of the transport vehicle is larger than the preset inclination angle threshold value, the abnormal inclination of the transport vehicle is immediately determined, and an instruction is sent to control the transport vehicle to brake so as to ensure the safety and stability of the transport vehicle and the wind power equipment.

Meanwhile, an inspection instruction is sent to an infrared camera of the unmanned aerial vehicle, the infrared camera is controlled to perform detailed infrared scanning inspection on the transport vehicle and the road surface according to the inspection instruction, the condition of the tire and the condition of the road surface are inspected, and therefore specific inspection data are obtained.

After receiving the specific inspection data transmitted by the infrared camera, further analysis can be performed, and specific reasons for abnormal inclination of the transport vehicle, such as insufficient tire pressure, pavement subsidence and the like, can be determined through analysis of the inspection data.

Finally, according to the analyzed specific inclination reasons of the transport vehicle, corresponding treatment measures are formulated, wherein the measures may comprise emergency maintenance of the transport vehicle, adjustment of load distribution of the vehicle, further hardening treatment of the road surface and the like, and the transport vehicle can safely and stably run in the subsequent transport process.

By means of the method provided by the embodiment, the running state of the transportation vehicle on the hardened road surface is monitored in real time and abnormal detection is achieved through the oblique photographing mechanism and the infrared camera, and once abnormal inclination of the transportation vehicle is found, corresponding treatment measures can be immediately taken, so that safety and smooth running of the transportation process are ensured.

In some embodiments, before the transport vehicle reaches the steep slope, controlling the oblique photographing mechanism to photograph the steep slope to obtain an image of the steep slope; analyzing the image of the steep slope to determine the gradient of the steep slope and the horizontal distance between the transport vehicle and the bottom of the steep slope; the method comprises the steps of calling data of wind power equipment and data of a transport vehicle in a preset database, and determining the height of the transport vehicle, the length of the wind power equipment and the inclination angle of the wind power equipment during transportation; determining whether touch is generated between the transport vehicle and the abrupt slope according to the height of the transport vehicle, the length of the wind power equipment, the inclination angle of the wind power equipment during transportation, the gradient of the abrupt slope and the horizontal distance between the transport vehicle and the bottom of the abrupt slope;

Will be And/>Comparison is performed:

If it is </>The tail of the wind power equipment cannot touch the steep slope;

If it is ≥/>The tail of the wind power equipment may touch a steep slope.

Wherein, The wind power equipment can be obtained by the height of a transportation vehicle, the length of the wind power equipment and the inclination angle of the wind power equipment during transportation, and the following formula (1) can be specifically referred to:

;（1）

Wherein, The gradient of the steep slope and the horizontal distance between the transport vehicle and the bottom of the steep slope can be used, and the following formula (2) can be specifically referred to:

;（2）

If the wind power equipment is determined to touch the steep slope, controlling the soil filling equipment to fill the soil into the steep slope, and reducing the gradient of the steep slope;

The preset database may be a system for pre-storing and managing specific types of data, where the data is usually used to support decision making, analysis or automation processes, and may include information related to detailed specifications of wind power equipment, technical parameters of transportation vehicles, historical transportation records, safety standards, and the like.

Among them, a soil filling apparatus is a mechanical apparatus for increasing the amount of soil in a specific area, which is mainly aimed at changing the topography by filling the soil, improving the flatness of the ground or forming a specific topography structure.

Specifically, comparing the vertical height of the lowest point at the tail of the wind power equipment with the vertical distance of the steep slope;

If the vertical height of the tail part of the wind power equipment is smaller than the vertical distance of the steep slope, judging that the tail part of the wind power equipment cannot touch the steep slope, and enabling the transport vehicle to continue to safely travel;

However, if the vertical height of the tail of the wind power equipment is greater than or equal to the vertical distance of the steep slope, judging that the tail of the wind power equipment may touch the steep slope;

Under this kind of condition, output fills the instruction, and control soil filling equipment carries out soil to the abrupt slope and fills, through the soil volume that increases the abrupt slope bottom, can effectively reduce the slope of abrupt slope to reduce wind-powered electricity generation equipment and abrupt slope and take place the risk of touching, control soil filling equipment is according to filling instruction automatic working, ensures that the filling process is accurate and high-efficient.

And after the soil filling is completed, evaluating the gradient of the steep slope again, and confirming the safety distance between the wind power equipment and the steep slope, and if the conditions are met, controlling the transportation vehicle to continue traveling.

According to the method provided by the embodiment, the states of the transport vehicle and the steep slope are continuously monitored, and corresponding adjustment is made according to actual conditions, so that the safety and smooth progress of the transport process are ensured.

In some embodiments, a live image is received; analyzing the field image to obtain three-dimensional data of the field image; generating a three-dimensional model of the mountain road surface according to the three-dimensional data; and analyzing the three-dimensional model of the mountain road surface, extracting distribution density information of broken stone, and obtaining soil hardening density data.

The live image may be considered as a high-definition live image of a plurality of sides and angles of a road surface.

Specifically, the oblique photographing mechanism captures a plurality of on-site images of the sides and angles of the road surface in a unique photographing angle and mode, and the oblique photographing mechanism emits the on-site images with high definition.

The field image is immediately loaded into special image processing software, and the image is preprocessed through the image processing software to remove noise and interference factors, so that the image quality is ensured to meet the analysis requirement;

then, advanced image analysis algorithm is utilized to carry out depth processing and analysis on the image;

In the process, the image processing software utilizes the characteristic points and texture information in the image to reconstruct three-dimensional data of the road surface, wherein the data not only contains basic information such as the height, the width and the like of the road surface, but also records the fine characteristics such as the shape, the fluctuation and the like of the road surface in detail, and a three-dimensional model of the mountain road surface is generated through further processing;

The three-dimensional model is a highly realistic virtual representation, can accurately reflect the actual situation after pavement hardening treatment, carries out careful analysis on the three-dimensional model, extracts the distribution density information of broken stone, and the information comprises key data such as the quantity, the size, the distribution position and the like of the broken stone, and directly reflects the situation of soil hardening density;

finally, according to the extracted broken stone distribution density information, soil hardening density data are generated, wherein the data comprise initial broken stone density values, and an important reference basis is provided for subsequent hardening effect evaluation and abnormality treatment.

By the method provided by the embodiment, the high-efficiency and accurate image shooting and analysis of the hardened pavement can be realized, and the soil hardening density data can be obtained, so that people can know the hardening condition of the pavement in time, the possible problems can be found and solved, and the safety and smooth running of the transportation of the wind power equipment are ensured.

In some embodiments, the oblique photographing mechanism is controlled to photograph wheels of the transport vehicle in real time when rainfall is sudden during the traveling of the transport vehicle; receiving a photographing picture of the oblique photographing mechanism; and judging whether to control the cleaning mechanism to clean the soil adhered to the wheels of the transport vehicle according to the shot picture.

The cleaning mechanism can be designed according to practical situations, for example, the cleaning mechanism can be a device with a high-pressure spray head and a brush, and can spray water flow and the brush to clean the wheels at the same time.

Specifically, when the transport vehicle encounters rainfall during running, the oblique photographing mechanism is immediately activated, and a detailed picture of the contact part of the wheels and the ground is captured so as to capture the condition of soil and other sundries possibly adhered to the wheels;

And receiving the picture shot by the oblique photographing mechanism, immediately analyzing and processing the image, and identifying and measuring the wheels and the adhered soil in the picture by using an image identification technology and an algorithm.

Judging whether the cleaning mechanism is required to be controlled to clean the wheels according to the result of the image analysis;

The judgment is mainly based on factors such as the amount and the type of soil adhered to the wheels, the intensity and the duration of rainfall and the like, and if the judgment result shows that more soil is adhered to the wheels and possibly affects the running safety and the stability of the vehicle, a cleaning instruction is sent out to control a cleaning mechanism to clean the wheels according to the cleaning instruction;

The cleaning command may be considered as a control signal, which is used to trigger the cleaning mechanism to perform a cleaning operation on the wheel, where the cleaning command includes a series of parameters and command details, such as a cleaning target, a cleaning mode, a cleaning strength, a cleaning time, and the like, so as to ensure that the cleaning mechanism can accurately and effectively perform a cleaning task.

When a cleaning instruction is received, the cleaning mechanism is started immediately to clean the wheels thoroughly, so that the vehicles can safely and stably continue to transport the wind power equipment;

In the whole process, the oblique photographing mechanism can continuously monitor the wheels in real time, and adjust the cleaning strategy according to actual conditions, and if rainfall stops or soil on the wheels is cleared, the cleaning operation is stopped, so that energy sources are saved and the service life of equipment is prolonged.

By the method provided by the embodiment, the emergency situation is effectively handled through real-time monitoring and intelligent control, and the safety and stability of transportation are ensured.

In some embodiments, the illumination intensity data of the illumination intensity detection component is obtained; analyzing according to the illumination intensity data, determining an actual illumination intensity value, comparing the actual illumination intensity value with a preset illumination intensity threshold value, and judging whether to adjust the shooting environment of the oblique shooting mechanism; if the actual illumination intensity value is determined to be larger than the preset illumination intensity threshold value, the light shield is controlled to be opened to the oblique photographing mechanism for shielding light; and if the actual illumination intensity value is determined to be smaller than the preset illumination intensity threshold value, controlling the flash lamp to be opened to supplement light for the oblique photographing mechanism.

The illumination intensity detecting means may be a photosensor which senses the intensity of the ambient light and converts it into a quantifiable value.

The light shield is a device capable of shielding redundant light, can effectively reduce illumination intensity, protects a lens and a sensor, and ensures definition and detail of a shot picture.

The flash lamp is a device capable of providing an additional light source, and can provide enough illumination under the condition of insufficient light, so that a shot picture is brighter and clearer.

The actual illumination intensity value may refer to environmental illumination intensity data measured in real time by the illumination intensity detection unit.

The preset illumination intensity threshold may be considered as an illumination intensity reference value preset according to the shooting requirement of the oblique photographing mechanism and the environmental condition.

In particular, in the process of transporting large-scale wind power equipment, in order to ensure that a clear and high-quality wheel image can be captured by an oblique photographing mechanism, the illumination condition is a key factor;

Firstly, acquiring the illumination intensity data measured by an illumination intensity detection component in real time;

then, according to the obtained illumination intensity data, an actual illumination intensity value is determined, and the analysis process may involve smoothing processing, noise filtering and the like on the data so as to improve the accuracy of the illumination intensity value.

And then, comparing the actual illumination intensity value with a preset illumination intensity threshold value. The preset illumination intensity threshold is set according to actual requirements and experience, and represents the illumination intensity range suitable for photographing by the oblique photographing mechanism.

If the actual illumination intensity value is larger than the preset illumination intensity threshold value, the fact that the illumination of the current environment is too strong is indicated, and the shot picture is possibly overexposed or glare is possibly generated; at this time, the shade is controlled to be opened to shade light for the oblique photographing mechanism.

In contrast, if the actual illumination intensity value is smaller than the preset illumination intensity threshold, it indicates that the current environment is not enough in illumination, which may result in too dark shot images or loss of details, at this time, the system may control the flash to be turned on to supplement light for the oblique photographing mechanism.

According to the method provided by the embodiment, the shooting environment of the oblique photographing mechanism can be automatically adjusted according to the real-time illumination conditions, and high-quality wheel images can be shot under different illumination conditions, so that the shooting efficiency can be improved, the problem of image quality caused by poor illumination conditions can be reduced, and reliable data support is provided for subsequent image analysis and processing.

Fig. 3 is a schematic structural diagram of a wind power equipment transportation topography measurement system based on unmanned aerial vehicle oblique photography according to an embodiment of the present application, as shown in fig. 3, the wind power equipment transportation topography measurement system 300 based on unmanned aerial vehicle oblique photography according to the present embodiment includes: a receiving module 301, an instruction analysis module 302, a data processing analysis module 303 and an output module 304.

The receiving module 301 is configured to be responsible for receiving a soil detection instruction sent by a transport vehicle;

the instruction analysis module 302 is configured to analyze the soil detection instruction, determine a detection road section, and control the terrain detection device to perform soil detection on the detection road section to obtain soil data;

A data processing analysis module 303, configured to perform processing analysis on the soil data, determine whether to perform route adjustment, and/or perform road surface finishing;

the output module 304 is configured to, when it is determined to perform the route adjustment and/or the road surface finishing, output a route adjustment plan and/or a road surface finishing instruction.

Optionally, the data processing analysis module 303 is specifically configured to:

according to the sampling result, obtaining soil data;

Determining an actual soil depression value according to the test result;

Optionally, the system 300 further comprises a road surface hardening control and monitoring module 305 for:

Optionally, the system 300 further comprises a tilt monitoring and adjustment module 306 for:

Optionally, the system 300 further comprises a steep slope safety traffic control module 307 for:

Will be And/>Comparison is performed:

If it is </>The tail of the wind power equipment cannot touch the steep slope;

If it is ≥/>The tail of the wind power equipment may touch a steep slope;

;（1）

;（2）

Receiving the live image;

Analyzing the field image to obtain three-dimensional data of the field image;

Optionally, the system 300 further comprises a cleaning control module 308 for:

Receiving a shooting picture of the oblique shooting mechanism;

The apparatus of this embodiment may be used to perform the method of any of the foregoing embodiments, and its implementation principle and technical effects are similar, and will not be described herein again.

Claims

1. The utility model provides a wind power equipment transportation topography measurement method based on unmanned aerial vehicle oblique photography, characterized in that is applied to a wind power equipment transportation topography measurement system based on unmanned aerial vehicle oblique photography, wind power equipment transportation topography measurement system contains unmanned aerial vehicle and server, unmanned aerial vehicle contains topography detection equipment, a wind power equipment transportation topography measurement method based on unmanned aerial vehicle oblique photography is applied to the server, the method includes:

receiving a soil detection instruction sent by a transport vehicle;

If the route adjustment and/or the road surface finishing are determined to be carried out, outputting a route adjustment plan and/or a road surface finishing instruction;

The topography detection equipment contains sample thief and pressure sensor, wind power equipment transportation topography measurement system contains road surface trimming device, the analysis soil detection instruction confirms the detection highway section, control topography detection equipment is right detect the highway section carries out soil detection, obtains soil data, includes:

according to the sampling result, obtaining soil data;

if the actual soil density value is determined to be greater than or equal to the preset normal soil density value, outputting a pressure test instruction to control the pressure sensor to perform pressure test on the soil of the detection road section, and judging whether pavement finishing is performed according to a test result;

Judging whether to carry out pavement finishing according to the test result, wherein the method comprises the following steps:

Determining an actual soil depression value according to the test result;

Outputting a road surface finishing instruction to control the road surface finishing device to harden the soil of the detected road section if the actual soil pressing value is determined to be larger than a preset normal pressing value;

the unmanned aerial vehicle comprises a hardening density detection apparatus, the method further comprising:

If the soil is unqualified in hardening, outputting a second road surface finishing instruction to control the road surface finishing device to carry out secondary hardening treatment on the soil of the detected road section according to the second road surface finishing instruction;

The hardening density detection apparatus includes a tilt photographing mechanism that controls the hardening density detection apparatus to perform hardening density detection on hardened soil after the hardening process is completed, including:

2. The method of claim 1, wherein the oblique photography mechanism comprises an infrared camera, the method further comprising:

3. The method of claim 1, wherein the wind power plant transportation topography measurement system comprises a soil filling device, the method further comprising:

Will be And/>Comparison is performed:

If it is </>The tail of the wind power equipment cannot touch the steep slope;

If it is ≥/>The tail of the wind power equipment may touch a steep slope;

;

Wherein, Is the vertical height of the lowest point of the tail of the wind power equipment,/>For the height of transport vehicles,/>For the length of wind power equipment,/>The inclination angle of the blade during transportation;

;

4. The method of claim 1, wherein analyzing the field image to obtain soil hardening density data comprises:

Receiving the live image;

Analyzing the field image to obtain three-dimensional data of the field image;

5. The method of claim 1, wherein the transport vehicle comprises a cleaning mechanism, the method further comprising:

Receiving a shooting picture of the oblique shooting mechanism;

6. Wind power equipment transportation topography measurement system based on unmanned aerial vehicle oblique photography, implementing the method according to any of claims 1-5, comprising: