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CN113256840A - Port equipment inspection system based on unmanned aerial vehicle - Google Patents

Port equipment inspection system based on unmanned aerial vehicle Download PDF

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Publication number
CN113256840A
CN113256840A CN202110792233.XA CN202110792233A CN113256840A CN 113256840 A CN113256840 A CN 113256840A CN 202110792233 A CN202110792233 A CN 202110792233A CN 113256840 A CN113256840 A CN 113256840A
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module
stack
center
sheet
unmanned aerial
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CN113256840B (en
Inventor
孙磊
刘磊磊
康仲飞
赵大地
郭旭
顾明
吴培森
杜伟
田腾
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Tianjin Research Institute for Water Transport Engineering MOT
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Tianjin Research Institute for Water Transport Engineering MOT
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/194—Transmission of image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Catching Or Destruction (AREA)

Abstract

本发明公开了一种基于无人机的港口设备巡检系统，涉及无人机应用技术领域，包括：巡检单元，包括巡检无人机，其搭载有成像扫描模块和信息传输模块；中控单元，包括地面数据处理平台，其包含有信息接收模块、数据处理模块和指令传输模块；以及苫盖单元，包括多架牵引无人机和苫布。巡检无人机在港口的堆垛场进行巡视，从而确定堆垛的位置和形状，数据处理平台根据堆垛的位置和形状计算出堆垛的苫盖十字中心，苫盖十字中心位于堆垛的最长空间距离和最宽空间距离的交汇点，其为覆盖最合适点，苫盖十字中心不仅确定了苫布覆盖的位置，还确定了苫布覆盖的角度，中控单元指挥牵引无人机对堆垛实施苫布的覆盖动作。

Figure 202110792233

The invention discloses a port equipment inspection system based on unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle application. The control unit includes a ground data processing platform, which includes an information receiving module, a data processing module and an instruction transmission module; and a sheet cover unit, including multiple traction drones and sheet cloth. The inspection drone patrols the stacking yard of the port to determine the position and shape of the stack. The data processing platform calculates the center of the stacking cross according to the position and shape of the stack, and the center of the cross is located in the stack. The intersection point of the longest space distance and the widest space distance is the most suitable point for coverage. The center of the cross cover not only determines the position of the cover, but also determines the angle of the cover. The central control unit directs the towing drone to The stacking implements the covering action of the sheet.

Figure 202110792233

Description

Port equipment inspection system based on unmanned aerial vehicle
Technical Field
The invention relates to the technical field of port unmanned aerial vehicle application, in particular to a port equipment inspection system based on an unmanned aerial vehicle.
Background
With the increasing of the environmental protection, as an important pivot point for dry bulk cargo, ports, docks and storage yards have clear requirements for stacking of the cargo, and the requirements of stacking of the cargo at the ports and the air pollution prevention and control law of the people's republic of China are required to be followed. The wharf yard is generally divided into a plurality of storage areas in a grid form, each storage area is rectangular, and stacks are stored in the designated storage area. The periphery of a stacking field is generally provided with a windproof net and fixed spraying measures, but according to the requirements of an atmospheric environmental protection method, materials which are easy to dust and the like such as coal ores stacked in the open air need to be effectively covered to prevent dust pollution under the condition that the materials cannot be stored in a sealed manner, and according to industrial experience, the effective covering measures are mainly measures for manually covering tarpaulins.
In the manual work adopts tarpaulin to realize the cover process to the stack, many people command from many angles on needs ground and the stack, and a plurality of workman mutually support and turn over the stack together to adopt the haulage rope to pull the tarpaulin corner, thereby make tarpaulin one end can pull the buttress top from the buttress foot of stack, uncovered area adopts above-mentioned step to repeat many times, and the stack is finally accomplished and is covered completely. In practical situations, personnel on the stacks have risks of stack collapse and loss of life when falling into a pit in operation engineering, and carbon monoxide can be generated on the surfaces of the coal stacks under the influence of high temperature in summer, so that the operators are easily poisoned; in addition, because personnel are in a relatively local position to command the movement operation of arranging a large-area tarpaulin, the problem of low-efficiency operation such as azimuth error rework and the like exists; the tarpaulin also has the characteristics of great self-weight and large unfolding area, and the moving difficulty is large. Therefore, an unmanned technology is urgently needed to replace the existing manual tarpaulin operation mode in port dry bulk cargo storage yards, and based on the problems, a set of unmanned aerial vehicle plus informatization plus mechanical automation means is researched and developed to solve the problem that the port manually covers the tarpaulin.
Disclosure of Invention
The invention aims to realize the combination of unmanned aerial vehicle and informatization and mechanical automation in the tarpaulin covering process by combining the advantages of the existing unmanned aerial vehicle and mainly based on the informatization means substitution of tarpaulin environmental protection measures after stacking and forming materials in a dry bulk cargo wharf yard.
The invention is realized by the following technical scheme:
a port equipment system of patrolling and examining based on unmanned aerial vehicle includes: the inspection unit comprises an inspection unmanned aerial vehicle which is provided with an imaging scanning module and an information transmission module, wherein the imaging scanning module scans the stacks in the appointed storage area to form a three-dimensional space image and transmits the three-dimensional space image through the information transmission module; the central control unit comprises a ground data processing platform, a data processing module and an instruction transmission module, wherein the ground data processing platform comprises an information receiving module, the data processing module and the instruction transmission module, the information receiving module receives the three-dimensional space image output by the information transmission module, the data processing module carries out information processing on the three-dimensional space image and marks the center of a covered cross, and instruction information is output through the instruction transmission module; and a tarpaulin covering unit, including many frames of unmanned aerial vehicle and tarpaulin of pulling, pull unmanned aerial vehicle and carry instruction receiving module and jettison ware, pull unmanned aerial vehicle and carry after receiving the instruction information of instruction transmission module output that tarpaulin flies to support appointed storage area to confirm that tarpaulin cross center is located behind the central top of tarpaulin covering cross, jettison ware is loosened tarpaulin and is made the tarpaulin cover stack surface completely.
By adopting the technical scheme, the inspection unmanned aerial vehicle performs high-altitude inspection in a wharf yard of a port so as to determine the position and the shape of an appointed stack, the ground data processing platform calculates the position and the shape of the stack to obtain the cross center of the tarpaulin of the stack, the cross center of the tarpaulin not only determines the position of a drop point required by the tarpaulin covering, but also determines the azimuth angle covered by the tarpaulin, and the central control unit commands the traction unmanned aerial vehicle to implement the covering action of the tarpaulin on the stack. According to the optimal drop point obtained by the data processing module, the outer surface of the stack can be effectively covered by the tarpaulin in the length direction and the width direction of the tarpaulin in the covering process of the tarpaulin, and the edge position of the tarpaulin is finally folded manually, so that the edge of the tarpaulin is attached to the stacking foot. The invention has the advantages that: visual remote operation in backstage, the problem that there is the blind area in the on-the-spot commander of original personnel has been solved, adopt the cooperation of patrolling and examining unmanned aerial vehicle and ground data processing platform, obtain the best drop point position of tarpaulin, implement the cover of tarpaulin through pulling unmanned aerial vehicle, maximum utilization tarpaulin self length and width and surface area, it is higher to cover reasonable degree, original personnel's cover time and the commander degree of difficulty have been shortened greatly, and is more swift high-efficient, and simultaneously, also liberate the labour, the workman can keep away from the stack and the danger area who collapses the buttress, the place security obtains the promotion of matter.
Further setting the following steps: the data processing module is in a working mode that the data processing module establishes a space coordinate system according to the appointed storage area, performs space modeling on the three-dimensional space image of the stack and generates a plurality of space coordinate points on the outer surface of the stack;
marking a stacking height 0 point as a boundary point in a space coordinate point on the outer surface of the stack, and taking n boundary points, wherein the n boundary points are respectively as follows:
Figure 100002_DEST_PATH_IMAGE002
…
Figure 100002_DEST_PATH_IMAGE004
…
Figure 100002_DEST_PATH_IMAGE006
…
Figure 100002_DEST_PATH_IMAGE008
；
Figure 100002_DEST_PATH_IMAGE010
≤
Figure 100002_DEST_PATH_IMAGE012
≤
Figure 100002_DEST_PATH_IMAGE014
；
in the space model, the plane projection point of the space coordinate point on the outer surface of the partial stack falls into
Figure 100002_DEST_PATH_IMAGE016
On the straight line, the space coordinate point mark of the outer surface of the stack is a length intermediate point, and m length intermediate points are taken and respectively:
Figure 100002_DEST_PATH_IMAGE018
…
Figure 100002_DEST_PATH_IMAGE020
…
Figure 100002_DEST_PATH_IMAGE022
；
Figure 100002_DEST_PATH_IMAGE024
≤
Figure 100002_DEST_PATH_IMAGE026
；
the spatial distance between any adjacent length intermediate points is
Figure 100002_DEST_PATH_IMAGE028
，
Figure 254686DEST_PATH_IMAGE028
=
Figure 100002_DEST_PATH_IMAGE030
；
Figure 888054DEST_PATH_IMAGE016
The length of the space between is
Figure 100002_DEST_PATH_IMAGE032
，
Figure 69506DEST_PATH_IMAGE032
=
Figure 100002_DEST_PATH_IMAGE034
+
Figure 100002_DEST_PATH_IMAGE036
+
Figure 100002_DEST_PATH_IMAGE038
；
The maximum spatial length of the stacking surface is
Figure 100002_DEST_PATH_IMAGE040
，
Figure 100002_DEST_PATH_IMAGE042
max
Figure 100002_DEST_PATH_IMAGE044
；
According to
Figure 259572DEST_PATH_IMAGE040
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space length, and respectively marking the coordinates as
Figure 100002_DEST_PATH_IMAGE046
，
Figure 100002_DEST_PATH_IMAGE048
，
Figure 100002_DEST_PATH_IMAGE050
；
In the space model, the plane projection point of the space coordinate point on the outer surface of the partial stack falls into
Figure 147763DEST_PATH_IMAGE016
On the vertical line of the straight line, the space coordinate point on the outer surface of the stack is marked as a width middle point, m width middle points are taken, the above mode is repeated, and the maximum space width on the surface of the stack is obtained
Figure 100002_DEST_PATH_IMAGE052
；
According to
Figure 279929DEST_PATH_IMAGE052
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space width, and respectively marking the two boundary points and the center point as
Figure 100002_DEST_PATH_IMAGE054
，
Figure 100002_DEST_PATH_IMAGE056
，
Figure 100002_DEST_PATH_IMAGE058
；
By straight line
Figure 100002_DEST_PATH_IMAGE060
Straight line, straight line
Figure 100002_DEST_PATH_IMAGE062
The direction of (1) determines the direction of the center of the cross of the tarpaulin cover by passing through
Figure 100002_DEST_PATH_IMAGE064
Projection point and
Figure 512458DEST_PATH_IMAGE060
vertical projection line and pass
Figure 100002_DEST_PATH_IMAGE066
Projection point and
Figure 67068DEST_PATH_IMAGE062
and determining the coordinates of the center of the covered cross by the intersection point of the vertical projection lines, and finally generating the center of the covered cross.
By adopting the technical scheme, the longest space distance of the stack is firstly determined, the distance is not a linear distance, but the longest path distance passing through the outer surface of the stack along a fixed direction, the widest space distance is determined again according to the longest space distance, and the plane projection line of the widest space distance is ensured in the process
Figure 75344DEST_PATH_IMAGE062
Plane projection line with longest spatial distance
Figure 549050DEST_PATH_IMAGE060
Perpendicular to each other and then pass through
Figure 190247DEST_PATH_IMAGE064
Projected point coordinates and
Figure 768121DEST_PATH_IMAGE066
the coordinates of the projection points are used for obtaining the coordinates of the projection points at the center of the covered cross, and the coordinates of the center of the covered cross are accurately obtained according to the three-dimensional space image
Figure 771850DEST_PATH_IMAGE060
And
Figure 822982DEST_PATH_IMAGE062
and finally obtaining the cross center of the tarpaulin cover.
Further setting the following steps: the central control unit further comprises a display screen, the ground data processing platform further comprises an early warning module and a storage module, the storage module is internally provided with a tarpaulin size, and the length and the width of the tarpaulin are recorded as
Figure 100002_DEST_PATH_IMAGE068
And
Figure DEST_PATH_IMAGE070
the storage module is in signal connection with the data processing module, and the early warning module is paired
Figure 872847DEST_PATH_IMAGE068
And
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、
Figure 519991DEST_PATH_IMAGE070
and
Figure DEST_PATH_IMAGE074
performing data comparison when
Figure 174963DEST_PATH_IMAGE068
Is less than
Figure 662576DEST_PATH_IMAGE072
Or
Figure DEST_PATH_IMAGE076
And then, the early warning module sends out alarm information, and the alarm information is displayed on a display screen.
Through adopting above-mentioned technical scheme, in order to avoid the stack pile body overlength, wide, a small amount of buttress foot is epitaxial even among the process of piling up, and the condition that leads to the tarpaulin to cover the stack completely appears, compares through the length and width value that the tarpaulin size that prestores and the stack actually required, confirms the validity that the tarpaulin covered, when the tarpaulin size is less than stack actual size, alarm information direct display is on the display screen, needs the manual work to adjust or change the tarpaulin to the edge of stack this moment.
Further setting the following steps: still be provided with the image acquisition module on patrolling and examining the unmanned aerial vehicle, adopt wireless high definition digital map to pass the radio frequency technique, the on-the-spot image shows on the display screen in real time.
Through adopting above-mentioned technical scheme, patrol and examine unmanned aerial vehicle and can follow the real-time image of shooing in high altitude, let commander's more audio-visual acquisition tarpaulin cover the information of stack in real time.
Further setting the following steps: the ground data processing platform simultaneously sends instruction information to a plurality of traction unmanned aerial vehicles carrying the same tarpaulin according to the cross center position of the tarpaulin cover, wherein the instruction information comprises a take-off signal, a flight path and a throwing signal; after the multi-frame traction unmanned aerial vehicle receives takeoff information, the carry tarpaulin rises to a preset height and flies along a flight path, the multi-frame traction unmanned aerial vehicle completely expands the tarpaulin and keeps a mutual distance so as to determine a tarpaulin cross center, and when the tarpaulin cross center is located right above the tarpaulin cross center, the ground data processing platform sends a throwing signal to the multi-frame traction unmanned aerial vehicle.
By adopting the technical scheme, the command information can control the marshalling of the traction unmanned aerial vehicle, so that the traction unmanned aerial vehicle can stably run, the traction unmanned aerial vehicle can carry tarpaulin to fly to a proper position above the stack, the thrower throws down the tarpaulin, and the tarpaulin is gradually covered from the cross center of the tarpaulin to the edge of the stack.
Further setting the following steps: the traction unmanned aerial vehicle is four units or six units or eight units.
By adopting the technical scheme, the marshalling of the traction unmanned aerial vehicle is matched with each other, and the marshalling is carried out according to the quality of the tarpaulin and the load capacity of the traction unmanned aerial vehicle.
Further setting the following steps: patrol and examine unmanned aerial vehicle and pull unmanned aerial vehicle and have from flying control module and GPS module for control direction of flight, height and angle, fly control module and include gyroscope and compass.
Through adopting above-mentioned technical scheme, patrol and examine unmanned aerial vehicle and pull unmanned aerial vehicle and possess self-flying and location ability.
Further setting the following steps: the traction unmanned aerial vehicle is also provided with a megaphone.
Through adopting above-mentioned technical scheme, pull unmanned aerial vehicle because the hanging carries tarpaulin, it has certain danger, and the megaphone can in time remind the personnel of the activity in peripheral region.
In conclusion, the beneficial technical effects of the invention are as follows:
(1) by adopting a remote control mode, automatic covering of tarpaulin is realized through the matching of the inspection unmanned aerial vehicle and the traction unmanned aerial vehicle, so that an operator can be far away from stacking, the personnel danger caused by stack collapse is avoided, and the safety of field construction is improved;
(2) the optimal covering scheme is selected through the ground data processing platform, so that the covering surface limited by the length and the width of the tarpaulin can be utilized to the maximum extent, the tarpaulin completely covers the stacking surface, efficient and accurate covering is completed, and the combination of the unmanned aerial vehicle and the informatization and mechanical automation is realized.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a schematic top view of the stack; (Cross center cover display)
FIG. 3 is a schematic cross-sectional view of the length of the stack of the present invention; (exhibition of
Figure 497939DEST_PATH_IMAGE072
）
FIG. 4 is a schematic cross-sectional view of the width of the stack of the present invention; (exhibition of
Figure 729201DEST_PATH_IMAGE074
）
Fig. 5 is a schematic plan view of a flight path of a towing unmanned aerial vehicle in the invention.
Reference numerals: 1. a routing inspection unit; 2. a central control unit; 3. a covering unit; 11. inspecting the unmanned aerial vehicle; 12. an imaging scanning module; 13. an information transmission module; 14. an image acquisition module; 21. a display screen; 22. a ground data processing platform; 23. an information receiving module; 24. a data processing module; 25. an instruction transmission module; 26. an early warning module; 27. a storage module; 31. tarpaulin; 32. towing the unmanned aerial vehicle; 33. an instruction receiving module; 34. a throwing device.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, the invention discloses a port equipment inspection system based on an unmanned aerial vehicle, which comprises: the inspection device comprises an inspection unit 1, a central control unit 2 and a straw mat covering unit 3. The inspection unit 1 is used for data acquisition and field environment monitoring of the stacks, the central control unit 2 is used for providing field environment high-definition image display and data processing, commanding the flight of the unmanned aerial vehicle, guiding the unmanned aerial vehicle to execute carry flight, automatic navigation and obstacle avoidance, and the tarpaulin covering unit 3 is used for achieving transfer of the tarpaulin 31 and covering of the stacks. The flight area according to the present invention is a quay yard of a port.
The inspection unit 1 comprises an inspection unmanned aerial vehicle 11 which is provided with an imaging scanning module 12 and an information transmission module 13, wherein the imaging scanning module 12 scans the stacks in the designated storage area to form a three-dimensional space image, and the three-dimensional space image is transmitted through the information transmission module 13. The imaging and scanning module 12 employs an imaging scanner, and scans and images the stack through the imaging scanner to form a three-dimensional model. Still be provided with image acquisition module 14 on patrolling and examining unmanned aerial vehicle 11, image acquisition module 14 adopts high definition industry camera, adopts wireless high definition digital map to pass the radio frequency technique, and the field image transmits in real time for well accuse unit 2. In this scheme, patrol and examine unmanned aerial vehicle 11 and can follow the high altitude and shoot the image in real time, let ground commander more audio-visual acquire stack information, including stack type, stack appearance, all ring edge borders, the on-the-spot personnel condition etc..
The central control unit 2 comprises a ground data processing platform 22 and a display screen 21 in signal connection with the ground data processing platform 22, wherein the ground data processing platform 22 comprises an information receiving module 23, a data processing module 24 and an instruction transmission module 25, the information receiving module 23 receives the three-dimensional space image output by the information transmission module 13, the data processing module 24 carries out information processing on the three-dimensional space image and marks a covered cross center, and the instruction transmission module 25 outputs instruction information.
The data processing module 24 establishes a space coordinate system according to the designated storage area, each independent stacking storage area generates an independent coordinate system O-xyz, the x axis is a transverse axis, the y axis is a longitudinal axis, and the z axis is a vertical axis, then space modeling is carried out on the three-dimensional space image of the stack, data is recorded into the coordinate system O-xyz, and then a plurality of space coordinate points on the outer surface of the stack are generated; marking a stacking height 0 point (z = 0) as a boundary point in a space coordinate point of the outer surface of the stack, and taking n boundary points, wherein the n boundary points are respectively as follows:
Figure 97734DEST_PATH_IMAGE002
…
Figure 818565DEST_PATH_IMAGE004
…
Figure 124913DEST_PATH_IMAGE006
…
Figure 956603DEST_PATH_IMAGE008
；
Figure 235703DEST_PATH_IMAGE010
≤
Figure 2802DEST_PATH_IMAGE012
≤
Figure 655500DEST_PATH_IMAGE014
(ii) a The spacing between adjacent boundary points is kept equal, the boundary points include as much as possible edge inflection points of the selected buttress foot, wherein,
Figure DEST_PATH_IMAGE078
the coordinate points are all in the O-xy plane.
In the space model, the projection point of the space coordinate point of the outer surface of the partial stack on the O-xy plane falls into
Figure 884356DEST_PATH_IMAGE016
On the straight line, the space coordinate point on the outer surface of the stack is marked as a length intermediate point, and the coordinates of m length intermediate points are taken as follows:
Figure 40531DEST_PATH_IMAGE018
…
Figure 791581DEST_PATH_IMAGE020
…
Figure 338100DEST_PATH_IMAGE022
；
Figure 901805DEST_PATH_IMAGE024
≤
Figure 115749DEST_PATH_IMAGE026
(ii) a The spatial distance between any adjacent length intermediate points is
Figure 349284DEST_PATH_IMAGE028
，
Figure 399411DEST_PATH_IMAGE028
=
Figure 251960DEST_PATH_IMAGE030
；
Figure 569678DEST_PATH_IMAGE016
The length of the space between is
Figure 239694DEST_PATH_IMAGE032
，
Figure 964067DEST_PATH_IMAGE032
=
Figure 167778DEST_PATH_IMAGE034
+
Figure 684210DEST_PATH_IMAGE036
+
Figure 134914DEST_PATH_IMAGE038
(ii) a The maximum spatial length of the stacking surface is
Figure 658168DEST_PATH_IMAGE040
，
Figure 242733DEST_PATH_IMAGE042
max
Figure 223458DEST_PATH_IMAGE044
，
Figure 235277DEST_PATH_IMAGE040
The minimum length of the tarpaulin 31 is also required for the maximum distance on the outer surface of the stack in a fixed direction past the outer surface of the stack. With reference to FIG. 3, according to
Figure 216133DEST_PATH_IMAGE040
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space length, and respectively marking the coordinates as
Figure 276493DEST_PATH_IMAGE046
，
Figure 626572DEST_PATH_IMAGE048
，
Figure 543712DEST_PATH_IMAGE050
(figure 2) of the drawing,
Figure 995553DEST_PATH_IMAGE050
to
Figure 344757DEST_PATH_IMAGE046
Has a spatial length distance equal to
Figure 424709DEST_PATH_IMAGE050
To
Figure 653696DEST_PATH_IMAGE048
The distance of the length of the space of (a),
Figure 373259DEST_PATH_IMAGE050
the projection point on the O-xy plane is
Figure DEST_PATH_IMAGE080
（
Figure 244263DEST_PATH_IMAGE080
Shown in figure 3),
Figure 601557DEST_PATH_IMAGE080
in that
Figure DEST_PATH_IMAGE082
On a straight line.
In the space model, the projection point of the space coordinate point of the outer surface of the partial stack on the O-xy plane is positioned in
Figure 532604DEST_PATH_IMAGE016
On the vertical line of the straight line, the space coordinate point on the outer surface of the stack is marked as a width middle point, and the coordinates of m width middle points are taken as follows:
Figure 818092DEST_PATH_IMAGE018
…
Figure 790990DEST_PATH_IMAGE020
…
Figure 235746DEST_PATH_IMAGE022
；
Figure 868853DEST_PATH_IMAGE024
≤
Figure 533315DEST_PATH_IMAGE026
(ii) a The spatial distance between any adjacent width intermediate points is
Figure 339597DEST_PATH_IMAGE028
，
Figure 842122DEST_PATH_IMAGE028
=
Figure 849393DEST_PATH_IMAGE030
；
Figure 266730DEST_PATH_IMAGE016
The width of the space between is
Figure DEST_PATH_IMAGE084
，
Figure 814386DEST_PATH_IMAGE084
=
Figure 968155DEST_PATH_IMAGE034
+
Figure 677485DEST_PATH_IMAGE036
+
Figure DEST_PATH_IMAGE086
(ii) a The maximum spatial width of the stacking surface is
Figure 582119DEST_PATH_IMAGE052
，
Figure DEST_PATH_IMAGE088
max
Figure DEST_PATH_IMAGE090
，
Figure 323678DEST_PATH_IMAGE052
Is the minimum width requirement of the tarpaulin 31. With reference to FIG. 4, according to
Figure 879425DEST_PATH_IMAGE052
Obtaining the coordinates of two boundary points and the coordinates of the center point of the space width, and respectively marking the two boundary points and the center point as
Figure 510388DEST_PATH_IMAGE054
，
Figure 213902DEST_PATH_IMAGE056
，
Figure 837782DEST_PATH_IMAGE058
(FIG. 2);
Figure 700564DEST_PATH_IMAGE058
to
Figure 751697DEST_PATH_IMAGE054
Has a spatial length distance equal to
Figure 942507DEST_PATH_IMAGE058
To
Figure 324072DEST_PATH_IMAGE056
The distance of the length of the space of (a),
Figure 854410DEST_PATH_IMAGE058
the projection point on the O-xy plane is
Figure DEST_PATH_IMAGE092
（
Figure 591291DEST_PATH_IMAGE092
Shown in figure 4),
Figure 941501DEST_PATH_IMAGE092
in that
Figure DEST_PATH_IMAGE094
On the straight line on which the air inlet is positioned,
Figure 798861DEST_PATH_IMAGE082
is located on a straight line and
Figure 167394DEST_PATH_IMAGE094
the straight lines are perpendicular to each other.
In the O-xy plane, through
Figure DEST_PATH_IMAGE096
Coordinate system and
Figure DEST_PATH_IMAGE098
vertical straight line and pass
Figure DEST_PATH_IMAGE100
Coordinate system and
Figure 186428DEST_PATH_IMAGE062
the intersection of perpendicular straight lines (two imaginary line segments cross each other as can be seen from FIG. 2) is recorded as the point of intersection in the O-xy plane
Figure DEST_PATH_IMAGE102
（
Figure 804360DEST_PATH_IMAGE102
Not shown in the drawings of the specification. Will be provided with
Figure 573733DEST_PATH_IMAGE102
Recording the coordinate point into a space model to obtain the stacking height of the coordinate point and obtain the coordinate of the center of the covered cross
Figure DEST_PATH_IMAGE104
，
Figure 681325DEST_PATH_IMAGE104
In FIG. 2
Figure 573057DEST_PATH_IMAGE102
And (4) overlapping. By straight line
Figure 412706DEST_PATH_IMAGE060
And a straight line
Figure 657874DEST_PATH_IMAGE062
Determining the direction of the center of the covered cross, determining the coordinates of the center of the covered cross, and combining the determined directions
Figure 502464DEST_PATH_IMAGE060
And
Figure 237202DEST_PATH_IMAGE062
finally, the center of the covered cross is generated (fig. 2). The data processing module 24 determines the longest spatial distance of the stack, determines the widest spatial distance according to the longest spatial distance, and finally obtains the center of the covered cross, wherein the center of the covered cross has a specific coordinate position and a specific coordinate positionThe azimuth angle. In this scheme, the data processing module 24 adopts a cloud server or a configured server group, and can acquire the number of more boundary points, length intermediate points and width intermediate points according to the demand degree and the data calculation capacity of the server, so as to improve the detection accuracy.
The ground data processing platform 22 further comprises an early warning module 26 and a storage module 27, the storage module 27 is a memory, the size of the tarpaulin 31 is stored in the memory, and the length and width data of the tarpaulin 31 are recorded as
Figure 298568DEST_PATH_IMAGE068
And
Figure 409743DEST_PATH_IMAGE070
the memory module 27 is connected to the data processing module 24, and the alarm module 26 is coupled to the data processing module 24 for receiving the alarm signal
Figure 951583DEST_PATH_IMAGE072
And
Figure 811217DEST_PATH_IMAGE074
pair of early warning modules 26
Figure 110611DEST_PATH_IMAGE068
And
Figure 822215DEST_PATH_IMAGE072
、
Figure 812037DEST_PATH_IMAGE070
and
Figure 216473DEST_PATH_IMAGE074
and comparing the data to judge the actual required coverage size of the stack. When in use
Figure 488317DEST_PATH_IMAGE068
Is less than
Figure 941295DEST_PATH_IMAGE072
Or
Figure 582361DEST_PATH_IMAGE076
And then, the early warning module 26 sends out alarm information, and the alarm information is displayed on the display screen 21. In order to avoid that the tarpaulin 31 can not cover the stack, numerical value comparison is carried out through the length and width values of the pre-stored tarpaulin 31 size and the stack actually required, the covering effectiveness of the tarpaulin 31 is determined, when the tarpaulin 31 size is smaller than the stack actual size, alarm information is directly displayed on the display screen 21 and visually obtained by an operator, then a worker can enter the site, the position of the stacking foot is adjusted manually, and the method is simple and more effective.
The tarpaulin unit 3 comprises a plurality of traction unmanned aerial vehicles 32 and tarpaulin 31, wherein the traction unmanned aerial vehicles 32 are provided with an instruction receiving module 33 and a throwing device 34, the throwing device 34 adopts an electromechanical transmission mode, and instruction information adopts 5G signal transmission. After the unmanned towing vehicle 32 receives the instruction information output by the instruction transmission module 25, the tarpaulin 31 is hung and supported to the designated storage area through the thrower 34, and after the cross center of the tarpaulin is determined to be positioned right above the cross center of the tarpaulin, the thrower 34 releases the tarpaulin 31 to enable the tarpaulin 31 to completely cover the outer surface of the stack.
The ground data processing platform 22 simultaneously sends instruction information to a plurality of traction unmanned aerial vehicles 32 carrying the same tarpaulin 31 according to the cross center position of the tarpaulin, and the traction unmanned aerial vehicles 32 are four units or six units or eight units and are distributed at the corners of the tarpaulin. The marshalling of pulling unmanned aerial vehicle 32 mutually supports, marshalling according to the quality of tarpaulin 31 and the load of pulling unmanned aerial vehicle 32, and many the taut rectangular form's of unmanned aerial vehicle 32 tarpaulin 31 of pulling simultaneously makes it expand, pulls unmanned aerial vehicle 32 in this scheme and adopts four unit marshalling. The instruction information includes takeoff signals, flight paths and tossing signals. Referring to fig. 5, fig. 5 is a top view, in the first stage, after the multi-frame towed unmanned aerial vehicle 32 receives the takeoff information, the carrying tarpaulin 31 rises to a predetermined height, which is a normal height and is higher than the safety height required by stacking. The second stage, four are towed unmanned aerial vehicle 32 back and are followed the flight path flight, four are towed unmanned aerial vehicle 32 and are launched tarpaulin 31 completely and keep interval each other, four are towed unmanned aerial vehicle 32 and keep stable back to confirm the cross center of tarpaulin 31 in the motion, the cross center of tarpaulin 31 includes the directionI.e. the relative positions of the four tractors. In the third stage, after the four-frame towed unmanned aerial vehicle 32 carries the tarpaulin 31 to move to the upper part of the stack, the moving coordinate mark of the cross center of the tarpaulin is marked as
Figure DEST_PATH_IMAGE106
The projection of which in the O-xy plane is
Figure DEST_PATH_IMAGE108
（
Figure 252639DEST_PATH_IMAGE108
Not shown in the drawings of the specification, in FIG. 5
Figure 854522DEST_PATH_IMAGE108
And
Figure 111191DEST_PATH_IMAGE106
coincident).
Figure 606763DEST_PATH_IMAGE102
In order to fix the coordinates of the object,
Figure 618581DEST_PATH_IMAGE108
in order to move the coordinate, after the cross center of the tarpaulin is positioned right above the cross center of the tarpaulin cover,
Figure 848705DEST_PATH_IMAGE108
and
Figure 597481DEST_PATH_IMAGE102
and (3) completely coinciding, the ground data processing platform 22 simultaneously sends throwing signals to the multiple unmanned aerial vehicles, and the tarpaulin 31 falls down by the self gravity and covers the outer surface of the stack. Instruction information can control the marshalling of drawing unmanned aerial vehicle 32, ensure the stable operation of drawing unmanned aerial vehicle 32, draw unmanned aerial vehicle 32 can carry tarpaulin 31 and fly to reach stack top suitable position after, thrower 34 starts simultaneously and throws away tarpaulin 31, tarpaulin 31 free fall in-process, tarpaulin 31 covers gradually to the stack edge from tarpaulin cover cross center, cover the completion back, the manual work advances to the edge of tarpaulin 31 at lastThe rows collapse so that they abut the periphery of the stomp.
The inspection unmanned aerial vehicle 11 and the traction unmanned aerial vehicle 32 are provided with flight control modules and GPS modules for controlling flight direction, height and angle, and the flight control modules comprise gyroscopes and compasses. The patrol drone 11 and the tow drone 32 have self-flying and positioning capabilities, again without cumbersome exposition. A megaphone is additionally arranged on the towing unmanned aerial vehicle 32. The unmanned traction vehicle 32 is hung with the tarpaulin 31, so that the unmanned traction vehicle has certain danger, and the megaphone can timely remind active personnel in the peripheral area.
The working principle and the beneficial effects of the invention are as follows:
operating personnel controls in the background and patrols and examines unmanned aerial vehicle 11 at the pier yard in port, select the stack that needs to cover tarpaulin 31 through the field image that unmanned aerial vehicle 11 obtained patrols and examines, confirm the position and the shape of stack through the imaging scanning module 12 that unmanned aerial vehicle 11 was patrolled and examined, ground data processing platform 22 calculates the most suitable coverage point that obtains the stack according to the position and the shape of stack, mark is the coordinate of tarpaulin cross center, the position of the drop point before tarpaulin 31 covers has not only been confirmed to tarpaulin cross center, the angle that tarpaulin 31 covered has still been confirmed, well accuse unit 2 commands to pull unmanned aerial vehicle 32 carry tarpaulin 31 and remove to the stack top, after tarpaulin cross center and tarpaulin cross center coincide, throw ware 34 and start, implement the action of covering tarpaulin 31 to the stack. The edge position of the tarpaulin 31 is manually furled, so that the edge of the tarpaulin 31 is attached to the buttress foot.
According to the invention, the optimal drop point of the tarpaulin 31 is obtained through the algorithm calculation of the data processing module 24 and the traction unmanned aerial vehicle 32 is guided to complete the covering action, when the planar tarpaulin 31 covers the three-dimensional surface of the stack, the tarpaulin 31 can effectively cover the outer surface of the stack in the length direction and the width direction, the length, the width and the surface area of the tarpaulin 31 are utilized to the maximum extent, the reasonable degree of covering is higher, the covering time of original personnel is greatly shortened, the operation is quicker and more efficient, meanwhile, the labor force is liberated, workers can be far away from the dangerous area of stacking and collapsing, and the site safety is improved. According to the invention, through background visual remote operation, the original on-site command mode of personnel is abandoned, the command blind area is eliminated, and meanwhile, the human resources are saved.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims (8)

1.一种基于无人机的港口设备巡检系统，其特征在于，包括：1. a port equipment inspection system based on unmanned aerial vehicle, is characterized in that, comprises: 巡检单元（1），包括巡检无人机（11），其搭载有成像扫描模块（12）和信息传输模块（13），成像扫描模块（12）扫描指定存放区域内的堆垛后形成三维空间图像并通过信息传输模块（13）进行三维空间图像的传输；The inspection unit (1) includes an inspection drone (11), which is equipped with an imaging scanning module (12) and an information transmission module (13), and the imaging scanning module (12) scans the stacks in the designated storage area to form 3D space image and transmit the 3D space image through the information transmission module (13); 中控单元（2），包括地面数据处理平台（22），其包含有信息接收模块（23）、数据处理模块（24）和指令传输模块（25），信息接收模块（23）接收信息传输模块（13）输出的三维空间图像，数据处理模块（24）对三维空间图像进行信息化处理并标记苫盖十字中心，通过指令传输模块（25）输出指令信息；以及The central control unit (2) includes a ground data processing platform (22), which includes an information receiving module (23), a data processing module (24) and an instruction transmission module (25), and the information receiving module (23) receives an information transmission module (13) For the output three-dimensional space image, the data processing module (24) performs informatization processing on the three-dimensional space image and marks the center of the thatch cross, and outputs the instruction information through the instruction transmission module (25); and 苫盖单元（3），包括多架牵引无人机（32）和苫布（31），牵引无人机（32）搭载有指令接收模块（33）和抛投器（34），牵引无人机（32）接收到指令传输模块（25）输出的指令信息后挂载苫布（31）飞抵指定存放区域，并确定苫布十字中心位于苫盖十字中心正上方后，抛投器（34）松开苫布（31）使得苫布（31）完全覆盖堆垛外表面。The thatch cover unit (3) includes multiple towing drones (32) and a sheet cloth (31). The towing drones (32) are equipped with an instruction receiving module (33) and a thrower (34), and the towing drones (32) are towed. (32) After receiving the command information output by the command transmission module (25), mount the sheet (31) and fly to the designated storage area, and after confirming that the cross center of the sheet is located directly above the cross center of the cover, the thrower (34) is released The sheet (31) is such that the sheet (31) completely covers the outer surface of the stack. 2.根据权利要求1所述的一种基于无人机的港口设备巡检系统，其特征在于：数据处理模块（24）的工作模式为，数据处理模块（24）根据指定存放区域建立空间坐标系，对堆垛的三维空间图像进行空间建模，生成多个堆垛外表面空间坐标点；2 . The port equipment inspection system based on UAV according to claim 1 , wherein the working mode of the data processing module ( 24 ) is that the data processing module ( 24 ) establishes spatial coordinates according to a designated storage area. 3 . system, to perform spatial modeling on the three-dimensional spatial image of the stack to generate multiple spatial coordinate points on the outer surface of the stack; 堆垛外表面空间坐标点中标记堆垛高度0点为边界点，取n个边界点，分别为：In the space coordinate points of the outer surface of the stack, mark the stack height 0 point as the boundary point, and take n boundary points, which are:
Figure DEST_PATH_IMAGE002
…
Figure DEST_PATH_IMAGE004
…
Figure DEST_PATH_IMAGE006
…
Figure DEST_PATH_IMAGE008
；
Figure DEST_PATH_IMAGE010
≤
Figure DEST_PATH_IMAGE012
≤
Figure DEST_PATH_IMAGE014
；
Figure DEST_PATH_IMAGE002
…
Figure DEST_PATH_IMAGE004
…
Figure DEST_PATH_IMAGE006
…
Figure DEST_PATH_IMAGE008
;
Figure DEST_PATH_IMAGE010
≤
Figure DEST_PATH_IMAGE012
≤
Figure DEST_PATH_IMAGE014
; 在空间模型内，部分堆垛外表面空间坐标点的平面投影点落入在
Figure DEST_PATH_IMAGE016
所处直线上，上述堆垛外表面空间坐标点标记为长度中间点，取m个长度中间点，分别为：In the space model, the plane projection points of the space coordinate points on the outer surface of the partial stack fall within the
Figure DEST_PATH_IMAGE016
On the straight line, the space coordinate point on the outer surface of the stack is marked as the middle point of length, and m length middle points are taken, which are:
Figure DEST_PATH_IMAGE018
…
Figure DEST_PATH_IMAGE020
…
Figure DEST_PATH_IMAGE022
；
Figure DEST_PATH_IMAGE024
≤
Figure DEST_PATH_IMAGE026
；
Figure DEST_PATH_IMAGE018
…
Figure DEST_PATH_IMAGE020
…
Figure DEST_PATH_IMAGE022
;
Figure DEST_PATH_IMAGE024
≤
Figure DEST_PATH_IMAGE026
; 任意相邻长度中间点的空间距离为
Figure DEST_PATH_IMAGE028
，
Figure 708233DEST_PATH_IMAGE028
=
Figure DEST_PATH_IMAGE030
；The spatial distance between the intermediate points of any adjacent lengths is
Figure DEST_PATH_IMAGE028
,
Figure 708233DEST_PATH_IMAGE028
=
Figure DEST_PATH_IMAGE030
;
Figure 77903DEST_PATH_IMAGE016
之间的空间长度为
Figure DEST_PATH_IMAGE032
，
Figure 795324DEST_PATH_IMAGE032
=
Figure DEST_PATH_IMAGE034
+
Figure DEST_PATH_IMAGE036
+
Figure DEST_PATH_IMAGE038
；
Figure 77903DEST_PATH_IMAGE016
The length of space between
Figure DEST_PATH_IMAGE032
,
Figure 795324DEST_PATH_IMAGE032
=
Figure DEST_PATH_IMAGE034
+
Figure DEST_PATH_IMAGE036
+
Figure DEST_PATH_IMAGE038
; 堆垛表面最大空间长度为
Figure DEST_PATH_IMAGE040
，
Figure DEST_PATH_IMAGE042
max
Figure DEST_PATH_IMAGE044
；The maximum space length of the stacking surface is
Figure DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE042
max
Figure DEST_PATH_IMAGE044
; 根据
Figure 941265DEST_PATH_IMAGE040
，获得其两个边界点坐标和其空间长度中心点坐标，分别标记为
Figure DEST_PATH_IMAGE046
，
Figure DEST_PATH_IMAGE048
，
Figure DEST_PATH_IMAGE050
；according to
Figure 941265DEST_PATH_IMAGE040
, obtain the coordinates of its two boundary points and the coordinates of its spatial length center point, respectively marked as
Figure DEST_PATH_IMAGE046
,
Figure DEST_PATH_IMAGE048
,
Figure DEST_PATH_IMAGE050
; 在空间模型内，部分堆垛外表面空间坐标点的平面投影点落入在与
Figure 912895DEST_PATH_IMAGE016
所处直线的垂直线上，上述堆垛外表面空间坐标点标记为宽度中间点，取m个宽度中间点，重复上述方式，获得堆垛表面最大空间宽度为
Figure DEST_PATH_IMAGE052
；In the space model, the plane projection points of the space coordinate points on the outer surface of the partial stack fall within the
Figure 912895DEST_PATH_IMAGE016
On the vertical line of the straight line, the space coordinate point on the outer surface of the stack is marked as the midpoint of the width, and m width midpoints are taken, and the above method is repeated to obtain the maximum space width of the stacking surface:
Figure DEST_PATH_IMAGE052
; 根据
Figure 922308DEST_PATH_IMAGE052
，获得其两个边界点坐标和其空间宽度中心点坐标，分别标记为
Figure DEST_PATH_IMAGE054
，
Figure DEST_PATH_IMAGE056
，
Figure DEST_PATH_IMAGE058
；according to
Figure 922308DEST_PATH_IMAGE052
, obtain the coordinates of its two boundary points and the coordinates of its spatial width center point, respectively marked as
Figure DEST_PATH_IMAGE054
,
Figure DEST_PATH_IMAGE056
,
Figure DEST_PATH_IMAGE058
; 通过直线
Figure DEST_PATH_IMAGE060
、直线
Figure DEST_PATH_IMAGE062
的方向确定苫盖十字中心的方向，通过经过
Figure 674494DEST_PATH_IMAGE050
投影点且与
Figure 279919DEST_PATH_IMAGE060
垂直的投影线和经过
Figure 479956DEST_PATH_IMAGE058
投影点且与
Figure 896156DEST_PATH_IMAGE062
垂直的投影线的交点，确定苫盖十字中心的坐标，最终生成苫盖十字中心。through a straight line
Figure DEST_PATH_IMAGE060
,straight line
Figure DEST_PATH_IMAGE062
The direction of the thatch cover determines the direction of the center of the cross, by passing through
Figure 674494DEST_PATH_IMAGE050
projection point and
Figure 279919DEST_PATH_IMAGE060
vertical projection line and
Figure 479956DEST_PATH_IMAGE058
projection point and
Figure 896156DEST_PATH_IMAGE062
The intersection of the vertical projection lines determines the coordinates of the center of the cross, and finally generates the center of the cross. 3.根据权利要求2所述的一种基于无人机的港口设备巡检系统，其特征在于：中控单元（2）还包括显示屏（21），地面数据处理平台（22）还包括预警模块（26）和存储模块（27），存储模块（27）内存有苫布（31）尺寸，苫布（31）长宽分别记录为
Figure DEST_PATH_IMAGE064
和
Figure DEST_PATH_IMAGE066
，存储模块（27）与数据处理模块（24）信号连接，预警模块（26）对
Figure 119327DEST_PATH_IMAGE064
和
Figure 512131DEST_PATH_IMAGE040
、
Figure 707621DEST_PATH_IMAGE066
和
Figure 668623DEST_PATH_IMAGE052
实行数据比对，当
Figure 67506DEST_PATH_IMAGE064
小于
Figure 873788DEST_PATH_IMAGE040
或
Figure DEST_PATH_IMAGE068
后，预警模块（26）发出报警信息，报警信息显示于显示屏（21）。3. A port equipment inspection system based on UAV according to claim 2, characterized in that: the central control unit (2) further comprises a display screen (21), and the ground data processing platform (22) further comprises an early warning The module (26) and the storage module (27), the storage module (27) stores the dimensions of the sheet (31), and the length and width of the sheet (31) are respectively recorded as
Figure DEST_PATH_IMAGE064
and
Figure DEST_PATH_IMAGE066
, the storage module (27) is signally connected to the data processing module (24), and the early warning module (26) is connected to the
Figure 119327DEST_PATH_IMAGE064
and
Figure 512131DEST_PATH_IMAGE040
,
Figure 707621DEST_PATH_IMAGE066
and
Figure 668623DEST_PATH_IMAGE052
To perform data comparison, when
Figure 67506DEST_PATH_IMAGE064
less than
Figure 873788DEST_PATH_IMAGE040
or
Figure DEST_PATH_IMAGE068
After that, the early warning module (26) sends out alarm information, and the alarm information is displayed on the display screen (21). 4.根据权利要求3所述的一种基于无人机的港口设备巡检系统，其特征在于：巡检无人机（11）上还设置有图像采集模块（14），采用无线高清数字图传射频技术，现场图像实时显示在显示屏（21）上。4. The drone-based port equipment inspection system according to claim 3, characterized in that: the inspection drone (11) is further provided with an image acquisition module (14), which adopts a wireless high-definition digital image The radio frequency technology is transmitted, and the live image is displayed on the display screen (21) in real time. 5.根据权利要求2所述的一种基于无人机的港口设备巡检系统，其特征在于：地面数据处理平台（22）根据苫盖十字中心位置向挂载同一苫布（31）的多架牵引无人机（32）同时发出指令信息，指令信息包括起飞信号、飞行路径和抛投信号；5 . The port equipment inspection system based on UAV according to claim 2 , wherein the ground data processing platform ( 22 ) mounts multiple frames of the same sheet ( 31 ) according to the center position of the cross of the sheet cover. 6 . The towed unmanned aerial vehicle (32) simultaneously sends out instruction information, and the instruction information includes a take-off signal, a flight path and a throwing signal; 多架牵引无人机（32）接收到起飞信息后挂载苫布（31）上升到预定高度后沿飞行路径飞行，多架牵引无人机（32）完全展开苫布（31）并保持相互之间间距，以确定苫布十字中心，当苫布十字中心位于苫盖十字中心正上方后，地面数据处理平台（22）向上述多架牵引无人机（32）同时发出抛投信号。After receiving the take-off information, the multiple towing drones (32) mount the sheet (31) to a predetermined height and then fly along the flight path, and the multiple towing drones (32) fully deploy the sheet (31) and keep each other The distance is determined to determine the center of the sheet cross. When the center of the sheet cross is located directly above the center of the sheet cross, the ground data processing platform (22) simultaneously sends a throwing signal to the above-mentioned multiple towing drones (32). 6.根据权利要求5所述的一种基于无人机的港口设备巡检系统，其特征在于：牵引无人机（32）为四机组或六机组或八机组。6 . The port equipment inspection system based on unmanned aerial vehicle according to claim 5 , characterized in that: the towing unmanned aerial vehicle ( 32 ) has four units or six units or eight units. 7 . 7.根据权利要求1所述的一种基于无人机的港口设备巡检系统，其特征在于：巡检无人机（11）和牵引无人机（32）自带有飞控模块和GPS模块，用于控制飞行方向、高度和角度，飞控模块包括陀螺仪和指南针。7. A drone-based port equipment inspection system according to claim 1, characterized in that: the inspection drone (11) and the towing drone (32) have their own flight control module and GPS The module is used to control the flight direction, altitude and angle. The flight control module includes a gyroscope and a compass. 8.根据权利要求7所述的一种基于无人机的港口设备巡检系统，其特征在于：牵引无人机（32）上还设置有喊话器。8. A drone-based port equipment inspection system according to claim 7, characterized in that: a megaphone is also provided on the towing drone (32).
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