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UAV tunnel inspection system based on bim technology

A patrol inspection system and unmanned aerial vehicle technology, which is applied in the direction of navigation through speed/acceleration measurement, can solve the problem of low navigation accuracy, and achieve the effects of fast data collection, reduced inspection time, and low cost

Active Publication Date: 2019-11-19
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] From the patents searched at home and abroad, there is no patent on the application of drones to tunnel inspection lines. This is because there are many lines in the tunnel, and no matter how precisely the drone is controlled in the tunnel, it will touch the tunnel. The probability of the situation in the inner line occurs; on the other hand, the accuracy of indoor navigation is low due to the lack of GPS in the past

Method used

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  • UAV tunnel inspection system based on bim technology
  • UAV tunnel inspection system based on bim technology
  • UAV tunnel inspection system based on bim technology

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] see Figure 1 to Figure 5 , the UAV tunnel inspection system based on BIM technology is characterized in that the airborne control and fusion processing system is connected to the segment label 41, the airborne sensor system 2, the communication system 3 and the ground workstation system 5;

[0056] 1) The segment label 41 is used to locate the segment position in the tunnel;

[0057] 2) The ground workstation system 5 is used to control and navigate the inspection route of the UAV in the tunnel; wherein, the control and navigation of the inspection route further includes:

[0058] Correspondence establishment subunit 51, is used for obtaining the correspondence between unmanned aerial vehicle and the 3D engine roaming camera in the 3D display in the tunnel model based on BIM technology;

[0059] The inspection line three-dimensional model generation subunit 52 is used to obtain the real three-dimensional model of the UAV in the tunnel inspection line;

[0060] 3) The...

Embodiment 2

[0070] see figure 1 , reveals a UAV tunnel inspection system based on BIM technology, including: an airborne control and fusion processing system connected to segment labels, a ground workstation system, an airborne sensor system, and a communication system.

[0071] see Figure 4 The ground workstation system described in this embodiment includes a subunit for establishing a corresponding relationship and a subunit for producing a three-dimensional model of an inspection line; the subunit for establishing a corresponding relationship is used to establish a tunnel model through BIM technology, and import it into the three-dimensional display software, using The coordinate system conversion method obtains the relationship between the UAV navigation coordinate system and the 3D engine roaming camera coordinate system, and establishes the corresponding relationship between the UAV and the 3D engine roaming camera; Left, right, and up distances, adjust the UAV to the same positio...

Embodiment 3

[0110] see image 3 , the UAV tunnel inspection method based on BIM technology, which includes the following steps:

[0111] [Step 1] Establish the tunnel model through BIM technology, and import it into the 3D display, use the coordinate system conversion method to obtain the relationship between the UAV navigation coordinate system and the 3D engine roaming camera coordinate system, and establish the UAV and 3D engine Correspondence between roaming cameras;

[0112] Among them, the coordinate system conversion method obtains the relationship between the UAV navigation coordinate system and the 3D engine roaming camera coordinate system. The relationship is obtained first by obtaining the left, right, and upper distances of the UAV from the tunnel through the RGB-D camera, adjusting the UAV to the same position as the starting coordinates of the 3D engine roaming, so that the two coordinate systems coincide, and then using The quaternion performs the rotation transformation...

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Abstract

The invention relates to an unmanned aerial vehicle tunnel inspection system based on BIM technology. The system comprises a correspondence establishment module, an attitude / position information acquisition module and a motion state acquisition module, wherein the correspondence establishment module obtains the relationship between an unmanned aerial vehicle navigation coordinate system and a three-dimensional engine roaming camera coordinate system; the attitude / position information acquisition module sets a camera to roam along an inspection line in a three-dimensional engine, converts the obtained correspondence between the motion trail parameter and the three-dimensional engine roaming camera into an unmanned aerial vehicle motion trail parameter, and obtains a pose parameter in the unmanned aerial vehicle inspection line; and the motion state acquisition module acquires the information corresponding to the mounting labels on the three-dimensional engine roaming camera, the RGB-D based camera, an MEMS inertial measurement unit and a tunnel segment, and integrates the information of the four to obtain the motion state in the tunnel. The system provided by the invention can improve the working efficiency of tunnel inspection.

Description

technical field [0001] The invention belongs to the technical field of tunnel inspection and relates to a tunnel inspection system, in particular to an unmanned aerial vehicle tunnel inspection system based on BIM technology. Background technique [0002] The methods commonly used in tunnel inspection at home and abroad mainly include manual inspection and semi-automatic instrument inspection. Among them, manual inspection can only take two or three hours for inspection due to the daily operation of the tunnel, which leads to short manual inspection lines. Semi-automatic instrument detection requires pre-embedded detection sensors during tunnel production, and can only be carried out by setting up special communication equipment during tunnel operation. Moreover, the survival rate of pre-embedded sensors is not very high, which has led to the current tunnel inspection. It is still carried out mainly by manual inspection. [0003] From the patents searched at home and abroa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 高新闻简明胡珉林欣欣周显威
Owner SHANGHAI UNIV