Fixed point routing inspection method of subway tunnel by unmanned aerial vehicle based on wireless sensor network
A wireless sensor network and unmanned aerial vehicle technology, applied in the field of fixed-point inspection of unmanned aerial vehicle subway tunnels, can solve the problems of small monitoring range, limited battery life of unmanned aerial vehicles, complex environment of subway tunnels, etc., and achieve wide coverage, Convenient recording and query, reducing the effect of calculation intensity
Inactive Publication Date: 2020-01-17
TONGJI UNIV
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This type of subway tunnel monitoring system replaces most of the work of inspectors, but still requires inspectors to regularly take pictures of disaster situations and check whether there are potential safety hazards in sensor nodes
[0004] The existing UAV-based subway tunnel inspections basically use UAVs directly for subway tunnel inspections. However, due to the limited battery life of UAVs and the complex environment of subway tunnels, either the monitoring range is small, or it is only wireless. Analyzed tunnel shots
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[0032] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
[0033] Such as figure 1 As shown, a UAV subway tunnel fixed-point inspection method based on wireless sensor network, including:
[0034] Step S1: After the UAV enters the subway tunnel, use the wireless sensor network communication module to communicate with any sensor node in the tunnel through the ZigBee communication method to obtain the location information of the fixed-point inspection;
[0035] The subway tunnel wireless sensor network uses sensor nodes to realize tunnel monitoring, informs the UAV of the location of the disaster and the location of the node, and completes the...
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The invention relates to a fixed point routing inspection method of a subway tunnel by an unmanned aerial vehicle based on a wireless sensor network. The method comprises the steps of step S1: the unmanned aerial vehicle uses a communication module of wireless sensor network to communicate with any sensor node in the tunnel to obtain fixed point routing inspection location information; step S2: aprocessor unit processes the obtained fixed point routing inspection location information; step S3: the unmanned aerial vehicle selects four sensor nodes with the minimum absolute value of a receivedsignal strength indicator RSSI, calculates the distances between the unmanned aerial vehicle and the selected sensor nodes, and calculates the current location of the unmanned aerial vehicle accordingto the locations of the selected sensor nodes; step S4: the unmanned aerial vehicle uses target location information in the fixed point routing inspection location information a target location, plans a flight path according to the current location and a tunnel space model, and flies to the fixed point routing inspection location; and step S5: after arriving at the target location, a pan-tilt camera is called to perform shooting according to the requirements of the fixed point routing inspection location information. Compared with the prior art, the fixed point routing inspection method provided by the invention has the advantages of convenient and quick independent positioning, improved work efficiency, wider coverage of information records, and the like.
Description
technical field [0001] The invention relates to a subway tunnel inspection method, in particular to an unmanned aerial vehicle subway tunnel fixed-point inspection method based on a wireless sensor network. Background technique [0002] As a type of multi-rotor UAV, quadrotor UAV has the characteristics of flexible control, vertical take-off and landing, and fixed-point hovering. It is gradually used in aerial photography, agricultural irrigation, express transportation, and infrastructure inspection. Subway tunnel inspection is the basic guarantee for the safe operation of urban rail transit. Due to the complex tunnel environment, manual inspection is time-consuming, laborious, and inefficient, so automated subway tunnel inspection is of great significance. [0003] The subway tunnel monitoring system based on the wireless sensor network uses a large number of low-power and low-cost wireless sensor nodes to monitor the situation of the subway tunnel, and realizes the automa...
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Login to View More IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 李刚何斌周艳敏王志鹏朱忠攀沈润杰徐寿林
Owner TONGJI UNIV