Unmanned aerial vehicle tunnel defect detection method and system

A defect detection and UAV technology, applied in radio wave measurement systems, neural learning methods, unmanned aircraft, etc., can solve the problems that cannot meet the requirements of tunnel defect detection, UAV positioning error, weak light, etc.

CN113358665APending Publication Date: 2021-09-07TONGJI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2021-09-07

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Abstract

The invention relates to an unmanned aerial vehicle tunnel defect detection method and system, an unmanned aerial vehicle carries an LED module, a camera, a laser radar, an ultrasonic range finder and an IMU, and the method comprises the following steps: collecting images in a tunnel based on the LED module and the camera to obtain a training image set; training by using the training image set to obtain a defect detection model; collecting real-time tunnel images, performing suspected defect detection on the real-time tunnel images through the defect detection model, obtaining unmanned aerial vehicle pose information based on the camera, the laser radar, the ultrasonic range finder and the IMU, and controlling the unmanned aerial vehicle to hover. Compared with the prior art, the LED module is used for supplementing illumination in the tunnel, the IMU, the camera, the laser radar and the ultrasonic range finder are fused to achieve unmanned aerial vehicle pose estimation, the trained defect detection model is used for detecting whether suspected defects exist or not in real time, hovering is carried out after the suspected defects are found, and defect detection is further carried out. Accurate pose estimation and defect detection can be realized in a tunnel which has no GPS signal and is highly symmetrical inside.
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Description

technical field

[0001] The invention relates to the field of unmanned aerial vehicle inspection, in particular to a method and system for detecting defects in an unmanned aerial vehicle tunnel. Background technique

[0002] In recent years, my country's infrastructure facilities, such as underground subway tunnels, railway tunnels and high-speed tunnels, have entered an "aging" period after long-term use, requiring regular maintenance and inspection, otherwise it will cause disastrous consequences. However, traditional maintenance requires a lot of manpower and material resources, and there are problems such as heavy workload, high risk factor, and harsh working environment. Therefore, it is urgent to use drones for facility maintenance. UAVs are flexible, agile, and can easily reach places that humans cannot reach.

[0003] In the existing technology, the UAV flies autonomously during the inspection process, uses GPS signals for positioning, and updates the location inform...

Examples

Embodiment 1

[0039] In this embodiment, the unmanned aerial vehicle for tunnel defect detection is a multi-rotor unmanned aerial vehicle, which is equipped with LED modules, cameras, laser radars, ultrasonic range finders and inertial measurement device IMUs. Illumination enables the camera to collect images at a certain brightness. The radar point cloud data collected by the lidar can realize the positioning and obstacle avoidance of the drone. The camera collects tunnel images for defect detection and can be used as a visual odometer to estimate The attitude information of the UAV, and the ultrasonic rangefinder is used to obtain the height information of the UAV.

[0040] A method for detecting defects in unmanned aerial vehicle tunnels, such as figure 1 shown, including the following steps:

[0041] S1. The UAV is equipped with an LED module and a camera, based on the LED module and the camera, multiple original images of tunnel defects are collected in the tunnel to obtain an origina...