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Method and system for inspecting tunnel by unmanned aerial vehicle

A technology of unmanned aerial vehicles and tunnels, which is applied in radio wave measurement systems, electromagnetic wave re-radiation, image analysis, etc., can solve problems such as the inability to guarantee visual features and the difficulty of detecting accurate tunnel data, so as to reduce costs and risks, and improve efficiency effect

Active Publication Date: 2022-07-01
ZHEJIANG SMART VIDEO SECURITY INNOVATION CENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Traditional outdoor UAVs generally adopt GPS positioning mode, and the position information of UAVs is obtained through GPS signals to realize the control of UAV flight. The data of UAVs can generally be transmitted through 2.4G / 5GHz radio frequency signals, Network, WIFI and other methods of transmission control, indoor UAV positioning and navigation mainly rely on real-time positioning and composition technology, that is, SLAM technology. However, stable visual features cannot be guaranteed, and it is difficult to detect accurate data inside the tunnel.

Method used

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  • Method and system for inspecting tunnel by unmanned aerial vehicle
  • Method and system for inspecting tunnel by unmanned aerial vehicle
  • Method and system for inspecting tunnel by unmanned aerial vehicle

Examples

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Embodiment 1

[0072] This embodiment provides a method for inspecting a tunnel by a drone, such as figure 1 As shown, the method includes:

[0073] S1, configure a lidar sensor, a detection sensor and an inertial measurement unit on the UAV, wherein the inertial measurement unit has completed the calibration of preset parameters and the calibration of the spatial position relationship with the lidar sensor;

[0074] S2, acquiring the track points of the drone outside the tunnel to be inspected, wherein the track points include a launch point and a return point;

[0075] S3. The drone enters the tunnel to be inspected at the launch point;

[0076] S4. Calculate the local tunnel space attitude data of the tunnel to be inspected based on the lidar sensor and the inertial measurement unit, and determine the track of the UAV in the to-be-inspected tunnel according to the local tunnel space attitude data point;

[0077] S5. Obtain detection data of the tunnel to be inspected through the detect...

Embodiment 2

[0085] This embodiment provides a method for inspecting a tunnel by an unmanned aerial vehicle, and the steps included in the method are described in detail below.

[0086] The first step is to configure the lidar sensor, detection sensor and inertial measurement unit on the UAV, wherein the inertial measurement unit has completed the calibration of preset parameters and the calibration of the spatial position relationship with the lidar sensor.

[0087] The Inertial Measurement Unit (Inertial Measurement Unit) here is abbreviated as IMU, which is mainly used to detect and measure acceleration and rotational motion sensors. The principle is realized by the law of inertia. These sensors range from ultra-small MEMS sensors to laser gyroscopes with very high measurement accuracy, regardless of the size of MEMS sensors with a size of only a few millimeters, to optical fiber devices with a diameter of nearly half a meter. It is this principle. The inertial measurement unit needs t...

Embodiment 3

[0102] This embodiment provides a system for an unmanned aerial vehicle to inspect a tunnel, the system includes a lidar sensor, a detection sensor and an inertial measurement unit configured on the unmanned aerial vehicle; such as Figure 4 As shown, the system also includes:

[0103] The acquisition module 401 is used to acquire the track points of the drone outside the tunnel to be inspected, wherein the track points include a launch point and a return point;

[0104] A launch module 402, configured to control the drone to enter the tunnel to be inspected at the launch point;

[0105] A calculation module 403, configured to calculate the local tunnel space attitude data of the tunnel to be inspected, and determine the track point of the drone in the to-be-inspected tunnel according to the local tunnel space attitude data;

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Abstract

The invention relates to a method and system for inspecting a tunnel through an unmanned aerial vehicle. The method comprises the steps that a laser radar sensor, a detection sensor and an inertial measurement unit are configured on the unmanned aerial vehicle, and the inertial measurement unit completes preset parameter calibration and calibration of the spatial position relation between the inertial measurement unit and the laser radar sensor; track points, outside the to-be-inspected tunnel, of the unmanned aerial vehicle are obtained, and the track points comprise launching points and regression points; the unmanned aerial vehicle enters the tunnel to be inspected at the launching point; calculating local tunnel space attitude data of the to-be-inspected tunnel, and determining a track point of the unmanned aerial vehicle in the to-be-inspected tunnel according to the local tunnel space attitude data; and obtaining detection data of the to-be-inspected tunnel through the detection sensor based on the navigation line of the track point in the to-be-inspected tunnel and a preset navigation period. According to the invention, the efficiency of tunnel inspection is greatly improved, and the cost and danger of manual inspection are also reduced.

Description

technical field [0001] The present application relates to the technical field of drone inspection and tunnel inspection, and more specifically, to a method and system for drone inspection of tunnels. Background technique [0002] At present, the construction of roads or railways in mountainous and other areas usually takes the form of tunnels, and the rapid development of tunnels plays a crucial role in the close connection between regions. However, due to the traffic load carried by the special environment of the tunnel, it is also prone to various diseases, so the inspection and maintenance work has also become an urgent problem to be solved in the current traffic development. In the traditional inspection technology, there are problems of high cost, low efficiency and high risk in the inspection and maintenance that professionals are responsible for. [0003] With the improvement of UAV technology, it has also gradually developed from the original military application to...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S17/86G06T7/80
CPCG01C21/1652G01S17/86G06T7/80G06T2207/10028G06T2207/10044G06T2207/30184G06T2207/30244
Inventor 林欢葛强靳展齐海兵陈静
Owner ZHEJIANG SMART VIDEO SECURITY INNOVATION CENT CO LTD