Movable intelligent detection equipment system and method for wharf

Abstract

The invention discloses a movable intelligent detection equipment system and method for a wharf, and the system comprises a work management platform which is displayed in a web terminal display manner and is used for planning a work task; the unmanned aerial vehicle flight control platform is embedded into the work management platform; the unmanned aerial vehicle is in registration association connection with the work management platform and the unmanned aerial vehicle flight control platform, and transmits acquired data to a database of the work management platform in real time; the vehicle-mounted unmanned aerial vehicle library and algorithm large box is in wireless communication connection with the unmanned aerial vehicles; preinstalled algorithm software of the intelligent modeling and algorithm large box is embedded into the work management platform; the working computer is used for checking a working state through a web terminal or entering a working management platform to plan a working task; and the switch is used for forming the devices into an interconnected local area network, and data are transmitted among the devices. The invention aims to provide a standard visual detection means for ports and wharfs, and provides a new choice for a certain link of an automation technology.

Description

Technical Field

[0001] The present invention relates to a dock equipment / yard detection technology, and more specifically, to a movable intelligent detection equipment system and method for a dock. Background Art

[0002] With the development of global technological automation and intelligence, port terminal automation technology is also changing with each passing day. With the application of automation technology and the improvement of efficiency, some traditional operation modes that rely on manual on-site operations have further proposed more intelligent automated alternative work modes.

[0003] Intelligent detection methods have always been the subject of exploration and research by ports and terminals, and have always been the needs of ports and terminals. Terminal companies and relevant parties have been seeking a reasonable solution. At present, there are attempts to use drone technology to perform detection tasks and work, but there is still no mature application case to meet the clear requirement of intelligent detection.

[0004] Testing the equipment or dock yard of a port terminal requires some instruments and equipment. The use of the equipment and equipment is directly related to the efficiency and cost of the testing work. Considering that the application level and scale of science and technology in each terminal are different, and the various software and hardware configurations are different, many cutting-edge technologies cannot be used well in some terminals; or the use methods and processes are not suitable, resulting in a lot of invalid data or data cannot be used universally, resulting in data waste. Summary of the invention

[0005] In view of the defects existing in the prior art, the purpose of the present invention is to provide a movable intelligent detection equipment system and method for docks, aiming to provide a standard visual detection method for port terminals and a new option for a certain link of automation technology.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a mobile intelligent detection equipment system for a dock, comprising:

[0008] The work management platform is presented in the form of a web display and is used to plan work tasks;

[0009] A UAV flight control platform, embedded in the work management platform;

[0010] The drone is registered and associated with the work management platform and the drone flight control platform, and transmits the collected data to the database of the work management platform in real time;

[0011] A vehicle-mounted drone library and algorithm box, which establishes a wireless communication connection with the drone;

[0012] Intelligent modeling and algorithm box, whose pre-installed algorithm software is embedded in the work management platform and shares the same database with the embedded work management platform;

[0013] On a work computer, check the work status through the web terminal, or enter the work management platform to plan work tasks;

[0014] A switch is used to connect various devices into a local area network and transmit data between devices.

[0015] Preferably, the mobile intelligent detection system further comprises:

[0016] An outdoor power supply, used to provide power;

[0017] A mobile engineering vehicle is used to load and move the vehicle-mounted drone library and algorithm box, and the intelligent modeling and algorithm box.

[0018] Preferably, the UAV is a four-wing UAV.

[0019] Preferably, the intelligent modeling and algorithm box integrates multiple sets of CPUs, multiple sets of graphics cards, multiple sets of memory, and multiple sets of storage;

[0020] And also reserved for network port, USB port, high-definition multimedia interface;

[0021] A touch screen and keyboard are installed on the external top surface of the intelligent modeling and algorithm box.

[0022] Preferably, the working computer includes a working computer and / or a tablet computer;

[0023] The working computer enters the work management platform to perform task planning, trajectory planning, and instruction dispatching tasks;

[0024] The tablet computer is connected to the local area network, and the working status is checked through the Web terminal.

[0025] Preferably, the drone uses a portable UWB positioning method to locate the local area to be detected according to the on-site conditions to solve the problem of poor GPS signal.

[0026] The UAV is equipped with a UWB locator module.

[0027] It is advisable to use more than 4 groups of UWB base stations, and the layout can be located by laser positioning and ranging.

[0028] The UWB base station adopts a wireless communication mode.

[0029] The second aspect of the present invention provides a mobile intelligent detection method for a dock, using the mobile intelligent device detection system for a dock provided by the first aspect of the present invention to perform the following steps:

[0030] S1, collecting modeling data on site through the drone and transmitting it to the intelligent modeling and algorithm box;

[0031] S2, the intelligent modeling and algorithm box establishes a preliminary solid three-dimensional model based on the collected modeling data;

[0032] S3, performing three-dimensional route trajectory planning on the initially established entity three-dimensional model, and then performing simulation preview;

[0033] S4, according to the three-dimensional route trajectory planning, the UAV collects fine data of the local area again on site and transmits it to the intelligent modeling and algorithm box, and the intelligent modeling and algorithm box performs secondary local area modeling or overall re-modeling;

[0034] S5, the defect intelligent identification and judgment system integrated in the algorithm box or the volume calculation software for the yard judges and uses the collected data, draws reasonable conclusion data, and gives a data report through the built-in report template.

[0035] Preferably, the preliminary modeling accuracy of the intelligent modeling and algorithm box is at the centimeter level.

[0036] Preferably, the secondary modeling accuracy of the intelligent modeling and algorithm box is sub-millimeter level.

[0037] Preferably, when a certain equipment or storage yard at the wharf is inspected for the second time or more times, the intelligent modeling and algorithm system compares the historical data to determine the status trend of the equipment or the increase or decrease in the amount of cargo in the storage yard.

[0038] The present invention provides a mobile intelligent detection system and method for docks. Based on years of research and trial tests in the field of drone applications, the present invention proposes a mobile intelligent detection device system and method for docks, which aims to provide a standard visual detection method for ports and docks and a new option for a certain link of automation technology. The present invention can communicate information between various component devices in a local area network without being connected to the Internet, and complete the specified work through collaboration. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the structural framework of the mobile intelligent detection system of the present invention;

[0040] Figure 2 It is a flow chart of the mobile intelligent detection method of the present invention. DETAILED DESCRIPTION

[0041] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0042] Combination Figure 1 As shown, the present invention provides a movable intelligent detection equipment system for a dock, comprising:

[0043] The work management platform is presented in the form of a web-based display, and common work tasks, such as testing port machinery equipment and dock yards, are planned into the work management platform. The work management platform has functions such as 3D model import and display, and drone video stream access and display.

[0044] UAV flight control platform, data collection work, at this stage, UAV 1 is planned to be used for image collection. UAV 1 requires a UAV flight control platform, and the UAV flight control platform should support trajectory planning and rehearsal functions. The UAV flight control platform is embedded in the work management platform, and the operation scene is displayed in real time when UAV 1 is operating.

[0045] Drone 1 is a quad-suspension wing drone that can be mounted on multifunctional equipment, laser and visible light fusion payloads, high-pixel high-zoom cameras, etc., to meet the requirements of inspection operations. Drone 1 is registered and connected with the work management platform and the drone flight control platform, and transmits the collected data to the corresponding database in the work management platform in real time.

[0046] The vehicle-mounted drone library and algorithm box 2 establish wireless communication connection with drone 1, and its image transmission function is more direct and efficient. It is convenient for basic maintenance functions such as storage, inspection, charging and replacement of drone 1, and there is no need for manual maintenance of drone 1.

[0047] Intelligent Modeling and Algorithm Box 3 is a mobile computer device with high computing power. It integrates multiple CPUs, multiple graphics cards, multiple memory, multiple high-speed large-capacity storage, and reserves network ports (including optical fiber interfaces and currently used network wired interfaces), USB ports, and high-definition multimedia interfaces. The external top surface of the Intelligent Modeling and Algorithm Box 3 is equipped with a touch screen and keyboard.

[0048] The algorithm software pre-installed in the Intelligent Modeling and Algorithm Box 3 is embedded in the work management platform and shares the same database with the embedded work management platform. Through the embedded buttons or instructions, the work management platform can mobilize the algorithm software of the Intelligent Modeling and Algorithm Box 3 and give instructions to perform various tasks. The ability of the Intelligent Modeling and Algorithm Box 3 is required, and the modeling speed reaches 1Km 2 / 10 minutes, that is, the modeling of more than 1 square kilometer can be achieved in 10 minutes, and the accuracy reaches the centimeter level.

[0049] The shell of the intelligent modeling and algorithm box 3 can be configured with aluminum alloy or carbon fiber material or hard plastic to form a stronger protective effect.

[0050] The switch 4 is used to connect the devices to form a local area network, and transmit data between the devices. A wired switch or a wireless switch can be selected according to the needs.

[0051] If the vehicle-mounted drone library and algorithm box 2 are not configured, a wireless switch can also be configured. The wireless frequency can be connected to the drone 1. Because it is necessary to meet the work of the drone 1, the wireless switch requires a signal transmission distance of more than 1 km. With current technology, optical wireless switches are more suitable.

[0052] For convenient viewing during work, a work computer 5 and / or a tablet computer 6 (PAD) can be carried with the work computer 5 and / or the tablet computer 6 (PAD), connected to the local area network, and the work status can be viewed through the web terminal, or the work management platform can be entered to perform tasks such as task planning, trajectory planning, and command dispatch.

[0053] The mobile intelligent detection equipment system of the present invention also includes:

[0054] Outdoor power supply, used to provide power.

[0055] The mobile engineering vehicle 7 is used to load the mobile vehicle-mounted drone library and algorithm box 2, and the intelligent modeling and algorithm box 3. The weight of the vehicle-mounted drone library and algorithm box 2 and the intelligent modeling and algorithm box 3 are both within the range that two people can easily lift, about 30 kilograms, and the mobile engineering vehicle 7 can be configured to work at the designated location. If the work task requires the use of a larger rotor drone, the heavier vehicle-mounted drone library and algorithm box 2 are configured, and the mobile engineering vehicle 7 with a large load capacity is also configured to move the equipment to the location where it needs to work.

[0056] Combination Figure 2 As shown, the present invention also provides a mobile intelligent detection method for a dock, using the mobile intelligent detection system of the present invention, and taking into account the various detection tasks required by current dock equipment and dock yards. For example, quay cranes, bulk cargo dock yards, etc., the operation is performed through the following steps:

[0057] S1, Field modeling data collection

[0058] Usually, there is no 3D model during the first inspection. The modeling data is collected on-site by drones, and the modeling data is transmitted to the intelligent modeling and algorithm box in a timely manner through the local area network. Before collecting modeling data, the staff can only plan the safe collection track of the drone through on-site observation. The drone is mounted with a laser and visible light fusion device for modeling to scan. The image data obtained may not meet the inspection requirements in terms of pixels and fineness, but it can be used to build a preliminary model. It is recommended to plan the data collection within 1Km 2 If the area to be inspected is large, the method of slicing and step-by-step inspection can be adopted.

[0059] S2, Preliminary model building

[0060] The intelligent modeling and algorithm box builds a preliminary solid 3D model based on the collected modeling data. It can measure some basic dimension data on the 3D solid model and distinguish various objects. The model accuracy is at the centimeter level.

[0061] S3, three-dimensional route trajectory planning

[0062] Inspection of terminal equipment and storage yards often requires more detailed image data, especially the detection of equipment defects or diseases, which may even require sub-millimeter accuracy. Calculation of the cargo volume in bulk storage yards also requires more accurate dimensional information to reduce errors.

[0063] Therefore, based on the initially established three-dimensional physical model, a new three-dimensional route trajectory is planned. After the new three-dimensional route trajectory is planned, a simulation rehearsal can be carried out first to simulate the actual detection work, and the trajectory can be fine-tuned according to the detection needs to ensure that effective and clear image data that meets the detection and judgment requirements can be collected.

[0064] S4, Refined data collection and secondary modeling

[0065] According to the three-dimensional route trajectory planning, the drone collects modeling data again on site, and collects enough clear and effective high-pixel images for the inspected area. The image data meets the inspection requirements, such as the local inspection requirements of a certain device to meet the sub-millimeter recognition requirements; the image data can be used for effective recognition or re-training of the algorithm model.

[0066] At present, many three-dimensional solid models built for equipment or similar port machinery equipment usually produce various distortions and fail to meet practical requirements. Because the equipment is three-dimensional and omnidirectional, many fine components and long and thin components require refined trajectory planning and then three-dimensional omnidirectional shooting to obtain complete and accurate images. Only by modeling based on complete and accurate three-dimensional images can we obtain a complete model diagram of the available three-dimensional components, rather than a distorted diagram. For similar situations, secondary accurate data collection is carried out in the inspected area. The smart box can perform local secondary refined modeling based on the accurate high-definition image data taken twice, so as to achieve the effect of meeting practical requirements in the inspected area.

[0067] S5, image recognition of defects or calculation of the volume of each part of the yard

[0068] Intelligent modeling and algorithm Large boxes are based on integrated intelligent algorithm models and volume calculation software for storage yards.

[0069] Based on the modeling data collected secondary, the trained intelligent algorithm can classify and judge the collected data, and give a judgment data report through the built-in report template.

[0070] Or you can call up the volume calculation software for the storage yard, select a storage yard area that needs to be calculated, and the volume calculation software will automatically measure the edge points, lines, surfaces, relative distances and shape features of the cargo, divide the storage yard into finite shapes, apply various mature formulas or effective integrals to approximately calculate the volume of the cargo, and give a calculation data report.

[0071] When a piece of equipment or a storage yard at the terminal is inspected for the second time or multiple times, the intelligent modeling and algorithm box compares the historical data to determine the status trend of the equipment or the increase or decrease in the amount of cargo in the storage yard.

[0072] Example

[0073] This embodiment provides a mobile intelligent detection equipment system and method for a dock, and the specific implementation methods are as follows:

[0074] 1) Software development or selection

[0075] Develop a set of work management platform software, which is presented in the form of web display. Common work tasks, such as testing port machinery equipment and dock yards, are planned into the work management platform. The work management platform has functions such as 3D model import and display, and drone video stream access display.

[0076] Select or develop a UAV flight control platform and embed it into the work management platform.

[0077] Develop 3D modeling software or choose advanced products on the market. The algorithm model needs to be effectively trained. Volume algorithm software needs to be developed and trained, with multiple mathematical formulas built in, or choose advanced products on the market.

[0078] 2) Hardware Configuration

[0079] Select advanced industry-level drone and vehicle-mounted drone library and algorithm box; drone or vehicle-mounted drone library and algorithm box are registered and associated with the work management platform.

[0080] Select a wireless fiber switch.

[0081] Design the intelligent modeling and algorithm box and the composition and arrangement of its internal components and parts, customize the structure and outer box of the intelligent modeling and algorithm box, and customize the motherboard of the intelligent modeling and algorithm box; purchase multiple sets of advanced CPUs, graphics cards, memory, and hard disk storage, and assemble them into the intelligent modeling and algorithm box according to the design. A stable bracket is fixed on the top of the intelligent modeling and algorithm box, and a touch screen display and a working keyboard are configured on the bracket. The display and keyboard are connected to the intelligent modeling and algorithm box. The Linux operating system is installed in the intelligent modeling and algorithm box, and the selected three-dimensional modeling software and yard volume algorithm software are installed in the intelligent modeling and algorithm box. The software of the work management platform is also deployed in the intelligent modeling and algorithm box, and the intelligent modeling and algorithm box has enough storage space as a database.

[0082] A local area network is established using a wireless fiber optic switch. All devices are within the local area network and data within the local area network can be transmitted at high speed.

[0083] 3) Work computer

[0084] You can choose the operating table or computer on the intelligent modeling and algorithm box as the working computer for operating instructions.

[0085] The work computer or PAD is also connected to the local area network to check the progress of each item in real time during the operation.

[0086] 4) Select the on-site working power supply

[0087] Choose an appropriate outdoor power supply based on power consumption and working time.

[0088] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A mobile intelligent detection equipment system for a dock, characterized in that: include: The work management platform is presented in the form of a web display and is used to plan work tasks; A UAV flight control platform, embedded in the work management platform; The drone is registered and associated with the work management platform and the drone flight control platform, and transmits the collected data to the database of the work management platform in real time; A vehicle-mounted drone library and algorithm box, which establishes a wireless communication connection with the drone; Intelligent modeling and algorithm box, whose pre-installed algorithm software is embedded in the work management platform and shares the same database with the embedded work management platform; On a work computer, check the work status through the web terminal, or enter the work management platform to plan work tasks; A switch is used to connect various devices into a local area network and transmit data between devices.

2. The mobile intelligent detection equipment system for docks according to claim 1 is characterized in that: The movable intelligent detection system also includes: An outdoor power supply, used to provide power; A mobile engineering vehicle is used to load and move the vehicle-mounted drone library and algorithm box, and the intelligent modeling and algorithm box.

3. The mobile intelligent detection equipment system for docks according to claim 1 is characterized in that: The UAV is a four-suspension-wing UAV.

4. The mobile intelligent detection equipment system for docks according to claim 1 is characterized in that: The intelligent modeling and algorithm box integrates multiple sets of CPUs, multiple sets of graphics cards, multiple sets of memory, and multiple sets of storage; And also reserved for network port, USB port, high-definition multimedia interface; A touch screen and keyboard are installed on the external top surface of the intelligent modeling and algorithm box.

5. The mobile intelligent detection equipment system for docks according to claim 1 is characterized in that: The working computer includes a working computer and / or a tablet computer; The working computer enters the work management platform to perform task planning, trajectory planning, and instruction dispatching tasks; The tablet computer is connected to the local area network, and the working status is checked through the Web terminal.

6. A mobile intelligent detection method for a dock, characterized in that: The following steps are performed using the mobile intelligent detection equipment system for docks as described in any one of claims 1 to 5: S1, collecting modeling data on site through the drone and transmitting it to the intelligent modeling and algorithm box; S2, the intelligent modeling and algorithm box establishes a preliminary solid three-dimensional model based on the collected modeling data; S3, performing three-dimensional route trajectory planning on the initially established entity three-dimensional model, and then performing simulation preview; S4, according to the three-dimensional route trajectory planning, the UAV collects fine data of the local area again on site and transmits it to the intelligent modeling and algorithm box, and the intelligent modeling and algorithm box performs secondary local area modeling or overall re-modeling; S5, the defect intelligent identification and judgment system integrated in the intelligent modeling and algorithm box or the volume calculation software for the yard judges and uses the collected data, draws reasonable conclusion data, and gives a data report through the built-in report template.

7. The movable intelligent detection method for a dock according to claim 6, characterized in that: The preliminary modeling accuracy of the intelligent modeling and algorithm box is at the centimeter level.

8. The movable intelligent detection method for a dock according to claim 6, characterized in that: The secondary modeling accuracy of the intelligent modeling and algorithm box is sub-millimeter.

9. The movable intelligent detection method for docks according to claim 6, characterized in that: When a certain equipment or storage yard at the wharf is inspected for the second time or multiple times, the intelligent modeling and algorithm box compares the historical data to determine the status trend of the equipment or the increase or decrease of the cargo in the storage yard.

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