Flight equipment for tunnel detection and tunnel detection method based on flight equipment

Abstract

The invention discloses flight equipment for tunnel detection and a tunnel detection method based on the flight equipment. The flight equipment comprises an aircraft body, a detection assembly used for detecting a tunnel and a navigation assembly used for navigating and controlling the detection direction of the detection assembly. A detection assembly and a navigation assembly are carried in the aircraft body, so that the detection assembly detects a tunnel in the flight process; moreover, the navigation assembly detects the direction of the track in the tunnel, and controls the flight direction of the aircraft body and the detection direction of the detection assembly according to the direction of the track. According to the technical scheme of the invention, the flight equipment can automatically complete the detection of the tunnel without manual control, and during the detection, the detection direction and angle of the tunnel detection assembly can be always kept within the required range, so that the detection efficiency of tunnel detection is improved while the tunnel detection quality is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel detection, and in particular to a flying device for tunnel detection and a tunnel detection method based on the flying device. Background Art

[0002] With the continuous upgrading of my country's railway intelligent operation and maintenance equipment and facilities, intelligent inspection robots have gradually become an important equipment for improving maintenance quality and efficiency. Through automated robot technology and image recognition and processing technology, the automation and intelligence of daily inspection work have been gradually realized.

[0003] At present, in the field of tunnel detection, most of the detection equipment used is intelligent inspection equipment, but these devices usually cannot move automatically and still need to be manually controlled to move their routes, resulting in low detection efficiency. In addition, these devices are usually equipped with image recognition detection solutions, but for the image information they collect, the image needs to be identified and analyzed before the tunnel status can be confirmed, further reducing the detection efficiency. In addition, in some tunnels with poor lighting conditions, it is likely that effective information cannot be identified using image detection, which will also pose an obstacle to tunnel detection.

[0004] Therefore, how to improve the detection efficiency of tunnel detection while ensuring the quality of tunnel detection has become a problem that needs to be solved in this field. Summary of the invention

[0005] In view of this, in a first aspect, the present application proposes a flying device for tunnel detection, wherein the tunnel includes a track in the same direction as the tunnel, and the flying device flies in the tunnel, and the flying device includes: an aircraft body, a detection component for detecting the tunnel, and a navigation component for navigating and controlling the detection direction of the detection component;

[0006] The detection component and the navigation component are mounted in the aircraft body, so that the detection component can detect the tunnel during flight;

[0007] Furthermore, the navigation component detects the direction of the track in the tunnel, and controls the flight direction of the aircraft body and the detection direction of the detection component according to the direction of the track.

[0008] Preferred:

[0009] The aircraft body comprises: a connecting shaft;

[0010] The detection assembly includes: a mounting arm and a detection bracket;

[0011] One end of the mounting arm is rotatably connected to the aircraft body via the connecting shaft, and the other end is connected to the detection bracket, so that the detection bracket remains perpendicular to the track under the action of gravity.

[0012] Further preferably, the detection assembly further comprises: an electric rotating shaft; the other end of the mounting arm is connected to the detection bracket, comprising:

[0013] The other end of the mounting arm is rotatably connected to the detection bracket via the electric rotating shaft, so that the detection bracket also has the freedom to rotate in a vertical direction around the electric rotating shaft.

[0014] Preferably, the aircraft body further comprises: ground support legs for supporting the flight equipment.

[0015] Further preferably, the detection component further comprises: a tunnel detection radar;

[0016] The tunnel detection radar is fixed in the detection bracket, the detection surface of the tunnel detection radar is perpendicular to the track, and the detection direction of the tunnel detection radar is the same as the track direction of the track, so as to perform laser radar detection on the tunnel.

[0017] Further preferably, there are two tunnel detection radars, which are respectively fixed at two ends of the detection bracket and correspond to the left and right sides of the aircraft body.

[0018] Preferably, the detection component further comprises: an image acquisition device;

[0019] The image acquisition device is fixed in the aircraft body and is used for performing image detection on the tunnel.

[0020] Further preferably, there are two image acquisition devices, which are respectively arranged on the front and rear sides of the aircraft body.

[0021] Further preferably, the navigation component comprises: a track detection radar;

[0022] The track detection radar is fixed in the detection bracket;

[0023] The track detection radar controls the flight direction of the flying device to be the same as the direction of the track according to the direction of the detected track, and controls the detection direction of the tunnel detection radar to be the same as the direction of the track through the electric shaft.

[0024] Further preferably, the tunnel detection radar makes the detection surface perpendicular to the track through the connecting shaft under the action of gravity.

[0025] Further preferably, the tunnel detection radar is a two-dimensional laser radar, and the track detection radar is a three-dimensional laser radar.

[0026] Further preferably, the navigation component further comprises: an inertial measurement device;

[0027] The inertial measurement device is arranged in the detection bracket, and is used for detecting and adjusting the left and right tilt angles of the flying device, so that the flying device flies parallel to the track.

[0028] In a second aspect, the present application further provides a tunnel detection method based on an aircraft, the method using the aircraft described in the first aspect to perform detection, and the tunnel includes a track in the same direction as the tunnel, the method comprising:

[0029] placing a flying device into the tunnel;

[0030] The navigation component in the flight device is used for flight navigation, and the detection component in the flight device is used for detection of the tunnel during flight; wherein the navigation component detects the direction of the track in the tunnel to achieve flight navigation.

[0031] Preferably, the detecting the tunnel by using a detection component in the flight equipment during flight includes:

[0032] Using the navigation component to control the detection direction of the detection component to be the same as the track direction of the track in the tunnel during flight;

[0033] Furthermore, the detection surface of the detection component is perpendicular to the track.

[0034] Further preferably, the detecting the tunnel by using the detection component in the flight equipment during flight further comprises:

[0035] The left and right tilt angles of the flying device are detected and adjusted so that the flying device flies parallel to the track.

[0036] Preferably, the detecting of the tunnel comprises: performing image detection and laser radar monitoring of the tunnel.

[0037] The present application provides a flying device for tunnel detection, comprising an aircraft body, a detection component for detecting tunnels, and a navigation component for navigating and controlling the detection direction of the detection component, wherein the detection component can complete tunnel detection during the flight of the aircraft body, and at the same time, the navigation component can control the flight direction of the aircraft body and the detection direction of the detection component according to the direction of the track, so that the flying device can automatically complete the detection of the tunnel without manual control, and during the detection, the detection direction and angle of the tunnel detection component can always be maintained within the required range, thereby improving the detection efficiency of the tunnel detection while ensuring the quality of the tunnel detection.

[0038] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic implementation modes and descriptions of the present application are used to explain the present application. In the accompanying drawings:

[0040] Figure 1 This is a schematic structural diagram of a flying device for tunnel inspection according to a preferred embodiment of the present application;

[0041] Figure 2 A schematic diagram of the structure of a detection bracket and a device fixed thereto in one direction according to a preferred embodiment of the present application;

[0042] Figure 3 This is a schematic structural diagram of the detection bracket and the device it fixes in another direction according to the preferred embodiment of the present application.

[0043] Figure Number:

[0044] 1-aircraft body; 11-connecting shaft; 12-ground support leg; 21-installation arm; 22-detection bracket; 23-electric shaft; 24-tunnel detection radar; 25-image acquisition device; 31-track detection radar; 32-IMU device. DETAILED DESCRIPTION

[0045] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the implementation modes.

[0046] In the application scenario of the present application, the tunnel includes a track in the same direction as the tunnel, such as a subway tunnel. The flying device can detect the tunnel section during the flight in the tunnel and above the track. Among them, the track can be understood as a railway track, and the tunnel section refers to the shape of the tunnel at a certain cross section, also commonly referred to as the tunnel cross section. The detection of the tunnel section can include the detection of the tunnel section size, lining structure status, etc.

[0047] Based on this, the present application first proposes a flying device for tunnel detection, such as Figure 1-3 As shown, the flight equipment includes: an aircraft body 1, a detection component for detecting tunnels, and a navigation component for navigating and controlling the detection direction of the detection component.

[0048] Among them, the aircraft body 1 can be specifically a small drone that can fly at low altitude, and the body is equipped with a detection component and a navigation component. The detection component is used to scan the cross-section of the tunnel during flight, so as to complete the detection of the tunnel. The navigation component is used to detect the direction of the track in the tunnel during flight, and control the flight direction of the aircraft body 1 and the detection direction of the detection component according to the direction of the track. Since the direction of the track is the same as the direction of the tunnel, the direction of the track can be used to determine the direction of the tunnel, navigate the flight equipment, and ensure that the detection direction of the flight equipment does not deviate from the direction of the tunnel.

[0049] Specifically, the aircraft body 1 includes: a connecting shaft 11, and the detection assembly includes: a mounting arm 21 and a detection bracket 22. Among them, one end of the mounting arm 21 is rotatably connected to the aircraft body 1 through the connecting shaft 11, and the connection is passive rotation, and the other end is connected to the detection bracket 22, so that the detection bracket 22 can automatically keep perpendicular to the track by gravity rotation, so that other equipment fixed in the detection bracket 22 below can also automatically keep perpendicular to the track by gravity.

[0050] In addition, the detection assembly further includes an electric shaft 23. The other end of the mounting arm 21 is rotatably connected to the detection bracket 22 through the electric shaft 23, and the connection is electrically controlled rotation, so that the detection bracket 22 and other equipment fixed in the detection bracket 22 below also have the freedom to rotate vertically around the electric shaft 22.

[0051] The significance of the device fixed in the detection bracket 22 having the freedom to rotate vertically around the electric rotating shaft 22 and being able to automatically maintain perpendicularity to the track by using gravity is described in detail below and will not be repeated here.

[0052] The aircraft body 1 also includes: ground support legs 12 for supporting the flight equipment on the ground or other planes. The ground support legs 12 can be arranged corresponding to the rotors in the aircraft body 1. For example, if the aircraft body is a quadcopter, there can be four ground support legs 12, which are respectively arranged on the lower sides of the four rotors. It can be understood that the ground support legs 12 need to constitute an activity space for the detection bracket 22 and the fixed equipment in the aircraft body 1, so that the detection bracket 22 and the fixed equipment are not affected by the position of the ground support legs 12 when swinging or rotating. For example, the ground support legs 12 can have an arc protruding outside the fuselage. On the one hand, it can leave activity space for the detection bracket 22 and the fixed equipment, and on the other hand, it can also increase the stability of the fuselage support.

[0053] The equipment fixed in the detection bracket 22 includes the tunnel detection radar 24 in the detection component, the track detection radar 31 in the navigation component and the inertial measurement unit (IMU) device 32. All of these equipment can move with the detection bracket 22 in the detection bracket 22.

[0054] Among them, the tunnel detection radar 24 is used to detect the tunnel section, and its detection surface is the tunnel section to be detected, which is perpendicular to the track, and its detection direction is the same as the track direction of the track, and a laser radar is used to realize the detection of the tunnel.

[0055] Preferably, there are two tunnel detection radars 24 , which are respectively fixed at two ends of the detection bracket 22 and correspond to the left and right sides of the aircraft body 1 .

[0056] Preferably, the detection component further includes: an image acquisition device 25. The image acquisition device 25 can be used as an auxiliary detection device to perform image detection on the tunnel, and the data collected by the image acquisition device 25 can be complementary and mutually verified with the data detected by the tunnel detection radar 24. The image acquisition device 25 is not fixed in the detection bracket 22, but is fixed in the aircraft body 1. In addition, the image acquisition device 25 can be set to two, respectively set on the front and rear sides of the aircraft body 1, so as to perform image detection on the tunnel in the front and rear directions of the flight route of the flight equipment.

[0057] As for the track detection radar 31 fixed in the detection bracket 22, the track detection radar 31 also uses a laser radar to detect the direction of the track. According to the detected direction of the track, the flight direction of the flying equipment is controlled to be the same as the direction of the track, and the rotation of the detection bracket 22 is controlled by the electric shaft 23, so as to control the detection direction of the tunnel detection radar 24 to be the same as the direction of the track.

[0058] It can be understood that making the detection direction of the tunnel detection radar 24 the same as the direction of the track is achieved by controlling the electric shaft 23 through the track detection radar 31. Making the detection surface of the tunnel detection radar 24 perpendicular to the track is automatically achieved by the connecting shaft 11 under the action of gravity. The present application ensures that the detection direction and angle of the tunnel detection radar 24 used for detecting the tunnel are always kept within the required range through the passively rotating connecting shaft 11, the track detection radar 31 and the electrically controlled rotating electric shaft 23, thereby improving the accuracy of the detection.

[0059] In a specific embodiment, when the flying device is accelerating or decelerating or encounters unstable airflow and the body tilts forward and backward, the connecting shaft 11 rotates passively under the action of gravity, so that although the body itself tilts forward and backward, the tunnel detection radar 24, the track detection radar 31 and the IMU device 32 described below will not follow the tilt of the fuselage, but can all remain vertically downward under the action of gravity. When the flying device encounters a tunnel turn in the tunnel, the track detection radar 31 can detect that the track below it has turned. While controlling the turn of the aircraft body 1, the electric shaft 23 can also be used to make the detection direction of the tunnel detection radar 24 the same as the direction of the track and the direction of the tunnel.

[0060] Preferably, the tunnel detection radar 24 is a two-dimensional laser radar, and the track detection radar 31 is a three-dimensional laser radar. The two-dimensional radar mainly provides speed and distance information, which is suitable for detecting the cross-sectional state of the tunnel, while the three-dimensional radar can provide speed, distance and angle information, which is suitable for detecting the track direction of the track.

[0061] In addition, the above has explained the response method of the present application when the flying device tilts forward and backward and changes the moving direction. When the flying device tilts left and right, the present application also fixes an IMU device 32 in the detection bracket 22. The IMU device 32 is used to detect and adjust the left and right tilt angles of the flying device so that the flying device as a whole flies parallel to the track.

[0062] Preferably, the two tunnel detection radars 24 of the present application are respectively fixed on both sides of the detection bracket 22, the track detection radar 31 is fixed on the front side of the detection bracket 22, and the IMU device 32 is fixed on the bottom of the detection bracket.

[0063] The present application provides a flying device for tunnel detection, comprising an aircraft body, a detection component for detecting tunnels, and a navigation component for navigating and controlling the detection direction of the detection component, wherein the detection component can complete tunnel detection during the flight of the aircraft body, and at the same time, the navigation component can control the flight direction of the aircraft body and the detection direction of the detection component according to the direction of the track, so that the flying device can automatically complete the detection of the tunnel without manual control, and during the detection, the detection direction and angle of the tunnel detection component can always be maintained within the required range, thereby improving the detection efficiency of the tunnel detection while ensuring the quality of the tunnel detection.

[0064] In addition, the present application also provides a tunnel detection method based on an aircraft device. The method uses the above-mentioned aircraft device to detect the tunnel. Similar to the application scenario of the above-mentioned aircraft device, the tunnel includes a track in the same direction as the tunnel. The method includes steps 210-220:

[0065] Step 210, placing the flying device into the tunnel;

[0066] Specifically, the flying device is placed in a tunnel with a track so that a navigation component in the flying device can detect the track downward.

[0067] Step 220, using the navigation component in the flight equipment to perform flight navigation, and using the detection component in the flight equipment to detect the tunnel during flight;

[0068] Specifically, during the detection process, the navigation component can detect the direction of the track in the tunnel to achieve flight navigation of the device, and during the detection process, the navigation component can also control the detection direction of the detection component to be consistent with the track direction and the direction of the tunnel according to the direction of the track in the tunnel. At the same time, it is also necessary to control the detection surface of the detection component to be perpendicular to the track, detect and adjust the left and right tilt angles of the flying device, so that the flying device flies parallel to the track to ensure the accuracy of the detection.

[0069] Preferably, detecting the tunnel includes: performing image detection and lidar monitoring on the tunnel to achieve complementarity and mutual verification of radar detection data and image detection data.

[0070] Other preferred embodiments of the tunnel detection method based on flying equipment provided in this application, the technical problems that can be solved and the technical effects that can be achieved are the same as those of the above-mentioned flying equipment for tunnel detection, and will not be repeated here.

[0071] The preferred embodiments of the present application are described in detail above; however, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, a variety of simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the protection scope of the present application.

[0072] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0073] In addition, the various implementation modes of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A flying device for tunnel inspection, characterized in that: The tunnel includes a track in the same direction as the tunnel, the flying device flies in the tunnel, and the flying device includes: an aircraft body, a detection component for detecting the tunnel, and a navigation component for navigating and controlling the detection direction of the detection component; The detection component and the navigation component are mounted in the aircraft body, so that the detection component can detect the tunnel during flight; Furthermore, the navigation component detects the direction of the track in the tunnel, and controls the flight direction of the aircraft body and the detection direction of the detection component according to the direction of the track.

2. The flying device according to claim 1, characterized in that: The aircraft body comprises: a connecting shaft; The detection assembly includes: a mounting arm and a detection bracket; One end of the mounting arm is rotatably connected to the aircraft body via the connecting shaft, and the other end is connected to the detection bracket, so that the detection bracket remains perpendicular to the track under the action of gravity.

3. The flying device according to claim 2, characterized in that: The detection assembly further includes: an electric rotating shaft; the other end of the mounting arm is connected to the detection bracket, including: The other end of the mounting arm is rotatably connected to the detection bracket via the electric rotating shaft, so that the detection bracket also has the freedom to rotate in a vertical direction around the electric rotating shaft.

4. The flying device according to claim 1, characterized in that: The aircraft body also includes: ground support legs for supporting the flight equipment.

5. The flying device according to claim 3, characterized in that: The detection component also includes: a tunnel detection radar; The tunnel detection radar is fixed in the detection bracket, the detection surface of the tunnel detection radar is perpendicular to the track, and the detection direction of the tunnel detection radar is the same as the track direction of the track, so as to perform laser radar detection on the tunnel.

6. The flying device according to claim 5, characterized in that: There are two tunnel detection radars, which are respectively fixed at two ends of the detection bracket and correspond to the left and right sides of the aircraft body.

7. The flying device according to claim 1, characterized in that: The detection component also includes: an image acquisition device; The image acquisition device is fixed in the aircraft body and is used for performing image detection on the tunnel.

8. The flying device according to claim 7, characterized in that: There are two image acquisition devices, which are respectively arranged on the front and rear sides of the aircraft body.

9. The flying device according to claim 5, characterized in that: The navigation component includes: a track detection radar; The track detection radar is fixed in the detection bracket; The track detection radar controls the flight direction of the flying device to be the same as the direction of the track according to the direction of the detected track, and controls the detection direction of the tunnel detection radar to be the same as the direction of the track through the electric shaft.

10. The flying device according to claim 5, characterized in that: The tunnel detection radar makes the detection surface perpendicular to the track through the connecting shaft under the action of gravity.

11. The flying device according to claim 9, characterized in that: The tunnel detection radar is a two-dimensional laser radar, and the track detection radar is a three-dimensional laser radar.

12. The flying device according to claim 3, characterized in that: The navigation assembly also includes: an inertial measurement unit; The inertial measurement device is arranged in the detection bracket, and is used for detecting and adjusting the left and right tilt angles of the flying device, so that the flying device flies parallel to the track.

13. A tunnel detection method based on flying equipment, characterized in that: The method uses the flying device according to any one of claims 1 to 12 to perform detection, and the tunnel includes a track in the same direction as the tunnel, and the method includes: placing a flying device into said tunnel; The navigation component in the flight device is used for flight navigation, and the detection component in the flight device is used for detection of the tunnel during flight; wherein the navigation component detects the direction of the track in the tunnel to achieve flight navigation.

14. The detection method according to claim 13, characterized in that: The detecting the tunnel by using the detection component in the flight equipment during flight includes: Using the navigation component to control the detection direction of the detection component to be the same as the track direction of the track in the tunnel during flight; Furthermore, the detection surface of the detection component is perpendicular to the track.

15. The detection method according to claim 14, characterized in that: The detecting the tunnel by using the detection component in the flight equipment during flight also includes: The left and right tilt angles of the flying device are detected and adjusted so that the flying device flies parallel to the track.

16. According to the detection method of claim 13, the detecting the tunnel comprises: The tunnel is subjected to image detection and lidar monitoring.

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