Inspection unmanned aerial vehicle control method and system based on inclination state of wall surface

Abstract

The invention provides an inspection unmanned aerial vehicle control method and system based on the inclination state of a wall surface, and relates to the related technical field of wall surface detection, and the inspection unmanned aerial vehicle is adsorbed to the wall surface through negative pressure and climbs on the wall surface. Four identical distance sensors and a camera are arranged on the surface, facing the wall surface, of the inspection unmanned aerial vehicle, the four distance sensors are arranged on the periphery of the camera, and the connecting line formed by any two distance sensors on the surface passes through the center point of the camera to form opposite arrangement. The inclination state of the wall surface is detected based on the oppositely arranged distance sensors, and the inspection unmanned aerial vehicle is controlled to adjust the pose according to the detection result, so that the method can be suitable for the wall surface parallel to the horizontal plane and also can be suitable for the wall surface inclined to the horizontal plane; the unmanned aerial vehicle is ensured to always fly parallel to the wall surface when colliding with the wall surface in the inspection process.

Description

Technical Field

[0001] The present invention relates to the technical field related to wall detection, and in particular to a control method and system for an inspection drone based on a wall tilt state. Background Art

[0002] At present, drones can be adsorbed onto walls through negative pressure, so that drones can crawl on various walls. During the crawling process, the camera can continuously shoot the diseases on the wall to realize the inspection function. In addition, for the stability of flight, drones usually adopt a flight method parallel to the horizontal plane. During the process of the drone being adsorbed onto the wall through negative pressure, the drone will remain parallel to the horizontal plane and then fly vertically upward. After colliding with the wall through negative pressure, it is adsorbed onto the wall. It can be seen that when the drone collides with the wall, the drone also adopts a method parallel to the horizontal plane. This method is aimed at the scene where the wall is an inclined surface. Since the wall and the surface of the drone will form an angle, during the collision process, the surface of the drone contacts the wall at different times, so that the wall will produce an impact force on a certain point on the surface of the drone, causing the drone to shake violently. Therefore, how to reduce the violent shaking of the drone during the process of the drone being adsorbed onto the wall through negative pressure is a technical problem to be solved by the present invention. Summary of the invention

[0003] The purpose of the present invention is to provide a control method and system for an inspection drone based on the inclination state of a wall, which is applied to the process of a drone being adsorbed to a wall through negative pressure. A control method for an inspection drone is proposed for the wall. The inclination state of the wall is detected by a distance sensor arranged on the inspection drone, and the posture of the inspection drone is controlled to be adjusted according to the detection result so that it can collide in parallel.

[0004] In order to solve the above technical problems, the present invention adopts the following solutions: A control method for an inspection drone based on the tilt state of a wall, wherein the inspection drone is adsorbed onto the wall by negative pressure and crawls on the wall, and four identical distance sensors and a camera are arranged on the surface of the inspection drone facing the wall, and the four distance sensors are arranged around the camera respectively, and the connection lines formed by any two distance sensors on the surface pass through the center point of the camera, forming a relative arrangement, and the method comprises the following steps: S1. Monitor the measurement value of the level meter carried by the inspection drone. When the measurement value is 0, the surface of the inspection drone facing the wall is used as the reference horizontal plane; S2. Obtain the distance values ​​of four distance sensors, form two lines to be measured on the wall according to the distance values ​​between the relatively arranged distance sensors, and calculate the line-plane angle between the lines to be measured and the reference horizontal plane; S3. Calculate the plane inclination of the wall surface according to the line-plane angle between the line to be measured and the reference horizontal plane, and obtain the inclination state of the wall surface relative to the reference horizontal plane, including the inclination angle and the inclination direction; S4. Update the measurement value according to the inclination state, send a control command to the inspection UAV through the level, control the inspection UAV to adjust the reference horizontal plane, and approach the wall surface in a direction perpendicular to the wall surface; S5. When the inspection UAV crawls on the wall surface, collect pictures of the wall surface in real time through the camera and record the corresponding longitude and latitude coordinates of the UAV. Mark the pictures with stake numbers according to the longitude and latitude of the stake numbers on the wall surface and the longitude and latitude of the UAV. Cut the pictures into stake-number segmented pictures according to the stake-number labels, and identify, store and display the diseases of the stake-number segmented pictures.

[0005] A further preferred technical solution is that: the distance sensor measures the distance value between the wall surface and the distance sensor by emitting millimeter waves to the wall surface, and the emission direction of the millimeter waves is perpendicular to the plane between the wall surface and the reference horizontal plane.

[0006] A further preferred technical solution is that: the step S2 includes the following steps: S21. Collect the distance values of the four distance sensors in real time, match the distance values of the relatively arranged distance sensors respectively, and if it is determined according to the matching result that there are two different distance values, then go to step S22; S22. Form two lines to be measured on the wall surface according to the distance values between the relatively arranged distance sensors, and calculate the line-plane angle between the lines to be measured and the reference horizontal plane.

[0007] A further preferred technical solution is that: in S22, the process of forming two lines to be measured on the wall surface according to the distance values between the relatively arranged distance sensors is as follows: find the corresponding vertical points on the wall surface according to the emission direction of the millimeter waves, and connect the vertical points corresponding to the two relatively arranged distance sensors to form the lines to be measured.

[0008] A further preferred technical solution is that: in S2, the process of calculating the line-plane angle between the lines to be measured and the reference horizontal plane is as follows: Pre-obtain the length of the connection line formed on the surface by the relatively arranged distance sensors, that is, the length of the connection line formed on the reference horizontal plane. The length of the connection line is the length of the first projection of the line to be measured between the relatively arranged distance sensors projected onto the reference horizontal plane; Calculate the difference between the distance values of the relatively arranged distance sensors. The difference is the length of the second projection of the line to be measured between the relatively arranged distance sensors projected onto the emission direction of the millimeter waves; On the same plane, a right triangle is formed by the first projection, the second projection, and the line to be measured. The angle between the line to be measured and the first projection is calculated through trigonometric functions using the lengths of the first projection and the second projection, and this angle is taken as the angle between the line to be measured and the reference horizontal plane.

[0009] A further preferred technical solution is that the step S3 includes the following steps: S31. Obtain the angles between the two lines to be measured and the reference horizontal plane respectively; S32. Determine the inclined plane normal vectors of the walls where the two lines to be measured are located according to the angles between the lines and the planes; S33. Calculate the angle between the inclined plane normal vector and the reference horizontal plane, and take this angle as the inclination angle of the wall relative to the reference horizontal plane; S34. Calculate the horizontal component of the inclined plane normal vector on the reference horizontal plane, and calculate the inclination angle of the wall relative to the reference horizontal plane according to the opposite direction of the horizontal component.

[0010] A further preferred technical solution is that the horizontal plane of the spirit level carried on the inspection UAV is parallel to the surface of the inspection UAV facing the wall. When the measured value is 0, the surface of the inspection UAV facing the wall is parallel to the horizontal plane; in step S4, a control instruction is sent to the inspection UAV through the spirit level. The control instruction refers to adjusting the pose of the inspection UAV according to the inclination angle and inclination direction recorded in the spirit level, and approaching the wall in a direction perpendicular to the wall.

[0011] A further preferred technical solution is that the step S5 includes the following steps: S51. When the inspection UAV conducts inspections on the wall along the inspection route, obtain a long inspection picture of the entire wall obtained by the inspection UAV during the inspection and continuous shooting. While shooting the long inspection picture, match the longitude and latitude coordinates of the UAV located by the GPS on the inspection UAV with the longitude and latitude of the pile number in the pile number coordinate table. If the match is successful, a pile number label is marked on the long inspection picture; S52. Cut the long inspection picture of the entire wall into pile number segmented pictures according to the pile number labels; S53. Identify and mark the disease characteristics in the pile number segmented pictures to obtain disease pictures, and send the disease pictures with pile number labels to the GIS-BIM platform; S54. The GIS-BIM platform saves the disease pictures with pile number labels and traverses the pile number intervals of the BIM model according to the pile number labels of the disease pictures to achieve the matching of pile number intervals to obtain the matching facility sections. Then, find the corresponding pile numbers and the corresponding wall models in the matching facility sections through the pile number labels on the disease pictures, and load the disease pictures onto the wall models in the corresponding BIM models in the form of textures.

[0012] A further preferred technical solution is: an EBS structure tree model is preset in the GIS-BIM platform, and the EBS structure tree model divides the lines that need to be inspected into various facility sections, and the facility sections all include a pile number interval of a starting pile number and an end pile number and a corresponding BIM model, and the BIM model includes a wall model and the wall model is segmented according to the pile number.

[0013] A control system for an inspection drone based on a wall tilt state, using the control method for an inspection drone based on a wall tilt state, comprising: Level setting module: monitors the measurement value of the level meter on the inspection drone. When the measurement value is 0, the surface of the inspection drone facing the wall is used as the reference horizontal plane. The measurement line calculation module: obtains the distance values ​​of the four distance sensors, forms two measurement lines on the wall according to the distance values ​​between the relatively arranged distance sensors, and calculates the line-plane angle between the measurement lines and the reference horizontal plane; Tilt state calculation module: calculates the plane tilt of the wall surface according to the line-plane angle between the measured line and the reference horizontal plane, and obtains the tilt state of the wall surface relative to the reference horizontal plane, including the tilt angle and tilt direction; Control module: updates the measured value according to the tilt state, sends control instructions to the inspection drone through the level meter, controls the inspection drone to adjust the reference horizontal plane, and approaches the wall in a direction perpendicular to the wall; Wall data acquisition module: When the inspection drone crawls on the wall, the camera collects real-time pictures of the wall and records the corresponding longitude and latitude coordinates of the drone. The pictures are labeled with pile numbers according to the longitude and latitude coordinates of the drone and the longitude and latitude of the pile numbers on the wall. The pictures are cut into pile number segmented pictures with the pile number labels, and the defects of the pile number segmented pictures are identified, stored and displayed.

[0014] Beneficial effects of the present invention: The present invention provides a control method and system for an inspection drone based on the tilt state of a wall, which is applied to the process in which the drone is adsorbed to the wall through negative pressure. A control method for the inspection drone is proposed for the wall. The tilt state of the wall is detected by a distance sensor arranged on the inspection drone, and the inspection drone is controlled to adjust its posture according to the detection result. The method is applicable not only to walls parallel to the horizontal plane, but also to walls inclined to the horizontal plane, ensuring that the drone always maintains a flight mode parallel to the wall when colliding with the wall during the inspection process, and adopts surface-to-surface contact to avoid the wall from generating impact force on a certain point on the surface of the drone during the collision, thereby expanding the force-bearing area and reducing the shaking of the drone.

[0015] Moreover, in the process of using distance sensors to detect the tilt state of the wall, in order to ensure the accuracy of the detection results, four identical distance sensors are used on the surface of the drone. The four distance sensors are respectively arranged around the camera, and the connecting lines formed by any two distance sensors on the surface pass through the center point of the camera, forming a relative setting, which can ensure that the two lines to be measured formed by the distance sensor projected onto the wall are perpendicular to each other in the same plane. Based on the mutual perpendicularity of the projections, it can be ensured that the two lines to be measured are not parallel or overlapped, and it can be ensured that the only plane can be determined by the two lines to be measured, while reducing the amount of calculation and ensuring the effectiveness of the solution.

[0016] On this basis, the present invention also proposes the data collection and processing process of crawling on the wall after the drone is adsorbed to the wall by negative pressure, and uses the GIS-BIM platform integration and drone intelligent inspection technology to achieve accurate positioning and visual marking of the diseased road section. By building an EBS structure tree model and importing it into the GIS system to form an integrated platform, the stake number coordinates of the BIM model are deeply integrated with the GIS spatial positioning. This process upgrades the traditional disease positioning method that relies on manual inspection to a full-process digital operation of "drone shooting-automatic matching-intelligent identification-model positioning", avoiding manual missed inspections and positioning deviations, improving the efficiency and accuracy of disease marking, and distinguishing the severity of diseases through color gradients to achieve intuitive and hierarchical management of highway diseases. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the process of the inspection drone control method in Embodiment 1 of the present invention; Figure 2 It is a schematic diagram of the structure for calculating the line-plane angle α between the line to be measured L2 and the reference horizontal plane in Embodiment 1 of the present invention; Figure 3 It is a schematic diagram of the structure for calculating the line-plane angle β between the measured line P2 and the reference horizontal plane in Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0020] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0021] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness.One of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0022] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0023] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0024] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments: Example 1 like Figures 1-3 As shown, a control method for an inspection drone based on the tilt state of a wall is provided. The inspection drone is adsorbed onto the wall by negative pressure and crawls on the wall. Four identical distance sensors and a camera are arranged on the surface of the inspection drone facing the wall. The four distance sensors are arranged around the camera respectively, and the connection lines formed by any two distance sensors on the surface pass through the center point of the camera to form a relative arrangement. Specifically, as Figure 1 As shown, the inspection drone control method includes the following steps: S1. Monitor the measurement value of the level meter carried by the inspection drone. When the measurement value is 0, the surface of the inspection drone facing the wall is used as the reference horizontal plane; S2. Obtain the distance values ​​of four distance sensors, form two lines to be measured on the wall according to the distance values ​​between the relatively arranged distance sensors, and calculate the line-plane angle between the lines to be measured and the reference horizontal plane; S3, calculating the plane inclination of the wall surface according to the line-plane angle between the line to be measured and the reference horizontal plane, and obtaining the inclination state of the wall surface relative to the reference horizontal plane, including the inclination angle and the inclination direction; S4. Update the measured value according to the tilt state, send a control command to the inspection drone through the level meter, control the inspection drone to adjust the reference horizontal plane, and approach the wall in a direction perpendicular to the wall; S5. When the inspection UAV crawls on the wall surface, it collects pictures of the wall surface in real time through the camera and records the corresponding longitude and latitude coordinates of the UAV. The pictures are labeled with stake numbers according to the longitude and latitude of the UAV and the stake numbers on the wall surface, and the pictures are cut into stake-section pictures with the stake number labels. The stake-section pictures are subjected to disease identification, storage, and display.

[0025] Specifically, four ducts are arranged on the surface of the inspection UAV facing the wall surface, located at the upper left corner, upper right corner, lower left corner, and lower right corner respectively, so that the inspection UAV can be adsorbed onto the wall surface through negative pressure and crawl on the wall surface through the ducts. Moreover, four identical distance sensors and a camera are also arranged on the surface where the ducts are provided. The camera is located in the camera module at the center of the inspection UAV, and the distance sensors are evenly distributed around the camera module. The distance sensors are arranged between the camera module and the ducts. When the inspection UAV collides with the wall surface, a thrust is generated on the wall surface through the ducts arranged at the four corners of the inspection UAV to achieve buffering. Moreover, the connection lines formed by any two distance sensors on the surface all pass through the center point of the camera and are relatively arranged. The purpose is to ensure that the two measured lines formed by projecting the distance sensors onto the wall surface are perpendicular to each other in the same plane. Based on the perpendicular projection, it can be ensured that the two measured lines are neither parallel nor coincident, and it can be ensured that a unique plane can be determined through the two measured lines, while reducing the calculation amount and ensuring the effectiveness of the solution.

[0026] Among them, since the distance sensors of the inspection UAV are arranged around the camera, the height of the distance sensors and the camera in the vertical direction can be changed to make the camera higher than the distance sensors, so as to avoid the camera being blocked by the distance sensors when taking pictures.

[0027] A further preferred technical solution is that the distance sensor measures the distance value between the wall surface and the distance sensor by emitting millimeter waves towards the wall surface, and the emission direction of the millimeter waves is perpendicular to the wall surface and the reference horizontal plane. The purpose is that the connection line between the distance sensors can be projected onto the wall surface through the millimeter waves to form measured lines, and a unique plane, that is, the wall surface, can be determined through two mutually perpendicular measured lines. By calculating the inclination angle and inclination direction of the unique plane, the inclination state of the wall surface can be obtained.

[0028] A further preferred technical solution is that the step S2 includes the following steps: S21. Real-time collect the distance values of the four distance sensors, respectively match the distance values of the relatively arranged distance sensors, and if it is determined that two different distance values are obtained according to the matching result, then go to step S22; S22. Form two lines to be measured on the wall according to the distance values between the relatively arranged distance sensors, and calculate the angle between the line to be measured and the reference horizontal plane.

[0029] Specifically, the present invention proposes a structure of relatively arranged distance sensors for the inspection UAV. The distance sensors measure the distance value between the wall and the distance sensors by emitting millimeter waves to the wall. Using the distance sensors can directly measure the vertical distance between the wall and the distance sensors, which is relatively convenient. In the present invention, the distance values detected by the relatively arranged distance sensors are matched, that is, value matching. If the two distance values are the same, it means that the wall corresponding to the current distance sensor is a wall parallel to the horizontal plane. If the two distance values are different, it means that the wall corresponding to the current distance sensor is a wall inclined to the horizontal plane, and then it is necessary to control the inspection UAV to perform corresponding pose adjustments, that is, to keep parallel to the wall.

[0030] A further preferred technical solution is: in S22, the process of forming two lines to be measured on the wall according to the distance values between the relatively arranged distance sensors is as follows: find the corresponding vertical points on the wall according to the emission direction of the millimeter waves, and connect the vertical points corresponding to the two relatively arranged distance sensors in pairs to form the lines to be measured.

[0031] A further preferred technical solution is: in S2, the process of calculating the angle between the line to be measured and the reference horizontal plane is as follows: Pre-obtain the length of the connection line formed on the surface by the relatively arranged distance sensors, that is, the length of the connection line formed on the reference horizontal plane. The length of the connection line is the length of the first projection of the line to be measured between the relatively arranged distance sensors projected onto the reference horizontal plane; Calculate the difference between the distance values of the relatively arranged distance sensors. The difference is the length of the second projection of the line to be measured between the relatively arranged distance sensors projected onto the emission direction of the millimeter waves; In the same plane, form a right triangle with the first projection, the second projection, and the line to be measured. Calculate the angle between the line to be measured and the first projection through trigonometric functions using the lengths of the first projection and the second projection, and use it as the angle between the line to be measured and the reference horizontal plane.

[0032] As Figures 2-3 shown, when it is detected by the distance sensors that the current wall is an inclined plane, obtain the distance values of four distance sensors. The four distance sensors are A, B, C, and D respectively. Among them, A and B are relatively arranged, and C and D are relatively arranged. Form two lines to be measured on the wall according to the distance values between the relatively arranged distance sensors, and calculate the angle between the line to be measured and the reference horizontal plane.

[0033] For A - B, in Figure 2It can be seen that the distance value of distance sensor A is less than that of distance sensor B, and the first projection, the second projection, and the line to be measured on the same plane form a right triangle. At this time, the first projection refers to the connecting line L1 formed by the relatively arranged distance sensors on the surface, and the length of the connecting line L1 is preset in advance; the second projection refers to the connecting line L3 corresponding to the difference between the distance values of the relatively arranged distance sensors, and the length of the connecting line L3 is the distance value of distance sensor B minus the value of distance sensor A. In the above right triangle, the value of angle α can be obtained according to the lengths of the connecting line L1 and the connecting line L3, that is, the included angle between the line to be measured and the first projection is calculated, and the included angle α is used as the line-plane angle between the line to be measured L2 and the reference horizontal plane.

[0034] Similarly, for C-D, in Figure 3 It can be seen that the distance value of distance sensor C is less than that of distance sensor D, and the first projection, the second projection, and the line to be measured on the same plane form a right triangle. At this time, the first projection refers to the connecting line P1 formed by the relatively arranged distance sensors on the surface, and the length of the connecting line P1 is preset in advance; the second projection refers to the connecting line P3 corresponding to the difference between the distance values of the relatively arranged distance sensors, and the length of the connecting line P3 is the distance value of distance sensor D minus the value of distance sensor C. In the above right triangle, the value of angle β can be obtained according to the lengths of the connecting line P1 and the connecting line P3, that is, the included angle between the line to be measured and the first projection is calculated, and the included angle β is used as the line-plane angle between the line to be measured P2 and the reference horizontal plane.

[0035] In summary, the line-plane angles α and β between the line to be measured L2 and the line to be measured P2 and the reference horizontal plane can be obtained respectively. And based on the relative arrangement of the distance sensors, the included angle between the projections of the line to be measured L2 and the line to be measured P2 on the horizontal plane is fixed at 90 degrees, so the two lines to be measured will not be parallel or coincident, and a unique plane can be determined. Then, the plane inclination of the wall can be calculated according to the line-plane angles between the lines to be measured and the reference horizontal plane, while reducing the calculation amount and ensuring the effectiveness of the solution.

[0036] A further preferred technical solution is that the step S3 includes the following steps: S31. Obtain the line-plane angles between the two lines to be measured and the reference horizontal plane respectively; S32. Determine the inclined plane normal vectors of the walls where the two lines to be measured are located according to the line-plane angles; S33. Calculate the included angle between the inclined plane normal vector and the reference horizontal plane, and use the included angle as the inclination angle of the wall relative to the reference horizontal plane; S34. Calculate the horizontal component of the inclined plane normal vector on the reference horizontal plane, and calculate the inclination angle of the wall surface relative to the reference horizontal plane according to the reverse direction of the horizontal component.

[0037] Specifically, when the line-plane angles α and β between the to-be-measured line L2 and the to-be-measured line P2 and the reference horizontal plane are obtained, and the projections of the to-be-measured line L2 and the to-be-measured line P2 on the horizontal plane are perpendicular to each other. First, determine the direction vectors of the two to-be-measured lines. For the convenience of calculation, we can adopt a three-dimensional rectangular coordinate system. Let the horizontal plane be the xy-plane. When L2 is in the xz-plane, its direction vector is u = (cosα, 0, sinα); since the projections of the to-be-measured line L2 and the to-be-measured line P2 on the horizontal plane are perpendicular to each other, then let P2 be in the yz-plane, and its direction vector is v = (0, cosβ, sinβ). Then, determine the inclined plane normal vector of the wall surface where the two to-be-measured lines are located. The inclined plane normal vector can be obtained by cross product calculation of the direction vector u and the direction vector v. Then, calculate the angle between the inclined plane normal vector and the reference horizontal plane, simplify the formula, and substitute the line-plane angles α and β to obtain the inclination angle; then, calculate the horizontal component of the inclined plane normal vector on the reference horizontal plane, simplify the formula, and substitute the line-plane angles α and β. And calculate the inclination angle of the wall surface relative to the reference horizontal plane according to the reverse direction of the horizontal component.

[0038] A further preferred technical solution is: the horizontal plane of the spirit level carried on the inspection UAV is parallel to the surface of the inspection UAV facing the wall surface. When the measured value is 0, the surface of the inspection UAV facing the wall surface is parallel to the horizontal plane; in step S4, a control instruction is sent to the inspection UAV through the spirit level. The control instruction refers to adjusting the pose of the inspection UAV according to the inclination angle and inclination direction recorded in the spirit level and approaching the wall surface in a direction perpendicular to the wall surface. Specifically, the pose of the inspection UAV refers to the inclination angle and inclination direction of the UAV.

[0039] A further preferred technical solution is: the following steps are included in the step S5: S51. When the inspection UAV conducts inspections on the wall surface along the inspection line that needs to be inspected, obtain a long inspection picture of the entire wall surface obtained by the inspection UAV during inspections and continuous shooting. While shooting the long inspection picture, match the longitude and latitude coordinates of the UAV located by the GPS on the inspection UAV with the longitude and latitude of the stake number in the stake number coordinate table. If the matching is successful, mark the stake number label on the long inspection picture; S52. Cut the long inspection picture of the entire wall surface into stake number segmented pictures according to the stake number label; S53. Identify and mark the disease characteristics in the stake number segmented pictures to obtain disease pictures, and send the disease pictures with the stake number label to the GIS-BIM platform; The S54, GIS-BIM platform saves the disease pictures with stake number tags and traverses the stake number intervals of the BIM model according to the stake number tags of the disease pictures, realizes the matching of the stake number intervals to obtain the matching facility sections, and then finds the corresponding stake numbers and the corresponding wall models in the matching facility sections through the stake number tags on the disease pictures, and loads the disease pictures onto the wall models in the corresponding BIM models in the form of textures.

[0040] A further preferred technical solution is that: an EBS structure tree model is preset in the GIS-BIM platform, and the EBS structure tree model divides the lines to be inspected into each facility section. Each facility section includes a stake number interval with a starting stake number and an ending stake number and the corresponding BIM model. The BIM model includes a wall model and the wall model is segmented according to the stake number.

[0041] A further preferred technical solution is that: when the inspection line passes through the drone inspection again and the GIS-BIM platform does not receive the disease pictures of the corresponding BIM model, the textures on the corresponding BIM model are deleted to show the wall model in the corresponding BIM model, and the corresponding disease pictures are deleted.

[0042] A further preferred technical solution is that: the construction of the stake number coordinate table includes: Based on the road surface models of each facility section in the inspection line, the stake number intervals of each facility section, all stake numbers, and the longitude and latitude coordinates corresponding to all stake numbers are extracted, and a structured table is generated in the ascending order of the stake numbers. The table fields include stake number, longitude, and latitude.

[0043] A further preferred technical solution is that: in the step S2, the process of matching the longitude and latitude coordinates of the drone positioned by the GPS on the inspection drone with the longitude and latitude of the stake numbers in the stake number coordinate table is: calculating the Euclidean distance between the longitude and latitude of the drone and the longitude and latitude of each stake number in the stake number coordinate table in real time. If the Euclidean distance is less than or equal to the preset matching threshold 1, it is considered a successful match, and the corresponding stake number tag is marked on the inspection long map.

[0044] A further preferred technical solution is that the recognition of disease characteristics uses a convolutional neural network model. The model supports multi-label classification, and the recognition types include at least one of cracks, potholes, subsidence, and spalling.

[0045] A further preferred technical solution is that: the EBS and the WBS are associated to form a dual-core structure tree. The EBS structure tree constructs the BIM model based on each facility section and the stake number, and associates the design parameters with the disease information; the WBS structure tree is based on the decomposition of construction tasks and associates the repair progress with the maintenance resources; the two are dynamically mapped through the stake number interval to realize the full-cycle coordination of disease location, task assignment, and completion data archiving.

[0046] A further preferred technical solution is as follows: The dynamic mapping includes: when a disease picture is loaded into the BIM model section, a corresponding construction task node is automatically generated in the WBS structure tree, and the responsible unit, estimated construction period, and repair status fields are bound; after the repair is completed, the completion attributes of the corresponding facility in the EBS structure tree and the status of the WBS task node are synchronously updated.

[0047] A further preferred technical solution is as follows: When deleting the disease picture texture, the following operations are synchronously performed: Mark the repaired BIM model as "accepted", and file the original disease picture, repair record, and acceptance report to the completion database of the EBS structure tree, and associate them with the corresponding pile number interval.

[0048] A further preferred technical solution is as follows: The GIS-BIM platform pushes the disease picture, associated construction task information, and location to the repair personnel. After the inspection personnel fill in the repair progress, the task status change in the WBS structure tree is automatically updated, and a real-time notification is sent to the GIS-BIM platform at the same time.

[0049] In summary, before data collection, the present invention also proposes a data collection and processing process in which the drone crawls on the wall after being adsorbed to the wall by negative pressure. The GIS-BIM platform is used to integrate with the drone intelligent inspection technology to achieve precise positioning and visual marking of the disease section. By constructing an EBS structure tree model and importing it into the GIS system to form an integrated platform, the pile number coordinates of the BIM model are deeply integrated with the GIS spatial positioning. This process upgrades the traditional disease positioning method relying on manual inspections to a full-process digital operation of "drone shooting - automatic matching - intelligent recognition - model positioning", avoiding manual missed inspections and positioning deviations, improving the efficiency and accuracy of disease marking, and at the same time distinguishing the severity of diseases through color gradients to achieve intuitive and hierarchical management of highway diseases.

[0050] In addition, based on the full-cycle coordination mechanism of the dual-core structure tree (EBS and WBS), the full-process data link platform of disease management from discovery to repair is connected. The EBS (facility breakdown structure) and WBS (work breakdown structure) are integrated, and the seamless association of design parameters, disease information and construction tasks is realized through dynamic mapping of pile number intervals. In the application scenario, when the disease image is loaded into the BIM model segment, the system automatically generates a construction task node in the WBS, binds the responsible unit, construction period and repair status; after the repair is completed, the completion attributes and WBS task status of the facility in the EBS are updated synchronously, and the original disease image and repair record are archived to the completion database. This mechanism breaks the data silos of design, construction and maintenance in traditional maintenance, realizes the full-cycle automated coordination of "disease location-task dispatch-progress tracking-acceptance archiving", reduces manual operation errors, improves the efficiency of maintenance resource scheduling, and provides a complete data traceability system for the full life cycle management of highways.

[0051] Example 2 A control system for an inspection drone based on a wall tilt state, using the control method for an inspection drone based on a wall tilt state, comprising: Level setting module: monitors the measurement value of the level meter on the inspection drone. When the measurement value is 0, the surface of the inspection drone facing the wall is used as the reference horizontal plane. The measurement line calculation module: obtains the distance values ​​of the four distance sensors, forms two measurement lines on the wall according to the distance values ​​between the relatively arranged distance sensors, and calculates the line-plane angle between the measurement lines and the reference horizontal plane; Tilt state calculation module: calculates the plane tilt of the wall surface according to the line-plane angle between the measured line and the reference horizontal plane, and obtains the tilt state of the wall surface relative to the reference horizontal plane, including the tilt angle and tilt direction; Control module: updates the measured value according to the tilt state, sends control instructions to the inspection drone through the level meter, controls the inspection drone to adjust the reference horizontal plane, and approaches the wall in a direction perpendicular to the wall; Wall data acquisition module: When the inspection drone crawls on the wall, the camera collects real-time pictures of the wall and records the corresponding longitude and latitude coordinates of the drone. The pictures are labeled with pile numbers according to the longitude and latitude coordinates of the drone and the longitude and latitude of the pile numbers on the wall. The pictures are cut into pile number segmented pictures with the pile number labels, and the defects of the pile number segmented pictures are identified, stored and displayed.

[0052] The above are only the preferred embodiments of the present invention and do not impose any formal limitations on the present invention. Based on the technical essence of the present invention, any simple modifications, equivalent replacements, and improvements made to the above embodiments within the spirit and principles of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A control method for an inspection UAV based on the inclination state of a wall, characterized in that The inspection drone is adsorbed onto the wall by negative pressure and crawls on the wall. Four identical distance sensors and a camera are arranged on the surface of the inspection drone facing the wall. The four distance sensors are arranged around the camera respectively, and the connection lines formed by any two distance sensors on the surface pass through the center point of the camera to form a relative arrangement. The method includes the following steps: S1. Monitor the measurement value of the level meter carried by the inspection drone. When the measurement value is 0, the surface of the inspection drone facing the wall is used as the reference horizontal plane; S2. Obtain the distance values ​​of four distance sensors, form two lines to be measured on the wall according to the distance values ​​between the relatively arranged distance sensors, and calculate the line-plane angle between the lines to be measured and the reference horizontal plane; S3, calculating the plane inclination of the wall surface according to the line-plane angle between the line to be measured and the reference horizontal plane, and obtaining the inclination state of the wall surface relative to the reference horizontal plane, including the inclination angle and the inclination direction; S4. Update the measured value according to the tilt state, send a control command to the inspection drone through the level meter, control the inspection drone to adjust the reference horizontal plane, and approach the wall in a direction perpendicular to the wall; S5. When the inspection drone crawls on the wall, the camera collects pictures of the wall in real time and records the corresponding longitude and latitude coordinates of the drone. The pictures are labeled with pile numbers according to the longitude and latitude coordinates of the drone and the longitude and latitude of the pile numbers on the wall. The pictures are cut into pile number segmented pictures with the pile number labels, and the defects of the pile number segmented pictures are identified, stored and displayed.

2. The control method of an inspection UAV based on the wall inclination state according to claim 1, characterized in that The distance sensor measures the distance value between the wall and the distance sensor by emitting millimeter waves toward the wall, and the emission direction of the millimeter waves is perpendicular to the wall and the reference horizontal plane.

3. A control method for an inspection UAV based on the inclined state of a wall surface according to claim 1, characterized in that, The step S2 includes the following steps: S21, collecting distance values ​​of four distance sensors in real time, matching the distance values ​​of the relatively arranged distance sensors respectively, and determining that two different distance values ​​are obtained according to the matching results, then proceeding to step S22; S22, forming two lines to be measured on the wall according to the distance values ​​between the distance sensors arranged relatively to each other, and calculating the line-plane angle between the lines to be measured and the reference horizontal plane.

4. The inspection UAV control method based on the wall inclination state according to claim 2, wherein In S22, the process of forming two lines to be measured on the wall according to the distance values ​​between the relatively arranged distance sensors is as follows: finding corresponding vertical points on the wall according to the emission direction of the millimeter wave, and connecting the vertical points corresponding to the distance sensors relatively arranged in pairs to form the lines to be measured.

5. The control method of an inspection UAV based on the wall inclination state according to claim 2, characterized in that, In S2, the process of calculating the line-plane angle between the line to be measured and the reference horizontal plane is: Pre-obtaining the length of a line formed on the surface by the relatively arranged distance sensors, that is, the length of a line formed on the reference horizontal plane, wherein the length of the line is the length of a first projection of the line to be measured between the relatively arranged distance sensors projected on the reference horizontal plane; Calculating a difference between distance values ​​of the distance sensors that are arranged opposite to each other, wherein the difference is a length of a second projection of the line to be measured between the distance sensors that are arranged opposite to each other on the emission direction of the millimeter wave; On the same plane, a right triangle is formed by the first projection, the second projection, and the line to be measured. The lengths of the first projection and the second projection are used to calculate the angle between the line to be measured and the first projection through trigonometric functions, and this angle is taken as the angle between the line to be measured and the reference horizontal plane.

6. A method for controlling an inspection UAV based on the inclined state of a wall surface according to claim 1, characterized in that, The step S3 includes the following steps: S31. Obtain the angles between the two lines to be measured and the reference horizontal plane respectively; S32. Determine the inclined plane normal vectors of the walls where the two lines to be measured are located according to the angles between the lines and the planes; S33. Calculate the angle between the inclined plane normal vector and the reference horizontal plane, and take this angle as the inclination angle of the wall relative to the reference horizontal plane; S34. Calculate the horizontal component of the inclined plane normal vector on the reference horizontal plane, and calculate the inclination angle of the wall relative to the reference horizontal plane according to the opposite direction of the horizontal component.

7. A control method for an inspection UAV based on the wall inclination state according to claim 1, characterized in that The horizontal plane of the level carried on the inspection UAV is parallel to the surface of the inspection UAV facing the wall. When the measured value is 0, the surface of the inspection UAV facing the wall is parallel to the horizontal plane; in step S4, a control instruction is sent to the inspection UAV through the level. The control instruction refers to adjusting the pose of the inspection UAV according to the inclination angle and inclination direction recorded in the level, and approaching the wall in a direction perpendicular to the wall.

8. A method for controlling an inspection UAV based on the inclination state of a wall surface according to claim 1, characterized in that, The step S5 includes the following steps: S51. When the inspection UAV conducts inspections along the line to be inspected on the wall, obtain a long inspection image of the entire wall obtained by the inspection UAV during inspections and continuous shooting. While shooting the long inspection image, the longitude and latitude coordinates of the UAV located by the GPS on the inspection UAV are matched with the longitude and latitude of the stake numbers in the stake number coordinate table. If the match is successful, stake number labels are marked on the long inspection image; S52. Cut the long inspection image of the entire wall into stake number segmented images according to the stake number labels; S53. Identify and mark the disease characteristics in the stake number segmented images to obtain disease images, and send the disease images with stake number labels to the GIS-BIM platform; S54. The GIS-BIM platform saves the disease images with stake number labels and traverses the stake number intervals of the BIM model according to the stake number labels of the disease images to achieve the matching of the stake number intervals to obtain the matching facility sections. Then, the corresponding stake numbers and the corresponding wall models in the matching facility sections are found through the stake number labels on the disease images, and the disease images are loaded onto the wall models in the corresponding BIM models in the form of texture maps.

9. A method for controlling an inspection UAV based on the inclination state of a wall surface according to claim 8, characterized in that, The GIS-BIM platform presets an EBS structure tree model. The EBS structure tree model divides the line to be inspected into each facility section. Each facility section includes the stake number interval of the starting stake number and the ending stake number and the corresponding BIM model. The BIM model includes a wall model, and the wall model is segmented according to the stake numbers.

10. A patrol unmanned aerial vehicle control system based on the inclination state of a wall, characterized in that, Applying a method for controlling an inspection UAV based on the inclined state of a wall as described in any one of claims 1-9, includes: Horizontal setting module: Monitor the measured value of the level carried on the inspection UAV. When the measured value is 0, use the surface of the inspection UAV facing the wall as the reference horizontal plane; Measured line calculation module: Obtain the distance values of four distance sensors, form two measured lines on the wall according to the distance values between the relatively set distance sensors, and calculate the angle between the measured line and the reference horizontal plane; Tilt state calculation module: Perform plane tilt calculation on the wall according to the angle between the measured line and the reference horizontal plane, and obtain the tilt state of the wall relative to the reference horizontal plane, including the tilt angle and the tilt direction; Control module: Update the measurement value according to the tilt state, send a control command to the inspection UAV through the level, control the inspection UAV to adjust the reference horizontal plane, and approach the wall in a direction perpendicular to the wall; Wall data acquisition module: When the inspection UAV crawls on the wall, collect pictures of the wall in real time through the camera and record the corresponding longitude and latitude coordinates of the UAV. Label the pictures with the stake numbers according to the longitude and latitude of the stake numbers on the wall and the longitude and latitude of the UAV. Cut the pictures into stake number segmented pictures with the stake number labels, and perform disease identification, storage and display on the stake number segmented pictures.

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