A control method and system for inspection drone based on wall tilt state

Abstract

The present invention provides a control method and system for an inspection drone based on the tilt state of a wall, and relates to the technical field related to wall detection. The inspection drone is adsorbed onto the wall through 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 respectively arranged around the camera, 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. The tilt state of the wall is detected based on the relatively arranged distance sensors, and the inspection drone is controlled to adjust its posture according to the detection results. 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.

Description

Technical Field

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

[0002] Currently, drones can be attached to walls through negative pressure, allowing them to crawl on various walls. During the crawling process, the camera continuously captures the defects on the wall to achieve an inspection function. In addition, for flight stability, drones usually adopt a flight method parallel to the horizontal plane. During the process of the drone being attached to 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 attached to 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 suitable for scenarios where the wall is an inclined surface. Since the wall and the drone surface will form an angle, during the collision process, the timing of the drone's surface contacting the wall is different, causing the wall to produce an impact force on a certain point on the drone's surface, causing the drone to shake violently. Therefore, how to reduce the violent shaking of the drone during the process of the drone being attached to the wall through negative pressure is the 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 the inspection drone is proposed for the wall. The inclination state of the wall is detected by a distance sensor provided 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:

[0005] A control method for an inspection drone based on the tilt state of a wall surface, wherein the inspection drone is adsorbed onto the wall surface by negative pressure and crawls on the wall surface. Four identical distance sensors and a camera are provided on the surface of the inspection drone facing the wall. The four distance sensors are respectively arranged around the camera to form an opposing arrangement, and the connecting line formed by the two opposing distance sensors on the surface passes through the center point of the camera, so that the two connecting lines are perpendicular to each other. The method comprises the following steps:

[0006] S1. Monitor the measurement value of the level meter on the inspection drone. When the measurement value is 0, use the surface of the wall facing the inspection drone as the reference horizontal plane.

[0007] S2. Obtain distance values ​​of four distance sensors, form two lines to be measured on the wall according to the distance values ​​between the distance sensors arranged opposite to each other, and calculate the line-plane angle between the lines to be measured and the reference horizontal plane;

[0008] S3. Calculate the plane inclination of the wall surface based on the line-plane angle between the measured line and the reference horizontal plane to obtain the inclination state of the wall surface relative to the reference horizontal plane, including the inclination angle and inclination direction;

[0009] S4. Update the measured value according to the tilt state, and send a control command to the inspection drone through the level meter to control the inspection drone to adjust the reference horizontal plane and approach the wall in a direction perpendicular to the wall;

[0010] S5. When the inspection drone crawls on the wall, the camera collects real-time images of the wall and records the corresponding longitude and latitude coordinates of the drone. The images 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 images are cut into pile number segmented images with the pile number labels, and the defects of the pile number segmented images are identified, stored and displayed.

[0011] A further preferred technical solution is: the distance sensor measures the distance 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.

[0012] A further preferred technical solution is: the step S2 includes the following steps:

[0013] S21, collecting distance values ​​of four distance sensors in real time, matching the distance values ​​of the distance sensors that are arranged opposite to each other, and determining that two different distance values ​​are obtained based on the matching results, then proceeding to step S22;

[0014] S22. Two lines to be measured are formed on the wall surface according to the distance values ​​between the distance sensors arranged opposite to each other, and the line-plane angle between the lines to be measured and the reference horizontal plane is calculated.

[0015] A further preferred technical solution is: in S22, two lines to be measured are formed on the wall according to the distance values ​​between the relatively arranged distance sensors. The process is: find the corresponding vertical points on the wall according to the emission direction of the millimeter wave, and connect the vertical points corresponding to the distance sensors arranged relatively to each other to form a line to be measured.

[0016] A further preferred technical solution is: in S2, the process of calculating the line-plane angle between the line to be measured and the reference horizontal plane is:

[0017] Pre-obtaining a length of a line formed on a surface by the opposed distance sensors, that is, a length of a line formed on a reference horizontal plane, wherein the length of the line is a length of a first projection of the line to be measured between the opposed distance sensors projected onto the reference horizontal plane;

[0018] Calculating a difference between distance values ​​of oppositely disposed distance sensors, where the difference is a length of a second projection of the line to be measured between the oppositely disposed distance sensors projected onto a transmission direction of the millimeter wave;

[0019] On the same plane, the first projection, the second projection, and the line to be measured form a right triangle. The length of the first projection and the length of the second projection are calculated by trigonometric functions to obtain the angle between the line to be measured and the first projection, which is used as the line-plane angle between the line to be measured and the reference horizontal plane.

[0020] A further preferred technical solution is: the step S3 includes the following steps:

[0021] S31, obtaining the line-plane angles between the two lines to be measured and the reference horizontal plane;

[0022] S32, determining the normal vectors of the inclined plane of the wall where the two lines to be measured are located based on the line-plane angle;

[0023] S33, calculating the angle between the normal vector of the inclined plane and the reference horizontal plane, and using the angle as the inclination angle of the wall relative to the reference horizontal plane;

[0024] S34. Calculate the horizontal component of the normal vector of the inclined plane on the reference horizontal plane, and calculate the inclination direction of the wall relative to the reference horizontal plane based on the reverse direction of the horizontal component.

[0025] A further preferred technical solution is: the horizontal plane of the spirit level carried on the inspection drone is parallel to the surface of the inspection drone facing the wall, and when the measured value is 0, the surface of the inspection drone facing the wall is parallel to the horizontal plane; in step S4, a control instruction is sent to the inspection drone through the spirit level, and the control instruction refers to adjusting the posture of the inspection drone according to the tilt angle and tilt direction recorded in the spirit level, and approaching the wall in a direction perpendicular to the wall.

[0026] A further preferred technical solution is: the step S5 includes the following steps:

[0027] S51. When the inspection drone inspects the line that needs to be inspected on the wall, a long inspection map of the entire wall is obtained by the inspection drone through continuous photography. While the long inspection map is being photographed, the longitude and latitude coordinates of the drone as determined by the GPS positioning on the inspection drone are matched with the longitude and latitude of the stake number in the stake number coordinate table. If a match is successful, a stake number label is added to the long inspection map.

[0028] S52, cutting the inspection long image of the entire wall into segmented images of the stake numbers according to the stake number labels;

[0029] S53, identifying and marking the damage features in the pile number segmented images to obtain damage images, and sending the damage images with the pile number labels to the GIS-BIM platform;

[0030] S54. The GIS-BIM platform saves the defect image with the pile number label and traverses the pile number interval of the BIM model according to the pile number label of the defect image to match the pile number interval to obtain the matching facility section. Then, the corresponding pile number and the corresponding wall model in the matching facility section are found through the pile number label on the defect image, and the defect image is loaded into the wall model in the corresponding BIM model in the form of a texture.

[0031] 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 route that needs to be inspected into various facility sections. The facility sections each include a pile number interval of a starting pile number and an ending pile number and a corresponding BIM model. The BIM model includes a wall model, and the wall model is segmented according to the pile number.

[0032] A control system for an inspection drone based on a wall tilt state, applying the control method for an inspection drone based on a wall tilt state, comprising:

[0033] 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 wall facing the inspection drone is used as the reference horizontal plane.

[0034] The test line calculation module obtains the distance values ​​of the four distance sensors, forms two test lines on the wall according to the distance values ​​between the relatively set distance sensors, and calculates the line-plane angle between the test lines and the reference horizontal plane;

[0035] Tilt state calculation module: calculates the plane tilt of the wall surface according to the angle between the line to be measured 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;

[0036] Control module: updates the measured value according to the tilt status, 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;

[0037] 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.

[0038] Beneficial effects of the present invention:

[0039] 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 of the drone being 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 provided 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. Surface-to-surface contact is adopted 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.

[0040] 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 to form a relative setting, and the line formed by the two relatively arranged distance sensors on the surface passes through the center point of the camera, so that the two lines are perpendicular to each other. This 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 a unique plane can be determined by the two lines to be measured, while reducing the amount of calculation and ensuring the effectiveness of the solution.

[0041] Building on this foundation, the present invention proposes a data collection and processing process for drones crawling over walls after being attached to them through negative pressure. This process integrates a GIS-BIM platform with intelligent drone inspection technology to precisely locate and visually mark road sections with defects. By constructing an EBS structure tree model and importing it into a GIS system, the integrated platform deeply integrates the BIM model's stake coordinates with GIS spatial positioning. This process upgrades the traditional defect location method, which relies on manual inspections, to a fully digital process of "drone photography - automatic matching - intelligent identification - model positioning." This eliminates manual missed detections and positioning errors, improves the efficiency and accuracy of defect marking, and uses color gradients to differentiate defect severity, enabling intuitive and hierarchical management of highway defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a flow chart of the inspection drone control method in Example 1 of the present invention;

[0043] Figure 2 Schematic diagram of the structure for calculating the line-plane angle α between the measured line L2 and the reference horizontal plane in Example 1 of the present invention;

[0044] Figure 3 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

[0045] The following will be combined with the accompanying 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 embodiments described 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 in no way 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 making creative efforts are within the scope of protection of the present invention.

[0046] Unless otherwise specifically stated, 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.

[0047] 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.

[0048] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0049] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0050] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0051] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments:

[0052] Example 1

[0053] like Figure 1-Figure 3As 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 provided on the surface of the inspection drone facing the wall. The four distance sensors are respectively provided around the camera, and the connection line formed by any two distance sensors on the surface passes through the center point of the camera, forming a relative arrangement. Specifically, as shown in FIG. Figure 1 As shown, the inspection drone control method includes the following steps:

[0054] S1. Monitor the measurement value of the level meter on the inspection drone. When the measurement value is 0, use the surface of the wall facing the inspection drone as the reference horizontal plane.

[0055] S2. Obtain distance values ​​of four distance sensors, form two lines to be measured on the wall according to the distance values ​​between the distance sensors arranged opposite to each other, and calculate the line-plane angle between the lines to be measured and the reference horizontal plane;

[0056] S3. Calculate the plane inclination of the wall surface based on the line-plane angle between the measured line and the reference horizontal plane to obtain the inclination state of the wall surface relative to the reference horizontal plane, including the inclination angle and inclination direction;

[0057] S4. Update the measured value according to the tilt state, and send a control command to the inspection drone through the level meter to control the inspection drone to adjust the reference horizontal plane and approach the wall in a direction perpendicular to the wall;

[0058] S5. When the inspection drone crawls on the wall, the camera collects real-time images of the wall and records the corresponding longitude and latitude coordinates of the drone. The images 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 images are cut into pile number segmented images with the pile number labels, and the defects of the pile number segmented images are identified, stored and displayed.

[0059] Specifically, the inspection drone has four ducts on its wall-facing surface—located in the upper left, upper right, lower left, and lower right corners. These allow the drone to cling to the wall through negative pressure and crawl along it. Furthermore, the ducted surface is equipped with four identical distance sensors and a camera. The camera is located in the camera module at the center of the drone, with distance sensors evenly distributed around the camera module, positioned between the camera module and the ducts. In the event of a collision between the drone and the wall, the ducts at the four corners of the drone generate thrust against the wall, providing a buffer. In addition, four distance sensors are respectively arranged around the camera to form a relative arrangement, and the line formed by the two relatively arranged distance sensors on the surface passes through the center point of the camera, so that the two lines are perpendicular to each other. The purpose is to ensure that the two lines to be measured formed by the distance sensors 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 a unique plane can be determined through the two lines to be measured, while reducing the amount of calculation and ensuring the effectiveness of the solution.

[0060] Among them, since the distance sensors of the inspection drone are set around the camera, the camera can be made higher than the distance sensor by changing the vertical height of the distance sensor and the camera, thereby avoiding the camera being blocked by the distance sensor when shooting.

[0061] A further preferred technical solution is that the distance sensor measures the distance between the wall and the distance sensor by emitting millimeter waves toward the wall, with the millimeter waves being emitted in a direction perpendicular to the wall and the reference horizontal plane. This allows the millimeter waves to project a line connecting the distance sensors onto the wall to form a measured line. Using these two mutually perpendicular measured lines, a unique plane, namely the wall, can be determined. By calculating the tilt angle and tilt direction of the unique plane, the tilt state of the wall can be determined.

[0062] A further preferred technical solution is: the step S2 includes the following steps:

[0063] S21, collecting distance values ​​of four distance sensors in real time, matching the distance values ​​of the distance sensors that are arranged opposite to each other, and determining that two different distance values ​​are obtained based on the matching results, then proceeding to step S22;

[0064] S22. Two lines to be measured are formed on the wall surface according to the distance values ​​between the distance sensors arranged opposite to each other, and the line-plane angle between the lines to be measured and the reference horizontal plane is calculated.

[0065] Specifically, the present invention proposes a structure of relatively arranged distance sensors for inspection drones. The distance sensor measures the distance value between the wall and the distance sensor by emitting millimeter waves to the wall. The distance sensor can directly measure the vertical distance between the wall and the distance sensor, which is more convenient. In the present invention, the distance values ​​detected by the relatively arranged distance sensors are matched, that is, the values ​​are matched. If the distance values ​​of the two are the same, it means that the wall corresponding to the current distance sensor is a wall parallel to the horizontal plane. If the distance values ​​of the two are different, it means that the wall corresponding to the current distance sensor is a wall inclined to the horizontal plane, and the inspection drone needs to be controlled to make corresponding posture adjustments, that is, to keep it parallel to the wall.

[0066] A further preferred technical solution is: in S22, two lines to be measured are formed on the wall according to the distance values ​​between the relatively arranged distance sensors. The process is: find the corresponding vertical points on the wall according to the emission direction of the millimeter wave, and connect the vertical points corresponding to the distance sensors arranged relatively to each other to form a line to be measured.

[0067] A further preferred technical solution is: in S2, the process of calculating the line-plane angle between the line to be measured and the reference horizontal plane is:

[0068] Pre-obtaining a length of a line formed on a surface by the opposed distance sensors, that is, a length of a line formed on a reference horizontal plane, wherein the length of the line is a length of a first projection of the line to be measured between the opposed distance sensors projected onto the reference horizontal plane;

[0069] Calculating a difference between distance values ​​of oppositely disposed distance sensors, where the difference is a length of a second projection of the line to be measured between the oppositely disposed distance sensors projected onto a transmission direction of the millimeter wave;

[0070] On the same plane, the first projection, the second projection, and the line to be measured form a right triangle. The length of the first projection and the length of the second projection are calculated by trigonometric functions to obtain the angle between the line to be measured and the first projection, which is used as the line-plane angle between the line to be measured and the reference horizontal plane.

[0071] like Figure 2-Figure 3 As shown, if the distance sensor detects that the current wall is an inclined surface, the distance values ​​of four distance sensors are obtained. The four distance sensors are A, B, C, and D, where A and B are set relative to each other, and C and D are set relative to each other. Two lines to be measured are formed on the wall surface based on the distance values ​​between the relatively set distance sensors, and the line-plane angle between the lines to be measured and the reference horizontal plane is calculated.

[0072] For AB, Figure 2In the figure, it can be seen that the distance value of distance sensor A is smaller than the distance value of distance sensor B, and the first projection, second projection, and line to be measured on the same plane form a right triangle. In this case, the first projection refers to the line L1 formed on the surface by the relatively arranged distance sensors, and the length of the line L1 is preset. The second projection refers to the line L3 corresponding to the difference between the distance values ​​of the relatively arranged distance sensors, and the length of the 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 based on the length of line L1 and the length of line L3, that is, the angle between the line to be measured and the first projection is calculated, and the angle α is used as the line-plane angle between the line to be measured L2 and the reference horizontal plane.

[0073] Same as above, for CD, Figure 3 In the figure, it can be seen that the distance value of distance sensor C is smaller than the distance value of distance sensor D, and the first projection, second projection, and line to be measured on the same plane form a right triangle. In this case, the first projection refers to the line P1 formed on the surface by the relatively arranged distance sensors, and the length of the line P1 is preset. The second projection refers to the line P3 corresponding to the difference between the distance values ​​of the relatively arranged distance sensors, and the length of the 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 based on the length of line P1 and the length of line P3, that is, the angle between the line to be measured and the first projection is calculated, and the angle β is used as the line-plane angle between the line to be measured P2 and the reference horizontal plane.

[0074] In summary, the line-plane angles α and β between the measured line L2 and the measured line P2 and the reference horizontal plane respectively can be obtained, and based on the relative setting of the distance sensors, the angle between the projections of the measured line L2 and the measured line P2 on the horizontal plane is fixed to 90 degrees, so the two measured lines will not be parallel or overlap, and a unique plane can be determined. The plane inclination of the wall can be calculated based on the line-plane angle between the measured line and the reference horizontal plane, while reducing the amount of calculation and ensuring the effectiveness of the solution.

[0075] A further preferred technical solution is: the step S3 includes the following steps:

[0076] S31, obtaining the line-plane angles between the two lines to be measured and the reference horizontal plane;

[0077] S32, determining the normal vectors of the inclined plane of the wall where the two lines to be measured are located based on the line-plane angle;

[0078] S33, calculating the angle between the normal vector of the inclined plane and the reference horizontal plane, and using the angle as the inclination angle of the wall relative to the reference horizontal plane;

[0079] S34. Calculate the horizontal component of the normal vector of the inclined plane on the reference horizontal plane, and calculate the inclination direction of the wall relative to the reference horizontal plane based on the reverse direction of the horizontal component.

[0080] Specifically, the angles α and β between the test lines L2 and P2 and the reference horizontal plane are obtained, respectively, and the projections of the test lines L2 and P2 on the horizontal plane are perpendicular to each other. First, the direction vectors of the two test lines are determined. For ease of calculation, we can use a three-dimensional rectangular coordinate system, assuming that the horizontal plane is the xy plane. When L2 is in the xz plane, its direction vector is u = (cosα, 0, sinα). Since the projections of the test lines L2 and P2 on the horizontal plane are perpendicular to each other, assuming that P2 is in the yz plane, its direction vector is v = (0, cosβ, sinβ). Next, the slope normal vector of the wall on which the two test lines are located is determined. This slope normal vector can be calculated by taking the cross product of the direction vector u and the direction vector v. Then, calculate the angle between the normal vector of the inclined plane 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 normal vector of the inclined plane on the reference horizontal plane, simplify the formula, and substitute the line-plane angles α and β, and, based on the opposite direction of the horizontal component, calculate the inclination direction of the wall relative to the reference horizontal plane.

[0081] A further preferred technical solution is as follows: the horizontal plane of the level instrument carried by the inspection drone is parallel to the surface of the inspection drone facing the wall; when the measured value is 0, the surface of the inspection drone facing the wall is parallel to the horizontal plane; in step S4, a control instruction is sent to the inspection drone via the level instrument, wherein the control instruction is to adjust the posture of the inspection drone according to the tilt angle and tilt direction recorded in the level instrument and approach the wall in a direction perpendicular to the wall. Specifically, the posture of the inspection drone refers to the tilt angle and tilt direction of the drone.

[0082] A further preferred technical solution is: the step S5 includes the following steps:

[0083] S51. When the inspection drone inspects the line that needs to be inspected on the wall, a long inspection map of the entire wall is obtained by the inspection drone through continuous photography. While the long inspection map is being photographed, the longitude and latitude coordinates of the drone as determined by the GPS positioning on the inspection drone are matched with the longitude and latitude of the stake number in the stake number coordinate table. If a match is successful, a stake number label is added to the long inspection map.

[0084] S52, cutting the inspection long image of the entire wall into segmented images of the stake numbers according to the stake number labels;

[0085] S53, identifying and marking the damage features in the pile number segmented images to obtain damage images, and sending the damage images with the pile number labels to the GIS-BIM platform;

[0086] S54. The GIS-BIM platform saves the defect image with the pile number label and traverses the pile number interval of the BIM model according to the pile number label of the defect image to match the pile number interval to obtain the matching facility section. Then, the corresponding pile number and the corresponding wall model in the matching facility section are found through the pile number label on the defect image, and the defect image is loaded into the wall model in the corresponding BIM model in the form of a texture.

[0087] 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 route that needs to be inspected into various facility sections. The facility sections each include a pile number interval of a starting pile number and an ending pile number and a corresponding BIM model. The BIM model includes a wall model, and the wall model is segmented according to the pile number.

[0088] A further preferred technical solution is: when the inspection route is inspected by a drone again, if the GIS-BIM platform does not receive the defect picture of the corresponding BIM model, the texture on the corresponding BIM model is deleted to display the wall model in the corresponding BIM model, and the corresponding defect picture is deleted.

[0089] A further preferred technical solution is: the construction of the stake number coordinate table includes:

[0090] Based on the pavement model of each facility section in the inspected route, the pile number interval of each facility section and all pile numbers and the longitude and latitude coordinates corresponding to all pile numbers are extracted, and a structured table is generated in ascending order of pile numbers, and the table fields include pile number, longitude, and latitude.

[0091] A further preferred technical solution is: in step S2, the process of matching the longitude and latitude coordinates of the drone located by GPS on the inspection drone with the longitude and latitude of the pile number in the pile number coordinate table is: calculating the Euclidean distance between the longitude and latitude of the drone and the longitude and latitude of each pile number in the pile number coordinate table in real time. If the Euclidean distance is less than or equal to the preset matching threshold 1, the match is successful, and the corresponding pile number label is marked in the inspection long map.

[0092] A further preferred technical solution is: the identification of disease characteristics adopts a convolutional neural network model, which supports multi-label classification and identifies types including at least one of cracks, pits, subsidence, and spalling.

[0093] A further preferred technical solution is: the EBS and WBS are associated to form a dual-core structure tree. The EBS structure tree is constructed based on the BIM model of each facility section and pile number, and associates design parameters with defect information; the WBS structure tree is based on the decomposition of construction tasks, and associates repair progress with maintenance resources; the two are dynamically mapped through pile number intervals to achieve full-cycle collaboration of defect location, task dispatch and completion data archiving.

[0094] A further preferred technical solution is: the dynamic mapping includes: when the defect image is loaded into the BIM model segment, the 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 facilities and the WBS task node status in the EBS structure tree are synchronously updated.

[0095] A further preferred technical solution is: when deleting the defect picture map, the following operations are performed simultaneously: the repaired BIM model is marked as "accepted", and the original defect pictures, repair records and acceptance reports are archived to the completion database of the EBS structure tree, and associated with the corresponding pile number range.

[0096] A further preferred technical solution is: the GIS-BIM platform pushes disease pictures and related construction task information and locations to the repair personnel. After the inspection personnel fill in the repair progress, the task status changes in the WBS structure tree are automatically updated, and real-time notifications are sent to the GIS-BIM platform.

[0097] In summary, before data collection, this invention also proposes a data collection and processing process whereby a drone crawls over a wall after being attached to it via negative pressure. This process utilizes GIS-BIM platform integration and drone intelligent inspection technology to accurately locate and visually mark road sections with defects. By constructing an EBS structure tree model and importing it into the GIS system, an integrated platform is created, integrating the BIM model's stake coordinates with GIS spatial positioning. This process upgrades the traditional defect location method, which relies on manual inspections, to a fully digital process encompassing "drone photography - automatic matching - intelligent identification - model positioning." This process avoids manual missed detections and positioning errors, improves the efficiency and accuracy of defect marking, and uses color gradients to differentiate defect severity, enabling intuitive and hierarchical management of highway defects.

[0098] Furthermore, a full-cycle collaboration mechanism based on a dual-core structure tree (EBS and WBS) bridges the entire data chain for defect management, from discovery to remediation. The platform integrates the EBS (Facility Breakdown Structure) and the WBS (Work Breakdown Structure), seamlessly linking design parameters, defect information, and construction tasks through dynamic mapping of pile number intervals. In practical applications, when a defect image is loaded into a BIM model segment, the system automatically generates a construction task node in the WBS, binding the responsible unit, construction period, and remediation status. Upon completion, the facility's as-built attributes and WBS task status are simultaneously updated in the EBS, and the original defect image and remediation records are archived in the as-built database. This mechanism breaks down the data silos between design, construction, and maintenance in traditional maintenance, achieving automated collaboration throughout the entire lifecycle of "defect location - task assignment - progress tracking - acceptance archiving." This reduces manual errors, improves the efficiency of maintenance resource scheduling, and provides a comprehensive data traceability system for highway lifecycle management.

[0099] Example 2

[0100] A control system for an inspection drone based on a wall tilt state, applying the control method for an inspection drone based on a wall tilt state, comprising:

[0101] 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 wall facing the inspection drone is used as the reference horizontal plane.

[0102] The test line calculation module obtains the distance values ​​of the four distance sensors, forms two test lines on the wall according to the distance values ​​between the relatively set distance sensors, and calculates the line-plane angle between the test lines and the reference horizontal plane;

[0103] Tilt state calculation module: calculates the plane tilt of the wall surface according to the angle between the line to be measured 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;

[0104] Control module: updates the measured value according to the tilt status, 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;

[0105] 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.

[0106] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Based on the technical essence of the present invention and within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A control method for an inspection drone based on the tilt state of a wall, characterized in that: The inspection drone is adsorbed onto the wall surface by negative pressure and crawls on the wall surface. Four identical distance sensors and a camera are provided on the surface of the inspection drone facing the wall. The four distance sensors are respectively arranged around the camera to form an opposing arrangement. The connecting line formed by the two opposing distance sensors on the surface passes through the center point of the camera, so that the two connecting lines are perpendicular to each other. The method includes the following steps: S1. Monitor the measurement value of the level meter on the inspection drone. When the measurement value is 0, use the surface of the wall facing the inspection drone as the reference horizontal plane. S2. Obtain distance values ​​of four distance sensors, form two lines to be measured on the wall according to the distance values ​​between the distance sensors arranged opposite to each other, 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 based on the line-plane angle between the measured line and the reference horizontal plane to obtain the inclination state of the wall surface relative to the reference horizontal plane, including the inclination angle and inclination direction; The step S3 includes the following steps: S31, obtaining the line-plane angles between the two lines to be measured and the reference horizontal plane; S32, determining the normal vectors of the inclined plane of the wall where the two lines to be measured are located based on the line-plane angle; S33, calculating the angle between the normal vector of the inclined plane and the reference horizontal plane, and using the angle as the inclination angle of the wall relative to the reference horizontal plane; S34, calculating the horizontal component of the normal vector of the inclined plane on the reference horizontal plane, and calculating the inclination direction of the wall relative to the reference horizontal plane based on the reverse direction of the horizontal component; S4. Update the measured value according to the tilt state, and send a control command to the inspection drone through the level meter to 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 real-time images of the wall and records the corresponding longitude and latitude coordinates of the drone. The images 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 images are cut into pile number segmented images with the pile number labels, and the defects of the pile number segmented images are identified, stored and displayed.

2. The method for controlling an inspection drone based on a wall tilt state according to claim 1, characterized in that: The distance sensor measures the distance between the wall and the distance sensor by emitting millimeter waves toward the wall, wherein the emission direction of the millimeter waves is perpendicular to the wall and the reference horizontal plane.

3. The control method of an inspection drone based on a wall tilt state 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 distance sensors that are arranged opposite to each other, and determining that two different distance values ​​are obtained based on the matching results, then proceeding to step S22; S22. Two lines to be measured are formed on the wall surface according to the distance values ​​between the distance sensors arranged opposite to each other, and the line-plane angle between the lines to be measured and the reference horizontal plane is calculated.

4. The method for controlling an inspection drone based on a wall tilt state according to claim 2, characterized in that: In S22, two lines to be measured are formed on the wall according to the distance values ​​between the relatively arranged distance sensors. The process is as follows: corresponding vertical points are found on the wall according to the emission direction of the millimeter wave, and the vertical points corresponding to the two relatively arranged distance sensors are connected to form the lines to be measured.

5. The method for controlling an inspection drone based on a wall tilt 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 a length of a line formed on a surface by the opposed distance sensors, that is, a length of a line formed on a reference horizontal plane, wherein the length of the line is a length of a first projection of the line to be measured between the opposed distance sensors projected onto the reference horizontal plane; Calculating a difference between distance values ​​of oppositely disposed distance sensors, where the difference is a length of a second projection of the line to be measured between the oppositely disposed distance sensors projected onto a transmission direction of the millimeter wave; On the same plane, the first projection, the second projection, and the line to be measured form a right triangle. The length of the first projection and the length of the second projection are calculated by trigonometric functions to obtain the angle between the line to be measured and the first projection, which is used as the line-plane angle between the line to be measured and the reference horizontal plane.

6. The method for controlling an inspection drone based on a wall tilt state according to claim 1, characterized in that: The horizontal plane of the spirit level carried on the inspection drone is parallel to the surface of the inspection drone facing the wall. When the measured value is 0, the surface of the inspection drone facing the wall is parallel to the horizontal plane. In step S4, a control instruction is sent to the inspection drone through the spirit level. The control instruction refers to adjusting the posture of the inspection drone according to the tilt angle and tilt direction recorded in the spirit level, and approaching the wall in a direction perpendicular to the wall.

7. The method for controlling an inspection drone based on a wall tilt state according to claim 1, characterized in that: The step S5 includes the following steps: S51. When the inspection drone inspects the line that needs to be inspected on the wall, a long inspection map of the entire wall is obtained by the inspection drone through continuous photography. While the long inspection map is being photographed, the longitude and latitude coordinates of the drone as determined by the GPS positioning on the inspection drone are matched with the longitude and latitude of the stake number in the stake number coordinate table. If a match is successful, a stake number label is added to the long inspection map. S52, cutting the inspection long image of the entire wall into segmented images of the stake numbers according to the stake number labels; S53, identifying and marking the damage features in the pile number segmented images to obtain damage images, and sending the damage images with the pile number labels to the GIS-BIM platform; S54. The GIS-BIM platform saves the defect image with the pile number label and traverses the pile number interval of the BIM model according to the pile number label of the defect image to match the pile number interval to obtain the matching facility section. Then, the corresponding pile number and the corresponding wall model in the matching facility section are found through the pile number label on the defect image, and the defect image is loaded into the wall model in the corresponding BIM model in the form of a texture.

8. The method for controlling an inspection drone based on a wall tilt state according to claim 7, characterized in that: An EBS structure tree model is preset in the GIS-BIM platform. The EBS structure tree model divides the route that needs to be inspected into various facility sections. Each facility section includes a pile number interval of a starting pile number and an ending pile number and a corresponding BIM model. The BIM model includes a wall model, and the wall model is segmented by pile number.

9. A patrol drone control system based on the tilt state of a wall, characterized in that: A method for controlling an inspection drone based on a wall tilt state as described in any one of claims 1 to 8 is applied, 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 wall facing the inspection drone is used as the reference horizontal plane. The test line calculation module obtains the distance values ​​of the four distance sensors, forms two test lines on the wall according to the distance values ​​between the relatively set distance sensors, and calculates the line-plane angle between the test lines and the reference horizontal plane; Tilt state calculation module: calculates the plane tilt of the wall surface according to the angle between the line to be measured 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 status, 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.

Images