CN106525970A - Project slope quality detection method and system based on aerial robot - Google Patents
Project slope quality detection method and system based on aerial robot Download PDFInfo
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Abstract
The invention provides a project slope quality detection method based on an aerial robot. The method comprises steps as follows: information acquisition: knocking an initial working face among multiple pre-divided working faces of a project slope by the aerial robot to acquire vibration information of the initial working face after knocking; defect judgment: judging whether the initial working face has defects or not according to the vibration information; cyclic detection: sequentially detecting the rest multiple working faces one by one with the methods in the two steps. The invention further provides a project slope quality detection system based on the aerial robot. With the adoption of the method and the system, the detection accuracy and detection efficiency can be improved, and the detection safety is greatly improved.
Description
Technical field
A kind of the present invention relates to unmanned plane field, more particularly to engineering slope quality determining method based on air-robot
And system.
Background technology
Engineering slope refers to the cutting slope that the natural slope near circuit or Jing construction and excavations formed, fills filling out of being formed
Square slope etc..Foundation《Highway subgrade design specification》JTGD30-2004 specifies：Soil property is dug slope height and is dug more than 20 meters, rock matter
Side slope of the square slope height more than 30 meters is high slope.
As engineering slope system is an open complication system, its stability is by geologic(al) factor and engineering factor etc.
Combined influence.These factors being to determine property a bit, but most of have the uncertainties such as randomness, ambiguity, transmutability
Feature, their weighing factors to different type slope rock mass stability are changes, the non-thread for having complexity between these factors
Sexual intercourse, therefore identification factor should be dynamically selected according to concrete condition during analysis of rock slope stability.And for
Slope Monitoring mainly understands geological type and deformation mechanism, with constantly developing, by original artificial simple tape measure
Instrument instrument monitoring till now, and to high accuracy, the Slope Monitoring technology development of the remote system of automatization.Root
According to the result obtained after monitoring, the rule of the dynamic changes such as slopes landslide, avalanche, the disaster that prediction may occur is found.
Engineering slope detection is that Current Highway detects an important indicator.Modal side in traditional engineering slope detection
Method is the detection principle based on displacement monitoring, by obtaining target positional value not in the same time, draws the change of displacement,
The judgement of disaster is carried out according to the size of displacement change and the practical situation at scene, so as to be likely to occur cave in, come down,
The disasters such as avalanche are carried out detection and are prevented.
The detection method of side slope disaster includes simple observation method, sets station observation method, instrument observation method at present.
(1). simple observation method
Simple observation method is adapted to observe the slopes that disaster occurs, by artificial observation, the avalanche that slopes are produced is settled,
The signs such as table expansion, crack have further understanding, and where having easy avalanche or having occurred and that avalanche, do subscript
Note, by contrasting different time, under condition of different temperatures, what crack scale, ON state, depth, length, width and cracking extended
Direction, according to its development trend, analysis is the slip in which period.
(2). set station observation method
Can just be used after the situation for understanding engineering regional address background, slopes are divided into wire or latticed area
Domain, fixed observation station (this point can not be in the coverage of deformed area), with many measuring methods and the instrument of precision,
The different times are observed.Wherein common method includes：Geodesic method, GPS measurement methods, up short method.
(3). instrument observation method
Instrument observation method mainly carries out Slope Monitoring with accurate instrument, for no detection type, makes
Instrument is also different, for the less slope test of deflection should with the short distance instrument of high precision, and for landslide,
Drastic change etc. should use the adjustable instrument of measuring range.
The characteristics of three traditional detection methods of the above have one common is exactly to need artificial participation, needs workmen couple
Rock mass is comprehensively monitored and periodic detection, and the particularly detection after heavy rain or after earthquake is particularly important.But
It is that China's geology is special, and Rock Species are a lot of, inside side slope, ground also has certain complexity, traditional manual detection side
Method have the shortcomings that high labor intensive, inefficiency, detection precision it is not high, it is especially often adjoint when high slope is detected
Certain danger, the injures and deaths of personnel are easily caused.
The content of the invention
In view of this, it is an object of the invention to provide a kind of engineering slope quality testing based on air-robot and its
System, it is intended to which the precision that solves manual detection in prior art is not high, detection efficiency is relatively low and safety that is detecting is poor asks
Topic.
The present invention proposes a kind of engineering slope quality determining method based on air-robot, mainly includes：
Starting in information gathering step, the multiple scope of operations using the air-robot to the advance division of engineering slope
The scope of operation is tapped, to obtain the vibration information tapped to the initial scope of operation；
Defect dipoles step, judge whether the initial scope of operation is defective according to the vibration information；
Cycle detection step, successively remaining multiple scope of operations are examined one by one using the method in above-mentioned two step
Survey.
On the other hand, the present invention also provides a kind of engineering slope quality detecting system based on air-robot, main to wrap
Include：
Information acquisition module, in the multiple scope of operations using the air-robot to the advance division of engineering slope
The initial scope of operation is tapped, to obtain the vibration information tapped to the initial scope of operation；
According to the vibration information, defect dipoles module, for judging whether the initial scope of operation is defective；
Loop detection module, for being entered to remaining multiple scope of operations one by one using the method in above-mentioned two module successively
Row detection.
The technical scheme that the present invention is provided, by shooting to whole region, formulates the flight path of air-robot,
The complete detection to whole engineering slope disposably can be quickly performed, manpower and time cost has been greatly saved, and has been greatly improved
Detection efficiency；For high slope is detected, the danger that manually effectively prevent work high above the ground is substituted using air-robot, for
Gradient slope detects, is substituted using air-robot and manually effectively prevent side slope and collapse suddenly the danger that brings, and then is greatly carried
The high safety of detection；Meanwhile, Fourier transformation is carried out to the vibration signal for obtaining using the mode for tapping vibration measuring and Europe is several
Reed algorithm is matched, and the detection data for obtaining is more accurately bright and clear, and then greatly improves the precision of detection.
Description of the drawings
Fig. 1 be an embodiment of the present invention in based on air-robot engineering slope quality determining method flow chart；
Fig. 2 is that the air-robot fixed point flight of carrying optical camera in an embodiment of the present invention shoots whole engineering slope
Face region clear pictures figure；
Inside of the Fig. 3 for the engineering slope quality detecting system 10 based on air-robot in an embodiment of the present invention
Structural representation；
Fig. 4 is the schematic perspective view of air-robot in an embodiment of the present invention；
Fig. 5 is the AA line generalized sections of air-robot shown in Fig. 4 in an embodiment of the present invention；
Fig. 6 is the BB line generalized sections of air-robot shown in Fig. 4 in an embodiment of the present invention；
Fig. 7 is the top view of air-robot shown in Fig. 4 in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
A kind of engineering slope quality testing based on air-robot provided by the present invention will be carried out specifically below
It is bright.
Fig. 1 is referred to, is the engineering slope quality inspection process figure based on air-robot in an embodiment of the present invention.
In step sl, information gathering step, the multiple works using the air-robot to the advance division of engineering slope
The initial scope of operation in industry face is tapped, to obtain the vibration information tapped to the initial scope of operation.
In the present embodiment, the air-robot includes automatic knocking device, and the automatic knocking device includes electricity
Machine 1, shaft coupling 2, cam 3, percussion bar 4 and sleeve 5, the motor 1 controls the cam 3 by the shaft coupling 2, by institute
State the rotation that motor 1 drives the cam 3, the rotation control linear motion for tapping bar 4 of the cam 3, the sleeve 5
Described in fixed constraint tap bar 4 cause it is described tap bar 4 can only along sleeve 5 direction move along a straight line, motor 1, shaft coupling 2,
Cam 3 is housed in same fixer 9, and the air-robot also includes the vibrating sensing being fixed on the sleeve 5
Device 6, wherein, described information acquisition step is specifically included：
Carried out by the initial scope of operation in multiple scope of operations of the automatic knocking device to the advance division of engineering slope
Tap, and gather the vibration information tapped to the initial scope of operation using the vibrating sensor 6；
The vibration signal for collecting included in the vibration information is sampled, and institute is obtained using Fourier transformation
State the spectrogram of vibration signal；
The spectrogram of the vibration signal is contrasted with the spectrogram being stored in data base, and in utilizing Europe several
Moral distance algorithm is matched, and wherein, the spectrogram being stored in data base includes that engineering slope confirms intact vibration frequency
Spectrogram and engineering slope confirm defective rumble spectrum figure.
In the present embodiment, its accurate three-dimensional localization in flight course can be realized using air-robot, that is, is wrapped
Include longitudinal register (Z axis), axially position (Y-axis) and located lateral (X-axis).
Air-robot to engineering it is domatic detect when from building be maintained at one it is closer with a distance from, its
Gps signal is highly prone to building interference, how to guarantee that the longitudinally perpendicular positioning of air-robot is important can not be ignored
Problem.In the technical scheme that the present invention is provided, air-robot flies control plate using Pixhawk, and the Pixhawk flies control plate and can adopt
With advanced fixed high algorithm, only become its own High definition within 1m with barometertic altimeter.The technical side that the present invention is provided
In case, also fly light flow module to be also developed on control plate in Pixhawk, be used for obtaining the speed of air-robot using light flow sensor
The flight parameters such as degree, the GPS module flown on control plate using Pixhawk judge the reliability of air-robot positional information, finally
Take complementary filter to merge light stream sensor information and GPS information, realize that light stream/GPS's is adaptive switched, particularly exist
Near exterior wall, its gps signal receives interference, and the present invention effectively can realize being accurately positioned with GPS location with reference to light stream positioning.
In addition, also a pair of ultrasonic sensors have been installed in robot bottom to the present invention in the air, for auxiliary positioning, for aerial
Easily occur the phenomenon crashed in robot take-off process, install a ultrasonic sensor and there is fine auxiliaring effect, but
A scope of the ultrasonic sensor typically within the 7m of low latitude can play a role, and excessive height is then ineffective.When
When air-robot returns to starting point, in advance Pixhawk fly control plate arrange program can then be automatically switched off ultrasonic sensor or
Person artificially can also be controlled to the ultrasonic sensor on air-robot by ground control station immediately.
Transverse horizontal positioning mainly takes GPS device and a pair of ultrasonic sensors (for auxiliary positioning, preventing collision),
Air-robot is mainly made to keep certain distance with wall face.Distance is too near, and air-robot is easily bumped against with outer slope, so as to
Aircraft is caused to crash.Before robot takes off in the air, control plate write-in program is flown by ground control station to Pixhawk,
Which is made to keep certain distance with wall face.If the control of the distance between air-robot and wall face is in a model of 2.5m ± 1m
Enclose, when air-robot is more than 2.5m with wall face distance, the program for flying to pre-enter on control plate in Pixhawk can then make sky
Middle robot is flown a segment distance inwardly so that distance reaches 2.5m；When air-robot is less than 2.5m with wall face distance,
Air-robot can be then made to fly outwardly a segment distance so that distance reaches 2.5m.In practical application, air-robot federation because
Various factors is slightly drifted about in the air, particularly when its gps signal receives Adjacent Buildings and disturbs.In addition, originally
The transverse horizontal positioning of invention additionally uses infrared scan radar, within its measurement distance scope is 10 meters, with supersonic sensing
Device is similar.Except for the difference that, infrared scan radar can carry out comprehensive 360 degree to its surrounding at the top of robot in the air
Scanning, and ultrasonic sensor can only orient range finding.When particularly outside the building shape is not standard flat, ultrasound is simply used
Wave sensor can not realize the effective avoidance of air-robot, easily attend to one thing and lose sight of another.
During air-robot flight in the air, which mainly passes through GPS device, the level of GPS device along the positioning of X-direction
Positioning precision is 1 to 2m.It is similar with axially position (Y-axis), before robot takes off in the air, by ground control station pair
Pixhawk flies control plate write-in program.Fly control plate in flight course and can read the data of GPS device, and according to pre-entering
Program adjustment motor 1 is exported, so as to control itself state of flight.Air-robot deviates preset direction, the program being previously written
Air-robot can be then made to return flight path.
In step s 2, defect dipoles step, judge whether the initial scope of operation defective according to the vibration information.
In the present embodiment, the defect dipoles step is specifically included：
If drawing the spectrogram of the vibration signal and being stored in data base using Euclidean distance algorithm
If engineering slope confirms that intact rumble spectrum figure is matching, then judge that the corresponding engineering slope of the scope of operation of current detection is
Intact；
If drawing the spectrogram of the vibration signal and being stored in data base using Euclidean distance algorithm
If engineering slope confirms that defective rumble spectrum figure is matching, then the corresponding engineering slope of the scope of operation of current detection is judged
It is defective.
In the present embodiment, multiple engineering slopes can be stored in lane database in advance in practical application and confirms intact shaking
Dynamic spectrogram and multiple engineering slopes confirm defective rumble spectrum figure, used as the reference standard of subsequent match.
In the present embodiment, the multiple scope of operations by the automatic knocking device to the advance division of engineering slope
In the initial scope of operation tapped, and gather the vibration letter tapped to the initial scope of operation using the vibrating sensor 6
The step of breath, specifically includes：
The flight path of the air-robot is planned, the test point of the initial scope of operation is determined；
Determine the domatic lateral separation of the air-robot and engineering slope to be measured；
Flight is opened according to the flight path of planning and the test point of determination and taps detection；
The vibration information tapped to the initial scope of operation is gathered using the vibrating sensor 6.
In the present embodiment, the domatic region of the whole engineering of air-robot fixed point flight shooting for carrying optical camera is clear
Clear photo several, as shown in Figure 2.Then (i.e. rasterizing), planning and designing are processed by Matlab softwares to image
The flight path of air-robot, while the state of flight of real-time monitoring air-robot, and according to mission requirements in real time to which
Air route carries out path planning.After the flight path for planning the air-robot, the detection of the initial scope of operation is determined
Point so that air-robot is able to find positioning hovering in the air.
In the present embodiment, determine the domatic lateral separation of the air-robot and engineering slope to be measured, be used for
Guarantee to tap in the case that robot does not strike against the scope of operation in the air that bar 4 can touch the scope of operation and vibrating sensor 6 is adjacent to
The scope of operation.
In step s3, cycle detection step, using the method in above-mentioned two step successively to remaining multiple operations
Detected one by one in face.
A kind of engineering slope quality determining method based on air-robot that the present invention is provided, by entering to whole region
Row shoots, and formulates the flight path of air-robot, disposably can quickly perform the complete detection to whole engineering slope, greatly
Manpower and time cost is saved, and substantially increases detection efficiency；For high slope is detected, people is substituted using air-robot
Work effectively prevent the danger of work high above the ground, for gradient slope is detected, is substituted using air-robot and manually effectively prevent side
Slope is collapsed suddenly the danger for bringing, and then greatly improves the safety of detection；Meanwhile, using the mode of percussion vibration measuring to obtaining
Vibration signal carry out Fourier transformation and Euclidean algorithm matching, the detection data for obtaining more accurate bright and clear, Jin Erji
The big precision that improve detection.
Fig. 3 is referred to, the engineering slope quality testing based on air-robot showing in an embodiment of the present invention
The structural representation of system 10.
In the present embodiment, the engineering slope quality detecting system 10 based on air-robot, mainly adopts including information
Collection module 11, defect dipoles module 12 and loop detection module 13.
Information acquisition module 11, in the multiple scope of operations using the air-robot to the advance division of engineering slope
The initial scope of operation tapped, to obtain the vibration information tapped to the initial scope of operation.
In the present embodiment, the air-robot includes automatic knocking device, and the automatic knocking device includes electricity
Machine 1, shaft coupling 2, cam 3, percussion bar 4 and sleeve 5, the motor 1 controls the cam 3 by the shaft coupling 2, by institute
State the rotation that motor 1 drives the cam 3, the rotation control linear motion for tapping bar 4 of the cam 3, the sleeve 5
Tapping bar 4 described in fixed constraint causes the bar 4 that taps move along a straight line along the direction of sleeve 5, the air-robot
Also include being fixed on vibrating sensor 6 on the sleeve 5, wherein, described information acquisition module 11 specifically for：
Carried out by the initial scope of operation in multiple scope of operations of the automatic knocking device to the advance division of engineering slope
Tap, and gather the vibration information tapped to the initial scope of operation using the vibrating sensor 6；
The vibration signal for collecting included in the vibration information is sampled, and institute is obtained using Fourier transformation
State the spectrogram of vibration signal；
The spectrogram of the vibration signal is contrasted with the spectrogram being stored in data base, and in utilizing Europe several
Moral distance algorithm is matched, and wherein, the spectrogram being stored in data base includes that engineering slope confirms intact vibration frequency
Spectrogram and engineering slope confirm defective rumble spectrum figure.
In the present embodiment, described information acquisition module 11 is specifically additionally operable to：
The flight path of the air-robot is planned, the test point of the initial scope of operation is determined；
Determine the domatic lateral separation of the air-robot and engineering slope to be measured；
Flight is opened according to the flight path of planning and the test point of determination and taps detection；
The vibration information tapped to the initial scope of operation is gathered using the vibrating sensor 6.
According to the vibration information, defect dipoles module 12, for judging whether the initial scope of operation is defective.
In the present embodiment, the defect dipoles module 12 specifically for：
If drawing the spectrogram of the vibration signal and being stored in data base using Euclidean distance algorithm
If engineering slope confirms that intact rumble spectrum figure is matching, then judge that the corresponding engineering slope of the scope of operation of current detection is
Intact；
If drawing the spectrogram of the vibration signal and being stored in data base using Euclidean distance algorithm
If engineering slope confirms that defective rumble spectrum figure is matching, then the corresponding engineering slope of the scope of operation of current detection is judged
It is defective.
Loop detection module 13, for using the method in above-mentioned two module successively to remaining multiple scope of operations one by one
Detected.
A kind of engineering slope quality detecting system 10 based on air-robot that the present invention is provided, by whole region
Shot, formulate the flight path of air-robot, disposably can quickly perform the complete detection to whole engineering slope, pole
Manpower and time cost is saved greatly, and substantially increases detection efficiency；For high slope is detected, substituted using air-robot
The danger of work high above the ground is manually effectively prevent, for gradient slope is detected, is substituted using air-robot and manually be effectively prevent
Side slope is collapsed suddenly the danger for bringing, and then greatly improves the safety of detection；Meanwhile, using the mode of percussion vibration measuring to obtaining
To vibration signal carry out Fourier transformation and Euclidean algorithm matching, the detection data for obtaining is more accurately bright and clear, and then
Greatly improve the precision of detection.
Fig. 4 is referred to, the schematic perspective view of air-robot in an embodiment of the present invention is shown.
Fig. 5 is referred to, the AA line generalized sections of air-robot shown in Fig. 4 in an embodiment of the present invention are shown.
Fig. 6 is referred to, the BB line generalized sections of air-robot shown in Fig. 4 in an embodiment of the present invention are shown.
Fig. 7 is referred to, the top view of air-robot shown in Fig. 4 in an embodiment of the present invention is shown.
As shown in above-mentioned Fig. 4-7, air-robot includes above-mentioned automatic knocking device, the automatic knocking device, including
Motor 1, shaft coupling 2, cam 3, percussion bar 4 and sleeve 5, the motor 1 are closely connected with the shaft coupling 2, and by described
Shaft coupling 2 controls the cam 3, drives the rotation of the cam 3, and the cam 3 and the percussion bar by the motor 1
4 one end connection, the rotation control percussion bar 4 of the cam 3 are moved along a straight line, and utilize institute when moving along a straight line
The other end for stating percussion bar 4 is tapped to purpose thing, taps bar 4 and cause the percussion bar 4 described in 5 fixed constraint of the sleeve
Can only be moved along a straight line along the direction of sleeve 5.
In the present embodiment, the automatic knocking device also includes the vibrating sensor 6 being fixed on the sleeve 5,
Purpose thing is carried out tapping the vibration signal of institute's output when moving along a straight line to collect the bar 4 that taps.
In the present embodiment, the automatic knocking device is also included near consolidating that the other end for tapping bar 4 is arranged
Fixed board 8, the bottom of the fixed plate 8 include at least one manhole and the external diameter kissing of the diameter of through hole and the sleeve 5
Close, held on the sleeve 5 with fixed plate 8.
In the present embodiment, the top of the fixed plate 8 includes semi-enclosed collecting casket, and sets in the collecting casket
Foam 7 is equipped with, a part for the vibrating sensor 6 is stretched in the collecting casket and contacted with the foam 7.The vibration is passed
Another part of sensor 6 is stretched out outside the collecting casket.
In the present embodiment, the motor 1 includes the front end of convex shape, and the top of the shaft coupling 2 includes that first is recessed
Groove, and the first groove kissing of the front end of the motor 1 and the shaft coupling 2 merges and is closely connected.
In the present embodiment, the bottom of the shaft coupling 2 includes the second groove, and the cam 3 and the shaft coupling 2
The second groove kissing merge and closely connect, the longitudinal section of the shaft coupling 2 is presented H-shaped.
In the present embodiment, the automatic knocking device also includes spring, is arranged on one end of the sleeve 5.Automatically
The active force that knocking device is back moved to percussion bar 4 built with spring so that tap bar 4 and be close to 3 surface of cam, coordinate cam
3 move reciprocatingly.
In the present embodiment, the bottom of the air-robot is symmetrically arranged with a pair of supporting parts, and each support
Portion is T-shaped and all includes horizon bar and vertical rod, and the respective horizon bar of the pair of supporting part is parallel to each other and in same water
In plane, the respective vertical rod of the pair of supporting part mutually supports the main part of the air-robot with splayed.
In the present embodiment, the top of the air-robot includes rotating part, and the rotating part includes being horizontally disposed with
Six rotary wings, six rotary wings are evenly distributed in the center circumferential of the rotating part, and each rotary wings
It is T-shaped.
It should be noted that in above-described embodiment, what included unit was simply divided according to function logic,
But above-mentioned division is not limited to, as long as corresponding function can be realized；In addition, the specific name of each functional unit
Only to facilitate mutually distinguishing, protection scope of the present invention is not limited to.
In addition, one of ordinary skill in the art will appreciate that realizing all or part of step in the various embodiments described above method
Program be can be by instruct the hardware of correlation to complete, corresponding program can be stored in embodied on computer readable storage and be situated between
In matter, described storage medium, such as ROM/RAM, disk or CD etc..
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of engineering slope quality determining method based on air-robot, it is characterised in that methods described includes：
Initial operation in information gathering step, the multiple scope of operations using the air-robot to the advance division of engineering slope
Face is tapped, to obtain the vibration information tapped to the initial scope of operation；
Defect dipoles step, judge whether the initial scope of operation is defective according to the vibration information；
Cycle detection step, successively remaining multiple scope of operations are detected one by one using the method in above-mentioned two step.
2. the engineering slope quality determining method based on air-robot as claimed in claim 1, it is characterised in that the sky
Middle robot includes automatic knocking device, and the automatic knocking device includes motor, shaft coupling, cam, percussion bar and sleeve, institute
State motor and the cam is controlled by the shaft coupling, the rotation of the cam is driven by the motor, the cam turns
The dynamic control linear motion for tapping bar, taps bar described in the sleeve fixed constraint and causes the percussion bar can only be along set
The direction linear motion of cylinder, the air-robot also include the vibrating sensor being fixed on the sleeve, wherein, the letter
Breath acquisition step is specifically included：
Tapped by the initial scope of operation in multiple scope of operations of the automatic knocking device to the advance division of engineering slope,
And the vibration information tapped to the initial scope of operation is gathered using the vibrating sensor；
The vibration signal for collecting included in the vibration information is sampled, and described shaking is obtained using Fourier transformation
The spectrogram of dynamic signal；
The spectrogram of the vibration signal is contrasted with the spectrogram being stored in data base, and using euclidean away from
Matched from algorithm, wherein, the spectrogram being stored in data base includes that engineering slope confirms intact rumble spectrum figure
Defective rumble spectrum figure is confirmed with engineering slope.
3. the engineering slope quality determining method based on air-robot as claimed in claim 2, it is characterised in that described to lack
Fall into and judge that step is specifically included：
If using Euclidean distance the algorithm spectrogram for drawing the vibration signal and the engineering being stored in data base
If side slope confirms that intact rumble spectrum figure is matching, then judge that the corresponding engineering slope of the scope of operation of current detection is intact
's；
If using Euclidean distance the algorithm spectrogram for drawing the vibration signal and the engineering being stored in data base
If side slope confirms that defective rumble spectrum figure is matching, then judge that the corresponding engineering slope of the scope of operation of current detection is that have
Defect.
4. the engineering slope quality determining method based on air-robot as claimed in claim 2, it is characterised in that described logical
Cross the automatic knocking device to tap the initial scope of operation in multiple scope of operations of the advance division of engineering slope, and utilize
The step of vibration information that the vibrating sensor collection is tapped to the initial scope of operation, specifically includes：
The flight path of the air-robot is planned, the test point of the initial scope of operation is determined；
Determine the domatic lateral separation of the air-robot and engineering slope to be measured；
Flight is opened according to the flight path of planning and the test point of determination and taps detection；
The vibration information tapped to the initial scope of operation is gathered using the vibrating sensor.
5. a kind of engineering slope quality detecting system based on air-robot, it is characterised in that the system includes：
Information acquisition module, for the starting in the multiple scope of operations using the air-robot to the advance division of engineering slope
The scope of operation is tapped, to obtain the vibration information tapped to the initial scope of operation；
According to the vibration information, defect dipoles module, for judging whether the initial scope of operation is defective；
Loop detection module, for being examined to remaining multiple scope of operations one by one using the method in above-mentioned two module successively
Survey.
6. the engineering slope quality detecting system based on air-robot as claimed in claim 5, it is characterised in that the sky
Middle robot includes automatic knocking device, and the automatic knocking device includes motor, shaft coupling, cam, percussion bar and sleeve, institute
State motor and the cam is controlled by the shaft coupling, the rotation of the cam is driven by the motor, the cam turns
The dynamic control linear motion for tapping bar, taps bar described in the sleeve fixed constraint and causes the percussion bar can only be along set
The direction linear motion of cylinder, the air-robot also include the vibrating sensor being fixed on the sleeve, wherein, the letter
Breath acquisition module specifically for：
Tapped by the initial scope of operation in multiple scope of operations of the automatic knocking device to the advance division of engineering slope,
And the vibration information tapped to the initial scope of operation is gathered using the vibrating sensor；
The vibration signal for collecting included in the vibration information is sampled, and described shaking is obtained using Fourier transformation
The spectrogram of dynamic signal；
The spectrogram of the vibration signal is contrasted with the spectrogram being stored in data base, and using euclidean away from
Matched from algorithm, wherein, the spectrogram being stored in data base includes that engineering slope confirms intact rumble spectrum figure
Defective rumble spectrum figure is confirmed with engineering slope.
7. the engineering slope quality detecting system based on air-robot as claimed in claim 6, it is characterised in that described to lack
Sunken judge module specifically for：
If using Euclidean distance the algorithm spectrogram for drawing the vibration signal and the engineering being stored in data base
If side slope confirms that intact rumble spectrum figure is matching, then judge that the corresponding engineering slope of the scope of operation of current detection is intact
's；
If using Euclidean distance the algorithm spectrogram for drawing the vibration signal and the engineering being stored in data base
If side slope confirms that defective rumble spectrum figure is matching, then judge that the corresponding engineering slope of the scope of operation of current detection is that have
Defect.
8. the engineering slope quality detecting system based on air-robot as claimed in claim 7, it is characterised in that the letter
Breath acquisition module is specifically additionally operable to：
The flight path of the air-robot is planned, the test point of the initial scope of operation is determined；
Determine the domatic lateral separation of the air-robot and engineering slope to be measured；
Flight is opened according to the flight path of planning and the test point of determination and taps detection；
The vibration information tapped to the initial scope of operation is gathered using the vibrating sensor.
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| CN201610982804.5A CN106525970A (en) | 2016-11-07 | 2016-11-07 | Project slope quality detection method and system based on aerial robot |
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| CN201610982804.5A CN106525970A (en) | 2016-11-07 | 2016-11-07 | Project slope quality detection method and system based on aerial robot |
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