CN106954042A - A kind of unmanned plane rail track inspection device, system and method - Google Patents

A kind of unmanned plane rail track inspection device, system and method Download PDF

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Publication number
CN106954042A
CN106954042A CN201710147311.4A CN201710147311A CN106954042A CN 106954042 A CN106954042 A CN 106954042A CN 201710147311 A CN201710147311 A CN 201710147311A CN 106954042 A CN106954042 A CN 106954042A
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CN
China
Prior art keywords
image
rail track
unmanned plane
scene data
rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710147311.4A
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Chinese (zh)
Inventor
孟建军
胥如迅
何青
李德仓
宋天相
齐金平
高钢
张强
鞠洪杰
段涵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LANZHOU TONGDA KAIZHI RAILWAY TECHNOLOGY Co Ltd
Liaoning Bo Bo Rail Transportation Equipment Manufacturing Co Ltd
Lanzhou Jiaotong University
Original Assignee
LANZHOU TONGDA KAIZHI RAILWAY TECHNOLOGY Co Ltd
Liaoning Bo Bo Rail Transportation Equipment Manufacturing Co Ltd
Lanzhou Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LANZHOU TONGDA KAIZHI RAILWAY TECHNOLOGY Co Ltd, Liaoning Bo Bo Rail Transportation Equipment Manufacturing Co Ltd, Lanzhou Jiaotong University filed Critical LANZHOU TONGDA KAIZHI RAILWAY TECHNOLOGY Co Ltd
Priority to CN201710147311.4A priority Critical patent/CN106954042A/en
Publication of CN106954042A publication Critical patent/CN106954042A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/126Unmanned aerial vehicles; Equipment therefor adapted for particular use adapted for performing different kinds of missions, e.g. multipurpose use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/127Unmanned aerial vehicles; Equipment therefor adapted for particular use for photography, or video recording, e.g. by using cameras

Abstract

A kind of unmanned plane rail track inspection device, system and method.Described device includes:Unmanned plane, unmanned plane control device, camera, controller, display;Unmanned plane control device is arranged on unmanned plane;Camera includes at least two groups, and at least one set of camera is arranged on the unmanned plane, and at least one set of camera is arranged in railway tunnel;Camera is used for the image scene data for gathering rail track, the image and coordinate of image scene data rail track;Controller is connected with camera, for the image scene data for receiving, handling and monitoring camera is collected;Controller is connected with unmanned plane control device, for controlling unmanned plane control device to be configured the flight parameter of unmanned plane;Display is used to show the view data exported by controller.The present invention realizes and inspection is carried out to the rail track inside and outside tunnel, and processing, the monitoring in later stage can be carried out to the view data collected, and then more accurately judges and position the trouble point of rail track.

Description

A kind of unmanned plane rail track inspection device, system and method
Technical field
The present invention relates to rail track inspection field, more particularly to a kind of unmanned plane rail track inspection device, system And method.
Background technology
In railway office system, it is ensured that railway operation safety, rail track inspection is essential ongoing operations work Make.At present, existing rail track inspection fully relies on the side that rail track inspection workman checks railroad track along Along Railway There is huge limitation and defect in formula, this routine inspection mode, for example, the rail track of 1 kilometer of inspection workman inspection needs greatly About 1 hour, cause monitoring time long;Inspection is stilled need under the adverse circumstances such as rain, ice and snow, hot weather, inspection workman is caused Labor intensity is big;During inspection workman's inspection, often have train by inspection etc., there is unsafe factor.Therefore, it is this to patrol Procuratorial organ's formula has been unsuitable for existing rail track inspection operation, is also unsatisfactory for the safety requirements of high-speed railway circuit operation.
Unmanned plane patrolling railway system solves the problem of manual inspection is present, but tunnel rail track belongs to railway line Special road section in road, will more pay attention to for its damage and the defect inspection frequency, and this proposition solution is not done in the prior art Method.In existing unmanned plane rail track inspection technology, because light intensity is relatively low in tunnel, and tunnel height is low causes nobody Machine flying height is too low, and security is not high enough, therefore unmanned plane can not rail track in inspection tunnel.And it is right in the prior art The photo that unmanned plane is photographed does not carry out the processing in later stage, therefore can not judge there are abnormal conditions from the photo of shooting Rail track specific section.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane rail track inspection device, system and method, to solve existing skill Unmanned plane present in art rail track and can not can not accurately judge and position the trouble point of rail track in inspection tunnel The problems such as.
To achieve the above object, the invention provides following scheme:
A kind of unmanned plane rail track inspection device, including:It is unmanned plane, unmanned plane control device, camera, controller, aobvious Show device;The unmanned plane control device is arranged on the unmanned plane;The camera is taken the photograph including at least two groups described at least one set Picture head is arranged on the unmanned plane, and at least one set of camera is arranged in railway tunnel;The camera is used to gather The image scene data of rail track, the image scene data include the image and coordinate of rail track;The controller with The camera connection, for receiving, handling and monitoring the image scene data that the camera is collected;The control Device is connected with the unmanned plane control device, for controlling the unmanned plane control device to set the flight parameter of the unmanned plane Put;The display is used to show the view data exported by the controller.
Optionally, the camera in railway tunnel is multigroup, and multigroup camera is pacified by pre-determined distance Top in railway tunnel.
Optionally, described device also includes memory module and transport module;The memory module is arranged on railway tunnel hole On outer wall, for storing the image scene data in the railway tunnel that the camera is collected;The transmission mould Block be arranged on railway tunnel hole outside wall on, for by the image scene data stored in the memory module send to The controller.
Optionally, the controller includes receiver module, image processing module and monitoring module;The receiver module is used In the image scene data for receiving the transport module transmission;Described image processing module is used to handle the image scene Data;The monitoring module is used for the image scene data after monitoring is handled.
Optionally, described device also includes mobile phone detecting system, and the mobile phone detecting system is arranged on removable intelligence and set Standby upper, the monitored results for checking the monitoring module.
A kind of unmanned plane rail track method for inspecting, methods described is specifically included:
The image scene data of rail track are obtained, the image scene data include the image and coordinate of rail track;
Image scene data to the rail track are handled, the image after being handled;
Judge that the rail track in the image after the processing whether there is trouble point;
If there is trouble point, the rail track that there is the trouble point is positioned;
If fault-free point, the step of handling the image of the rail track is returned.
Optionally, the step of image scene data to the rail track are handled, specifically includes:
Splice the image of the rail track;
Gray processing processing is carried out to the image of the spliced rail track, gray level image is obtained;
Noise reduction is carried out to the gray level image using median filtering method;
The described image after noise reduction is sharpened using gaussian filtering method;
Feature extraction is carried out to the described image after sharpening using edge detection algorithm, the rail in described image is extracted The image of component, obtains rail assemblies image, and the rail assemblies include rail, rail ground, track plates, track bed and track Fastener;
Grey level compensation, the image after being handled are carried out to the rail assemblies image.
Optionally, the rail track in the image judged after the processing whether there is trouble point, specifically include:
Obtain the gray value of the image after the processing;
The gray value and predetermined threshold value are compared;
If the gray value is more than the predetermined threshold value, it is determined that the rail track in described image has trouble point;
If the gray value is less than or equal to the predetermined threshold value, it is determined that the rail track fault-free in described image Point.
Optionally, the described pair of rail track that there is the trouble point is positioned, and is specifically included:
Read the coordinate of the image after the processing;
According to the coordinate of the image after the processing and the trouble point, the coordinate of the trouble point is determined;
According to the coordinate of the trouble point and the corresponding relation of earth longitude and latitude, the actual geographic position of the trouble point is determined Put.
A kind of unmanned plane rail track cruising inspection system, including:
Image acquisition unit, the image scene data for obtaining rail track, the image scene data include railway The image and coordinate of circuit;
Graphics processing unit, the image scene data for handling the rail track, the image after being handled;
Judging unit, for judging that the rail track in the image after the processing whether there is trouble point;
, there is trouble point for the rail track in the described image after judging unit determination processing in positioning unit When, the rail track that there is the trouble point is positioned.
Compared with prior art, the beneficial effects of the invention are as follows:The invention provides a kind of unmanned plane rail track inspection Unmanned plane control device is arranged on unmanned plane in device, system and method, the present invention, can set the flight parameter of unmanned plane, Manipulate the flight attitude of unmanned plane, it is ensured that the safe flight of unmanned plane;Camera is arranged on unmanned plane and in railway tunnel, both The image scene data on the rail track outside tunnel can be gathered, the scene photo on the rail track in tunnel can be gathered again As data;And controller is connected with camera, the image scene on rail track that controller can be collected to camera Data carry out the later stage processing and monitoring, compared by the pretreatment to view data, threshold value and coordinate reading so as to Judge that rail track whether there is trouble point, and trouble point can be accurately positioned, then by display screen display monitoring result, It is easy to staff to check and timely overhauled.To sum up, the present invention is realized patrols to the rail track inside and outside tunnel Inspection, and processing, the monitoring in later stage can be carried out to the view data collected, and then more accurately judge and position railway The trouble point of circuit.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings Obtain other accompanying drawings.
Fig. 1 is the structure chart of embodiment of the present invention unmanned plane rail track inspection device;
Fig. 2 is the structure chart of embodiment of the present invention controller;
Fig. 3 is the flow chart of embodiment of the present invention method for inspecting;
Fig. 4 is the method flow diagram that the embodiment of the present invention is handled the image of rail track;
Fig. 5 whether there is the method flow of trouble point for the rail track in the image after embodiment of the present invention judgement processing Figure;
Fig. 6 is the method flow diagram that the embodiment of the present invention is positioned to the rail track that there is trouble point;
Fig. 7 is the structure chart of embodiment of the present invention cruising inspection system.
Wherein, 1- unmanned planes, 2- unmanned plane control devices, 3- cameras, 4- controllers, 5- displays, 41- receiver modules, 42- image processing modules, 43- monitoring modules, 6- image acquisition units, 7- image procossing lists, 8- graphics processing units, 9- positioning Unit.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
It is an object of the invention to provide a kind of unmanned plane rail track inspection device, system and method, to solve existing skill Unmanned plane present in art rail track and can not can not accurately judge and position the trouble point of rail track in inspection tunnel The problems such as.
It is below in conjunction with the accompanying drawings and specific real to enable the above objects, features and advantages of the present invention more obvious understandable Applying mode, the present invention is further detailed explanation.
Fig. 1 is the structure chart of embodiment of the present invention unmanned plane rail track inspection device;Fig. 2 controls for the embodiment of the present invention The structure chart of device.
Embodiment 1, as shown in figure 1, unmanned plane rail track cruising inspection system includes unmanned plane 1, unmanned plane control device 2, taken the photograph As first 3, controller 4, display 5.
The rail track that unmanned plane 1 is used for outside to tunnel is maked an inspection tour, and unmanned plane control device 2 is arranged on unmanned plane 1, right Flight path, flight path, flight attitude of unmanned plane 1 etc. are controlled in real time.Unmanned plane 1 runs into and during tour Past train, the parameter that can be set according to unmanned plane control device 2 keeps original position to wait, after train driving, according still further to nothing The flight attitude that man-machine control device 2 is set continues to make an inspection tour, and can so ensure security of the unmanned plane 1 during inspection.
At least two groups of camera 3, at least one set is arranged on 1 on unmanned plane, and at least one set is arranged in railway tunnel, Camera 3 is mainly used in gathering the image scene data of rail track, and image scene data include the image and seat of rail track Mark.Camera 3 on unmanned plane 1 is mainly used in gathering the image scene data of the rail track outside tunnel, is arranged on Camera 3 in railway tunnel is multigroup, and multigroup camera 3 is arranged on the top in railway tunnel by pre-determined distance, main to use In the field data of the rail track in collection tunnel.In addition, the present apparatus also includes memory module and transport module, memory module On the wall outside railway tunnel hole, for storing the image scene data in the railway tunnel that camera 3 is collected;Pass Defeated module is arranged on the wall outside railway tunnel hole, for the image scene stored in memory module data to be sent to control Device 4.When transport module goes wrong, image scene data can also be imported into controller 4 by way of manually extracting In.Because camera 3 includes at least two groups, it is not installed only on unmanned plane 1, also has at least one set of be arranged in tunnel, it is ensured that It is the integrality of the image scene data for the rail track circuit that the present apparatus is collected, comprehensive.
Controller 4 is connected with camera 3, for the image scene data for receiving, handling and monitoring camera 3 is collected; And controller is also connected with unmanned plane control device 2, for controlling unmanned plane control device 2 to set the flight parameter of unmanned plane 1 Put.As shown in Fig. 2 controller 4 includes receiver module 41, image processing module 42 and monitoring module 43.Receiver module 41 is used In the image scene data for receiving transport module transmission;Image processing module 42 is used to handle image scene data;Monitoring module 43 are used for the image scene data after monitoring is handled.Showing on the rail track that can be collected by controller 4 to camera 3 Field picture data carry out the processing and monitoring in later stage, can interpolate that out that rail track whether there is trouble point, and be accurately positioned Trouble point.
Display 5 is connected with controller 4, the view data exported for display controller 4, the view data of output with regarding The mode of frequency is played, and is easy to staff to check and timely overhauled.
Embodiment 2, and unlike above-described embodiment 1, the present apparatus also includes mobile phone detecting system, mobile phone detecting system peace On removable smart machine, for the monitored results of checking monitoring module 43, facilitate monitoring personnel to check at any time, make monitoring Personnel establishment officer can repair or handle the abnormal conditions of rail track in time.Abnormal conditions include contact net and its attached zero Accessory, rail, rail ground, track plates, the crackle of track bed and rail clip, be broken, come off, loosening, the shadow such as offline, raised Ring the failure of train traffic safety.
Fig. 3 for the present invention method for inspecting flow chart, Fig. 4 be the embodiment of the present invention to the image of rail track at The method flow diagram of reason, Fig. 5 is that the rail track in the image after embodiment of the present invention judgement is handled whether there is trouble point Method flow diagram, Fig. 6 is the method flow diagram that the embodiment of the present invention is positioned to the rail track that there is trouble point.
As shown in figure 3, carrying out patrolling railway using the unmanned plane rail track inspection device described in above-described embodiment 1,2 Method comprises the following steps:
S301, obtains the image scene data of rail track, the image of image scene data including rail track and Coordinate;
Specifically, gathering the railway line inside and outside tunnel by the camera 3 on unmanned plane 1 and in railway tunnel Field data on road;
S302, the image scene data to rail track are handled, the image after being handled;
As shown in figure 4, the step of handling the image of rail track, specifically includes following steps:
S3021, splices the image of the rail track;
S3022, carries out gray processing processing to the image of spliced rail track, obtains gray level image;
S3023, noise reduction is carried out using median filtering method to gray level image;
S4024, is sharpened using gaussian filtering method to the image after noise reduction;
S3025, carries out feature extraction to the image after sharpening using edge detection algorithm, extracts the rail group in image The image of part, obtains rail assemblies image, and the rail assemblies are buckled including rail, rail ground, track plates, track bed and track Part;
S3026, grey level compensation, the image after being handled are carried out to rail assemblies image.
S303, the rail track in image after judgement processing whether there is trouble point;
As shown in figure 5, judgement processing after image in rail track whether there is trouble point, specifically include following step Suddenly:
S3031, the gray value of the image after acquisition processing;
S3032, gray value is compared with predetermined threshold value;
S3033, if gray value is more than the predetermined threshold value, it is determined that the rail track in image has trouble point;
S3034, if gray value is less than or equal to the predetermined threshold value, it is determined that the rail track fault-free point in image.
S304, if there is trouble point, is positioned to the rail track that there is trouble point;
As shown in fig. 6, being positioned to the rail track that there is trouble point, following steps are specifically included:
The coordinate of image after S3041, reading process;
S3042, according to the coordinate of the image after processing and trouble point, the coordinate of the localization of faults;
S3043, according to the coordinate of trouble point and the corresponding relation of earth longitude and latitude, the actual geographic position of the localization of faults Put.
S305, if fault-free point, returns to the step of handling the image of rail track.
, can be with rail track in inspection tunnel by the above method, and the view data that collected can be carried out The processing in later stage, monitoring, and then more accurately judge and position the trouble point of rail track.
Fig. 7 is the structure chart of unmanned plane rail track cruising inspection system of the present invention.As shown in fig. 7, unmanned plane rail track is patrolled Check system, including image acquisition unit 6, graphics processing unit 7, judging unit 8, positioning unit 9.Image acquisition unit 6, is used for The image scene data of rail track are obtained, the image scene data include the image and coordinate of rail track;Image procossing Unit 7, the image scene data for handling the rail track, the image after being handled;Judging unit 8, for judging The rail track in described image after processing whether there is trouble point;Positioning unit 9, for judging when the judging unit 8 When the rail track in image after the processing has trouble point, the rail track that there is the trouble point is positioned.
Processing, the monitoring, Jin Ergeng in later stage can be carried out to the view data collected by the cruising inspection system of the present invention Plus the trouble point of rail track is judged and positioned exactly.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said It is bright to be only intended to help and understand the method for the present invention and its core concept;Simultaneously for those of ordinary skill in the art, foundation The thought of the present invention, will change in specific embodiments and applications.In summary, this specification content is not It is interpreted as limitation of the present invention.

Claims (10)

1. a kind of unmanned plane rail track inspection device, it is characterised in that including:Unmanned plane, unmanned plane control device, camera, Controller, display;The unmanned plane control device is arranged on the unmanned plane;The camera includes at least two groups, at least Camera described in one group is arranged on the unmanned plane, and at least one set of camera is arranged in railway tunnel;The shooting Head is used for the image scene data for gathering rail track, and the image scene data include the image and coordinate of rail track;Institute State controller to be connected with the camera, for receiving, handling and monitoring the image scene number that the camera is collected According to;The controller is connected with the unmanned plane control device, for controlling the unmanned plane control device to fly the unmanned plane Row parameter is configured;The display is used to show the view data exported by the controller.
2. a kind of unmanned plane rail track inspection device according to claim 1, it is characterised in that installed in railway tunnel The interior camera is multigroup, and multigroup camera is arranged on the top in railway tunnel by pre-determined distance.
3. a kind of unmanned plane rail track inspection device according to claim 1, it is characterised in that described device also includes Memory module and transport module;The memory module is arranged on the wall outside railway tunnel hole, for storing the camera The image scene data in the railway tunnel collected;The transport module is arranged on the wall outside railway tunnel hole, For the image scene data stored in the memory module to be sent to the controller.
4. a kind of unmanned plane rail track inspection device according to claim 3, it is characterised in that the controller includes Receiver module, image processing module and monitoring module;The receiver module is used to receive the described of the transport module transmission Image scene data;Described image processing module is used to handle the image scene data;The monitoring module is used at monitoring The image scene data after reason.
5. a kind of unmanned plane rail track inspection device according to claim 4, it is characterised in that described device also includes Mobile phone detecting system, the mobile phone detecting system is arranged on removable smart machine, the prison for checking the monitoring module Control result.
6. a kind of unmanned plane rail track method for inspecting, it is characterised in that methods described is specifically included:
The image scene data of rail track are obtained, the image scene data include the image and coordinate of rail track;
Image scene data to the rail track are handled, the image after being handled;
Judge that the rail track in the image after the processing whether there is trouble point;
If there is trouble point, the rail track that there is the trouble point is positioned;
If fault-free point, the step of handling the image of the rail track is returned.
7. a kind of unmanned plane rail track method for inspecting according to claim 6, it is characterised in that described to the railway The step of image scene data of circuit are handled, specifically includes:
Splice the image of the rail track;
Gray processing processing is carried out to the image of the spliced rail track, gray level image is obtained;
Noise reduction is carried out to the gray level image using median filtering method;
The described image after noise reduction is sharpened using gaussian filtering method;
Feature extraction is carried out to the described image after sharpening using edge detection algorithm, the rail assemblies in described image are extracted Image, obtain rail assemblies image, the rail assemblies are buckled including rail, rail ground, track plates, track bed and track Part;
Grey level compensation, the image after being handled are carried out to the rail assemblies image.
8. a kind of unmanned plane rail track method for inspecting according to claim 6, it is characterised in that the judgement place The rail track in image after reason whether there is trouble point, specifically include:
Obtain the gray value of the image after the processing;
The gray value and predetermined threshold value are compared;
If the gray value is more than the predetermined threshold value, it is determined that the rail track in described image has trouble point;
If the gray value is less than or equal to the predetermined threshold value, it is determined that the rail track fault-free point in described image.
9. a kind of unmanned plane rail track method for inspecting according to claim 8, it is characterised in that described in described pair of presence The rail track of trouble point is positioned, and is specifically included:
Read the coordinate of the image after the processing;
According to the coordinate of the image after the processing and the trouble point, the coordinate of the trouble point is determined;
According to the coordinate of the trouble point and the corresponding relation of earth longitude and latitude, the actual geographic position of the trouble point is determined.
10. a kind of unmanned plane rail track cruising inspection system, it is characterised in that including:
Image acquisition unit, the image scene data for obtaining rail track, the image scene data include rail track Image and coordinate;
Graphics processing unit, the image scene data for handling the rail track, the image after being handled;
Judging unit, for judging that the rail track in the image after the processing whether there is trouble point;
Positioning unit, for when there is trouble point in the rail track in the described image after the judging unit determination processing, The rail track that there is the trouble point is positioned.
CN201710147311.4A 2017-03-13 2017-03-13 A kind of unmanned plane rail track inspection device, system and method Pending CN106954042A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107607543A (en) * 2017-09-08 2018-01-19 上海振华重工(集团)股份有限公司 The inspection device and method for inspecting of harbour machinery
CN109239083A (en) * 2018-09-26 2019-01-18 深圳源广安智能科技有限公司 A kind of cable surface defects detection system based on unmanned plane
DE102017214667A1 (en) * 2017-08-22 2019-02-28 Siemens Aktiengesellschaft Train monitoring system
CN109556521A (en) * 2018-11-24 2019-04-02 华北理工大学 A kind of railway track displacement detector and detection method based on unmanned plane
CN110428572A (en) * 2019-08-27 2019-11-08 山东浪潮人工智能研究院有限公司 A kind of forest fire detection system and method based on NB-IoT and unmanned plane
CN111605578A (en) * 2020-05-21 2020-09-01 哈尔滨市科佳通用机电股份有限公司 Railway track inspection method for carrying 3D equipment by using unmanned aerial vehicle
US10921128B2 (en) 2018-08-30 2021-02-16 Here Global B.V. Method and apparatus for mapping underground or interior drone routes
US10948304B2 (en) 2018-08-30 2021-03-16 Here Global B.V. Method and apparatus for creating underground or interior drone routes
US11014667B2 (en) 2017-10-18 2021-05-25 Bombardier Transportation Gmbh Rail vehicle and on-board safety drone

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017214667A1 (en) * 2017-08-22 2019-02-28 Siemens Aktiengesellschaft Train monitoring system
CN107607543A (en) * 2017-09-08 2018-01-19 上海振华重工(集团)股份有限公司 The inspection device and method for inspecting of harbour machinery
US11014667B2 (en) 2017-10-18 2021-05-25 Bombardier Transportation Gmbh Rail vehicle and on-board safety drone
US10948304B2 (en) 2018-08-30 2021-03-16 Here Global B.V. Method and apparatus for creating underground or interior drone routes
US10921128B2 (en) 2018-08-30 2021-02-16 Here Global B.V. Method and apparatus for mapping underground or interior drone routes
CN109239083A (en) * 2018-09-26 2019-01-18 深圳源广安智能科技有限公司 A kind of cable surface defects detection system based on unmanned plane
CN109556521A (en) * 2018-11-24 2019-04-02 华北理工大学 A kind of railway track displacement detector and detection method based on unmanned plane
CN110428572A (en) * 2019-08-27 2019-11-08 山东浪潮人工智能研究院有限公司 A kind of forest fire detection system and method based on NB-IoT and unmanned plane
CN111605578A (en) * 2020-05-21 2020-09-01 哈尔滨市科佳通用机电股份有限公司 Railway track inspection method for carrying 3D equipment by using unmanned aerial vehicle

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