CN108593656A - A kind of structure detection method, device and the UAV system for structure detection - Google Patents
A kind of structure detection method, device and the UAV system for structure detection Download PDFInfo
- Publication number
- CN108593656A CN108593656A CN201810344905.9A CN201810344905A CN108593656A CN 108593656 A CN108593656 A CN 108593656A CN 201810344905 A CN201810344905 A CN 201810344905A CN 108593656 A CN108593656 A CN 108593656A
- Authority
- CN
- China
- Prior art keywords
- sensor
- unmanned plane
- detected
- distance measuring
- structure surface
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 118
- 230000007547 defect Effects 0.000 claims abstract description 16
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims description 26
- 239000004567 concrete Substances 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 5
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 18
- 230000005540 biological transmission Effects 0.000 description 17
- 238000005452 bending Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000009659 non-destructive testing Methods 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000011150 reinforced concrete Substances 0.000 description 3
- 230000001052 transient effect Effects 0.000 description 3
- 238000007630 basic procedure Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012634 optical imaging Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 235000007926 Craterellus fallax Nutrition 0.000 description 1
- 240000007175 Datura inoxia Species 0.000 description 1
- 206010050031 Muscle strain Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 229940037003 alum Drugs 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013144 data compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of structure detection method, device and the UAV system for structure detection.Wherein, method includes：Distance measuring sensor that at least three distance measuring sensors that are generally aligned in the same plane acquire respectively is obtained to the distance of detected body structure surface；The distance measuring sensor acquired respectively according at least three distance measuring sensors obtains the angle being detected between the plane that body structure surface and at least three distance measuring sensors are located to the distance of detected body structure surface；According to the image data of angle and detected body structure surface, the quantitative geometric properties information for being detected defect existing for structure or detected body structure surface is obtained.Device includes：Apart from acquisition module, angle acquisition module and dimensional measurement module.A kind of structure detection method, device and the UAV system for structure detection provided by the invention, can obtain the testing result of the geometric properties information of defect existing for quantitative detected structure or detected body structure surface.
Description
Technical field
The present invention relates to technical field of structural engineering, more particularly, to a kind of structure detection method, device and for tying
The UAV system of structure detection.
Background technology
In Structural Engineering, non-destructive testing changes mechanical characteristic because not damaging or destroying in detection process by geodesic structure,
It is more and more favored and is used widely in engineering circles.
Unmanned plane achieves certain application as a kind of emerging tool, in the fields such as military, agricultural and engineering, and current
The application of business unmanned plane is generally used for the ostensibly detection of structure non-destructive testing, such as works mainly based on remote shooting
Overall technology situation, concrete structure crack, the bolt missing etc. at Truss Joint.It is outstanding that fixed point may be implemented in existing unmanned plane
Stop, layout of roads, equidistant flight, automatic obstacle-avoiding, data transmission and simple process, it might even be possible to predeterminated target is identified.
Commercial unmanned plane includes mainly Flight Control Section, flying platform, data acquisition and the portions such as transmission platform and battery
Point.For unmanned plane theoretical result compared with horn of plenty.Be currently used for the unmanned plane of long-range bridge machinery, by Detection System for Bridge,
Infrared video camera, supersonic detector, concrete bouncing back instrument and remote controller module are put into togerther in unmanned plane, make unmanned plane
It can be also detected above testee.However, existing commercialization unmanned plane, especially fixed-wing unmanned plane, mainly by nobody
Relatively small cruising ability, structure impersonal language or the complexity of machine, by the influences such as the detectable index of geodesic structure is few, cannot
Directly carry out science of bridge building detection.The cruising ability of existing unmanned plane only maintains the level no more than 30 minutes, for bridge
Structure, longest suspension bridge is the Japanese alum strait Bridge that main span is 1991m in the world, is secondly the state that main span is 1688m
Interior Humen Er Qiao, king-tower is up to the rice about overpass of 343m in the world, miniature drone will be unable to meet detection feasibility and
Cost-effectiveness requirement, the cruising ability being especially equipped with after bridge machinery related sensor module is more limited, causes to detect
Process it is slow, can not embody unmanned plane be applied to bridge machinery superiority.It is existing to solve the charging problems of unmanned plane
UAV system includes that unmanned plane and image capturing system, vehicle and control system and graphic data analysis system, use are vehicle-mounted
System facilitates unmanned plane to stop and charge temporarily.
In addition bridge structure or component complexity or even substructure are affected by extraneous landform, and unmanned plane easily collides
Barrier；When girder is that steel box section or closed concrete section cause unmanned plane to transmit required signal of communication interruption；When
When girder is section or the space curved surface structure of the main truss component composition containing more ribbed stiffeners so that unmanned aerial vehicle flight path planning is special
It is difficult；Bridge structure or building bearing position are located at the non-arrival region of unmanned plane avoidance；The i.e. enabled detection of existing unmanned plane
Works geometric properties information, as surface crack, node bolt fracture and component critical shape the case where, but cannot be to surface
The physical characteristic of the critical shape in crack, node bolt fracture and component carries out quantitative measurment.
Invention content
To overcome the shortcomings of the geometric properties information of the existing technology for being difficult to quantitative measurment works or body structure surface,
The present invention provides a kind of structure detection method, device and the UAV system for structure detection.
According to the first aspect of the invention, a kind of structure detection method is provided, including：
The distance measuring sensor that S1, at least three distance measuring sensors that are generally aligned in the same plane of acquisition acquire respectively is to tested
The distance on geodesic structure surface；
S2, the distance measuring sensor acquired respectively according at least three distance measuring sensor to detected body structure surface
Distance, obtain the angle between the plane that the detected body structure surface and at least three distance measuring sensor are located at；
S3, according to the image data of the angle and detected body structure surface, obtain the detected structure or tested
The quantitative geometric properties information of defect existing for geodesic structure surface.
According to the second aspect of the invention, a kind of structure detection device is provided, including：
Apart from acquisition module, the survey that is acquired respectively for obtaining at least three distance measuring sensors being generally aligned in the same plane
Away from sensor to the distance of detected body structure surface；
Angle acquisition module, the distance measuring sensor for being acquired respectively according at least three distance measuring sensor is extremely
It is detected the distance of body structure surface, the detected body structure surface is obtained and is put down with what at least three distance measuring sensor was located at
Angle between face；
Dimensional measurement module obtains described tested for the image data according to the angle and detected body structure surface
The quantitative geometric properties information of defect existing for geodesic structure body or detected body structure surface.
According to the third aspect of the invention we, a kind of UAV system for structure detection is provided, including：According to above-mentioned knot
Structure detection device and unmanned plane；
At least three rangings sensing that the unmanned plane is provided with several image acquiring sensors and is generally aligned in the same plane
Device；
Described image acquire sensor image planes are parallel with the plane that at least three distance measuring sensor is located at or energy
It is adjusted to parallel with the plane that at least three distance measuring sensor is located at.
Preferably, described image acquires sensor, described tested under the conditions of visible light and/or infrared light, acquiring
The image data on geodesic structure surface.
Preferably, the unmanned plane is multi-rotor unmanned aerial vehicle；
The unmanned plane is provided with vacuum cup identical with the quantity of rotor；
Each vacuum cup corresponds to a rotor, and the sucker handle of the vacuum cup passes through connecting component and corresponding rotor
Rotation axis connection；Each connecting component all same.
Preferably, there are one strain transducers for the same position setting on the corresponding cantilever of each rotor；
The strain transducer, the strain for measuring the tested geodesic structure.
Preferably, the unmanned plane further includes symmetrically arranged at least three undercarriage；
Driving wheel is arranged in the foot of each undercarriage.
Preferably, the unmanned plane is additionally provided with wireless charging module and battery；
The wireless charging module, for wirelessly charging to the battery.
Preferably, the unmanned plane is additionally provided with multiple alignment sensors and the first data fusion device；
The alignment sensor, the geographical location information for obtaining the unmanned plane；
The first data fusion device, the geographical location information for being obtained to multiple alignment sensors carry out data
Fusion.
Preferably, the unmanned plane is additionally provided with ultrasonic detection sensor, inclination angle detection sensor, fracture width test
At least one of sensor and modulus of elasticity of concrete tester；
The ultrasonic detection sensor, for the damage by being detected described in ultrasonic listening in geodesic structure；
The inclination angle detection sensor, the inclination angle for measuring the tested geodesic structure；
The fracture width tests sensor, the width for measuring crack in the measured structure；
The modulus of elasticity of concrete tester, the elasticity modulus of the concrete for measuring the tested geodesic structure.
A kind of structure detection method, device and the UAV system for structure detection provided by the invention, by being located at
Conplane at least three distance measuring sensor obtains the figure for being detected the image data that body structure surface is detected geodesic structure with acquisition
The angle between image planes as acquiring sensor, can obtain and be lacked existing for quantitative detected structure or detected body structure surface
The testing result of sunken geometric properties information lacks to preferably assess to be detected existing for structure or detected body structure surface
It falls into, obtains the structure detection of more accurate building as a result, providing scientific basis for engineering construction, examination.
Description of the drawings
Fig. 1 is a kind of flow chart of structure detection method of the embodiment of the present invention；
Fig. 2 is a kind of functional block diagram of structure detection device of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of unmanned plane in a kind of UAV system for structure detection of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of unmanned plane in a kind of UAV system for structure detection of the embodiment of the present invention.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
Fig. 1 is a kind of flow chart of structure detection method of the embodiment of the present invention.As shown in Figure 1, a kind of structure detection method
Including：Step S1, distance measuring sensor that at least three distance measuring sensors that are generally aligned in the same plane acquire respectively is obtained to being detected
The distance of body structure surface；Step S2, the distance measuring sensor acquired respectively according at least three distance measuring sensors is to tested geodesic structure
The distance on surface obtains the angle being detected between the plane that body structure surface and at least three distance measuring sensors are located at；Step
S3, according to the image data of angle and detected body structure surface, obtain and be detected existing for structure or detected body structure surface
The quantitative geometric properties information of defect.
It should be noted that structure detection method provided in an embodiment of the present invention, is based on image acquiring sensor and ranging
Sensor is realized.
The prior art is based only upon image acquiring sensor and carries out structure detection, and basic procedure includes：
The image data for being detected geodesic structure is acquired by image acquiring sensor；According to the image of the tested geodesic structure of acquisition
Data obtain the structure detection result for being detected geodesic structure.
It should be noted that when acquisition is detected the image data of geodesic structure, it cannot be guaranteed that the picture of image acquiring sensor
Face is parallel with detected body structure surface, and there are certain angles between image planes and detected body structure surface under normal conditions.
Therefore, according to image acquiring sensor acquisition detected body structure surface image data, can only find be detected structure or
Various faults of construction existing for body structure surface are detected, and the quantitative geometric properties information of segmental defect can not be directly obtained.
Step S1, after image acquiring sensor acquisition is detected the image data of geodesic structure, in order to eliminate Image Acquisition sensing
The influence of angle between the image planes of device and detected body structure surface acquires the sensing respectively by least three distance measuring sensors
Device and obtains distance measuring sensor that above-mentioned at least three distance measuring sensor acquires respectively to quilt to the distance of detected body structure surface
The distance on detection structure surface.
Above-mentioned at least three distance measuring sensor is generally aligned in the same plane, the plane and the image data of the tested geodesic structure of acquisition
The image planes of image acquiring sensor are parallel.
Distance measuring sensor, generally use laser range finder, but not limited to this.
Step S2 passes through the laser range finder of at least three laser range finders acquisition at 3 points since determine a plane
To after being detected the distance of body structure surface, it may be determined that be detected body structure surface, and then calculated according to geometrical principle detected
Angle between the plane that body structure surface and above-mentioned at least three distance measuring sensor are located at.
By the plane that above-mentioned at least three distance measuring sensor is located at, the figure of the image data of geodesic structure is detected with acquisition
The image planes of picture acquisition sensor are parallel, therefore, are detected body structure surface and are put down with what above-mentioned at least three distance measuring sensor was located at
Angle between face is detected the image planes of body structure surface and the image acquiring sensor of the image data of the tested geodesic structure of acquisition
Between angle.
Step S3, in detected body structure surface is there are crack, bolt fracture and component buckling any one when, according to figure
Length mark object in the parameters such as the focal length as acquisition sensor and/or the image data of acquisition, is based on optical imaging concept, can
To be directly obtained existing for detected structure or detected body structure surface in the image data that is acquired from image acquiring sensor
The geometric properties information of defect.
It is detected defect existing for structure or detected body structure surface, including is detected the crack of body structure surface, node
At least one of the bending deformation of bolt fracture and component.Correspondingly, it is detected structure or detected body structure surface exists
Defect geometric properties information, include be detected body structure surface crack length and width, node bolt fracture size and component
At least one of the amplitude of bending deformation.
Due to be detected body structure surface with acquisition be detected geodesic structure image data image acquiring sensor image planes it
Between there are certain angle, length and width, the node bolt in crack are directly obtained from the image data that image acquiring sensor acquires
The amplitude of the size of fracture or the bending deformation of component, be not true crack length and width, node bolt fracture size or
The amplitude of the bending deformation of component.It needs to be adopted according to the image for being detected the image data that body structure surface is detected geodesic structure with acquisition
Collect the angle between the image planes of sensor, to directly obtaining the length and width, the size of node bolt fracture or the buckling of component in crack
The amplitude of deformation is handled, and the bending deformation of the length and width in true crack, the size of node bolt fracture or component is obtained
Amplitude.
According to detected body structure surface with acquisition be detected geodesic structure image data image acquiring sensor image planes it
Between angle, to the detected structure directly obtained in the image data that is acquired from image acquiring sensor or tested geodesic structure
The geometric properties information of defect existing for surface is such as detected the crack of body structure surface, the geometry of bolt fracture or component buckling
Size carries out angular transition based on geometrical principle, exists to obtain really detected structure or detected body structure surface
Defect geometric properties information, such as be detected body structure surface crack length and width, node bolt fracture size or component bend
The amplitude of song deformation, obtains the crack of quantitative detected body structure surface, the geometric dimension of bolt fracture or component buckling.
The embodiment of the present invention by least three distance measuring sensors that are generally aligned in the same plane, obtain be detected body structure surface with
Acquisition is detected the angle between the image planes of the image acquiring sensor of the image data of geodesic structure, can obtain quantitative detected knot
The crack on structure surface, the geometric dimension of bolt fracture or component buckling, so as to quantitatively, more accurately reflect tested geodesic structure
The crack on surface, the feature of bolt fracture or component buckling, obtain the structure detection of more accurate building as a result, being applied for engineering
Work checks and accepts offer scientific basis.
Fig. 2 is a kind of functional block diagram of structure detection device of the embodiment of the present invention.Based on above-described embodiment, as shown in Fig. 2,
A kind of structure detection device includes：Apart from acquisition module 201, for obtaining at least three distance measuring sensors being generally aligned in the same plane
The distance measuring sensor acquired respectively to detected body structure surface distance；Angle acquisition module 202, for being surveyed according at least three
The distance measuring sensor acquired respectively away from sensor obtains to the distance of detected body structure surface and is detected body structure surface and at least three
Angle between the plane that a distance measuring sensor is located at；Dimensional measurement module 203, for according to angle and tested geodesic structure table
The image data in face obtains the quantitative geometric properties information for being detected defect existing for structure or detected body structure surface.
Specifically, angle acquisition module 202 is electrically connected with apart from acquisition module 201, transmission telecommunications number；Dimensional measurement module
203 are electrically connected with angle acquisition module 202, transmission telecommunications number.
The ranging sensing that at least three distance measuring sensors being generally aligned in the same plane acquire respectively is obtained apart from acquisition module 201
After device to the distance of detected body structure surface, distance measuring sensor that above-mentioned at least three distance measuring sensor is acquired respectively is to tested
The Distance Transmission on geodesic structure surface is to angle acquisition module 202.
The distance measuring sensor that angle acquisition module 202 is acquired respectively according at least three distance measuring sensors is to tested geodesic structure
The distance on surface obtains the angle being detected between the plane that body structure surface and at least three distance measuring sensors are located at, and will
Above-mentioned angle is transmitted to dimensional measurement module 203.
Dimension acquisition module 203 is based on optical imaging concept, to what is acquired from image acquiring sensor according to above-mentioned angle
The length and width in the true crack of the detected body structure surface directly obtained in image data, the size or component of node bolt fracture
The amplitude of bending deformation be corrected, to obtain the length and width in true crack, the node of true detected body structure surface
The amplitude of the size of bolt fracture or the bending deformation of component.
Structure detection device provided by the invention is for realizing structure detection method provided by the invention.Structure detection device
Including each module realize that the specific method of corresponding function and flow refer to the embodiment of above structure detection method, herein no longer
It repeats.
The embodiment of the present invention by least three distance measuring sensors that are generally aligned in the same plane, obtain be detected body structure surface with
Acquisition is detected the angle between the image planes of the image acquiring sensor of the image data of geodesic structure, can obtain quantitative detected knot
The crack on structure surface, the geometric dimension of bolt fracture or component buckling, so as to quantitatively, more accurately reflect tested geodesic structure
The crack on surface, the feature of bolt fracture or component buckling, obtain the structure detection of more accurate building as a result, being applied for engineering
Work checks and accepts offer scientific basis.
Based on above-described embodiment, the present embodiment discloses a kind of computer program product, and computer program product includes storage
Computer program in non-transient computer readable storage medium, computer program include program instruction, when program instruction quilt
When computer executes, computer is made to execute the method that above-mentioned each method embodiment is provided, such as including：Structure detection method,
Obtain the method for being detected the quantitative geometric properties information of defect existing for structure or detected body structure surface.
Based on above-described embodiment, the present embodiment discloses a kind of non-transient computer readable storage medium, non-transient computer
Readable storage medium storing program for executing stores computer instruction, and computer instruction makes computer execute the side that above-mentioned each method embodiment is provided
Method, such as including：Structure detection method obtains the quantitative geometry for being detected defect existing for structure or detected body structure surface
The method of characteristic information.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
The embodiments such as structure detection device described above are only schematical, wherein illustrate as separating component
Unit may or may not be physically separated, and the component as unit may or may not be physics list
Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
The method of certain parts of example or embodiment.
Based on above-described embodiment, a kind of UAV system for structure detection includes：Above structure detection device and nothing
It is man-machine；At least three distance measuring sensors that unmanned plane is provided with several image acquiring sensors and is generally aligned in the same plane；Image
The image planes setting of acquisition sensor can be adjusted to parallel with the plane that at least three distance measuring sensors are located at.
It should be noted that can be based on UAV system realizes above structure detection method.
UAV system includes unmanned plane and the earth station for controlling unmanned plane.Multiple sensors are set on unmanned plane,
Sensor is used to acquire the various data of tested geodesic structure.
Based on UAV system carry out structure detection basic procedure include：
Operator sends instructions to unmanned plane by earth station；The communication module being arranged on unmanned plane receives instruction
Afterwards, according to the corresponding flare maneuver of instruction execution, data acquisition action or other actions；Unmanned plane reaches certain for being detected geodesic structure
When a region, the multiple sensors being arranged on unmanned plane acquire the various data for being detected geodesic structure；The quilt acquired according to unmanned plane
The various data of detection structure obtain the structure detection result for being detected geodesic structure.
It is understood that above structure detection device can be arranged on unmanned plane, it can also be set to earth station, but
It is without being limited thereto.
The material that light weight, intensity are high, water resistance is good, such as carbon fibre material, to mitigate unmanned plane can be selected in unmanned plane
Dead weight, increase cruising ability.
Image acquiring sensor and at least three distance measuring sensors are provided on unmanned plane.
Image acquiring sensor is used to acquire the image data of detected body structure surface.It as needed, can be on unmanned plane
Several image acquiring sensors are set.Several, refer to one or more.
Image acquiring sensor is generally video camera or camera.
Preferably, image acquiring sensor realizes super large using effective Image Data Compression, hypervelocity transmission designing technique
The compressed encoding of high-definition image data, the real-time hypervelocity transmission for compressing image.Correspondingly, structure detection device can realize high definition figure
As decoding.
Preferably, when image acquiring sensor is one, rotating mechanism is additionally provided on unmanned plane.The rotating mechanism,
For making image acquiring sensor carry out omnibearing angel rotation, the image data acquiring of omnibearing angel is realized.
Above-mentioned at least three distance measuring sensor is in the same plane.
When image acquiring sensor is non-rotatable, the image planes of image acquiring sensor and at least three distance measuring sensor institutes
The plane that is located at it is parallel for the plane that is located at above-mentioned at least three distance measuring sensor it is parallel.
Usually, distance measuring sensor is laser range finder, but not limited to this.
When image acquiring sensor is non-rotatable, the image planes of image acquiring sensor are set as surveying with above-mentioned at least three
The plane being located at away from sensor is parallel.
When image acquiring sensor is rotatable, the image planes of image acquiring sensor can be adjusted to survey with above-mentioned at least three
The plane being located at away from sensor is parallel.
In order to facilitate the gesture stability and acquisition for carrying out unmanned plane by the data of geodesic structure, above-mentioned at least three rangings sensing
The plane that device is located at is horizontal plane or vertical plane.
As a kind of preferred embodiment, the plane that unmanned plane setting is located at is at least three rangings sensing of horizontal plane
Device and/or at least three distance measuring sensors that the plane being located at is vertical plane.
Accordingly, as a kind of preferred embodiment, several image acquiring sensors can be divided into two groups；Wherein, a group picture
The image planes of picture acquisition sensor are parallel with horizontal plane, and the image planes of another group of image acquiring sensor are parallel with vertical plane.
As another preferred embodiment, image acquiring sensor is rotatable, is made by rotating image acquiring sensor
The image planes of image acquiring sensor are parallel or parallel with vertical plane with horizontal plane.
After the distance measuring sensor of unmanned plane setting and the data transmission to structure detection device of image acquiring sensor acquisition,
It is several to obtain really tested geodesic structure for the data that structure detection device can be acquired according to distance measuring sensor and image acquiring sensor
What characteristic information, such as the crack on surface, the geometric dimension of bolt fracture or component buckling.
The embodiment of the present invention is by being arranged at least three distance measuring sensors being generally aligned in the same plane on unmanned plane so that structure
Detection device obtain be detected body structure surface with acquisition be detected geodesic structure image data image acquiring sensor image planes it
Between angle, the crack of quantitative detected body structure surface, the geometric dimension of bolt fracture or component buckling can be obtained, so as to
Quantitatively, the feature for more accurately reflecting the crack, bolt fracture or component buckling that are detected body structure surface obtains more accurate
The structure detection of building for engineering construction, examination as a result, provide scientific basis.
Further, structure non-destructive testing, unmanned plane provided in an embodiment of the present invention are realized relative to by human resources
System can substantially reduce the personal safety risk of testing staff, greatly improve detection working efficiency, have good economy；It is real
The now detection of the artificial structure technology situation for being inconvenient to the area to be tested reached.The embodiment of the present invention is sensed by Image Acquisition
Device acquisition is detected the image data of body structure surface, will not cause to damage to tested geodesic structure, can realize structure non-destructive testing.
Based on above-described embodiment, image acquiring sensor, under the conditions of visible light and/or infrared light, acquisition to be tested
The image data on geodesic structure surface.
Specifically, image acquiring sensor includes two kinds；Wherein, a kind of to be detected geodesic structure table for acquiring under visible light
The visible images data in face, another kind are detected the infrared light image data of body structure surface for being acquired under infrared light.
At least one of above two image acquiring sensor can be arranged in unmanned plane.
As another preferred embodiment, the image acquiring sensor being arranged on unmanned plane is to have both visible light and infrared light
Under the conditions of imaging function image acquiring sensor.
When tested geodesic structure is reinforced concrete structure or detection ambient light has an impact detection result, can acquire red
Outer light image data improve steel bar arrangement situation inside image data acquiring effect and reflection armored concrete.
The embodiment of the present invention acquires the infrared light image data for being detected body structure surface, energy gram by image acquiring sensor
Clothes detection ambient light obtains accurate testing result to the adverse effect of detection result.Further, reinforced concrete can be obtained
The inside steel bar arrangement situation of soil structure, convenient for the structure technology situation of evaluation reinforced concrete structure.
Based on above-described embodiment, unmanned plane is multi-rotor unmanned aerial vehicle；Unmanned plane is provided with identical with the quantity of rotor true
Suction disk；Each vacuum cup corresponds to a rotor, the rotation that the sucker handle of vacuum cup passes through connecting component and corresponding rotor
Shaft connects；Each connecting component all same.
It should be noted that unmanned plane includes fixed-wing unmanned plane and rotor wing unmanned aerial vehicle.As a kind of preferred embodiment, nothing
Man-machine is multi-rotor unmanned aerial vehicle.
Multi-rotor unmanned aerial vehicle includes at least three rotor.Multiple rotors of multi-rotor unmanned aerial vehicle are usually symmetrical set.
Preferably, the quantity of rotor is 4,6 or 8, but not limited to this.
Relative to fixed-wing unmanned plane, single rotor unmanned plane and DCB Specimen unmanned plane, the flight of multi-rotor unmanned aerial vehicle controls
It is more flexible, conveniently.
As a kind of alternative embodiment, unmanned plane is provided with vacuum cup identical with the quantity of rotor,
Each vacuum cup corresponds to a rotor.
Between the rotary shaft of the sucker handle rotor corresponding with the vacuum cup of vacuum cup, connected by connecting component.
Dismounting type or concertina type rod piece can be used in sucker handle.
The all sames such as length, shape and the cross section geometry of each connecting component.Connecting component for be pumped into air with
Extract air out.
When unmanned plane arrives at the safe distance being detected below geodesic structure, the automatic obstacle-avoiding module of Temporarily Closed unmanned plane,
Make unmanned plane close to tested geodesic structure；When the lower surface of the close nearly tested geodesic structure of the vacuum cup of unmanned plane, evacuates vacuum and inhale
Air in the sealing lip of disk makes entire unmanned plane be adsorbed on the lower surface of tested geodesic structure, closes the rotor of unmanned plane
Propeller, unmanned plane be presently in region in execute structure detection task；Execution finishes after structure Detection task, opens spiral shell
Paddle is revolved, and air is pumped into the sealing lip of vacuum cup, so that vacuum cup and the lower surface of tested geodesic structure is disengaged, flies to down
One region executes Detection task.
The embodiment of the present invention is by being arranged vacuum cup so that unmanned function executes the inspection for being detected geodesic structure lower section or bottom
Survey task.Further so that unmanned plane does not have to the lower section or bottom that hover over tested geodesic structure, can save unmanned machine battery
Electricity improves the cruise duration of unmanned plane.
Based on above-described embodiment, the rotor of unmanned plane is four；Same position setting on the corresponding cantilever of each rotor
There are one strain transducers；Strain transducer, for measuring strain variation amount of the tested geodesic structure outside before and after portion's load action.
It should be noted that under normal conditions, the method by pasting foil gauge in tested geodesic structure upper surface, measurement exists
The front and back strain variation amount of external loads effect.
Strain refers to the relative deformation of the object part under the effect of the factors such as external force and non-uniform temperature field.
When structure, design of upper and lower part of the tested geodesic structure such as bridge etc. are there are when larger difference, due to artificial difficult
To reach the lower section of the tested geodesic structure such as bridge, the prior art cannot obtain the strain of the detected structure bottom such as bridge.
Specifically, as a kind of alternative embodiment, the rotor of multi-rotor unmanned aerial vehicle is four, the corresponding cantilever of each rotor
On same position setting there are one strain transducer.
When unmanned plane is adsorbed in the lower surface of the tested geodesic structure such as bridge by vacuum cup, while starting on unmanned plane
Whole strain transducers of setting, record external loads are acted on the strain data on forward and backward each rotor, are changed using mechanical relationship
It is counted as the strain variation situation of the forward and backward detected structure bottom of load action.
The strain transducer on cantilever that the embodiment of the present invention passes through the rotor for being set to unmanned plane can obtain and be detected knot
Structure, especially detection structure lower part etc. manually are difficult to reach the strained situation in region.
Based on above-described embodiment, as a kind of alternative embodiment, unmanned plane further includes symmetrically arranged at least three rising and falling
Frame；Driving wheel is arranged in the foot of each undercarriage.
As an alternative embodiment, the stage of unmanned aerial vehicle body is provided with undercarriage.The quantity of undercarriage is at least three
It is a；Whole undercarriages are symmetrical set.The foot of each undercarriage is driving wheel.
When unmanned plane arrives at the safe distance for being detected superstructure, the upper surface of tested geodesic structure is dropped to, is closed
Propeller；Start driving wheel, unmanned plane is made to be moved to specified region in the upper surface of tested geodesic structure, executes structure detection and appoint
Business；Execution finishes after structure Detection task, is moved to takeoff safety zone domain by driving wheel, opens propeller, fly to subsequent region
Execute Detection task.
The embodiment of the present invention is by setting the foot of unmanned plane undercarriage to driving wheel so that unmanned function be moved to by
The bearing on detection structure top etc. is manually not easy the position reached, and executes structure detection task.
Based on above-described embodiment, as a kind of alternative embodiment, unmanned plane is additionally provided with wireless charging module and battery；Nothing
Line charging module, for wirelessly charging the battery.
As a kind of alternative embodiment, unmanned plane is additionally provided with wireless charging module and battery.
When manipulating unmanned plane, while the movement of externally fed power supply is manipulated, made between unmanned plane and externally fed power supply
For distance in wireless charging transmission range, the wireless charging module of unmanned plane setting wirelessly obtains power supply offer
Electric energy, for battery charge, provide prolonged continuation of the journey for unmanned plane.
Usually, externally fed power supply is moved by vehicle-mounted mode, but not limited to this.
The embodiment of the present invention is charged by the battery that wireless charging module is unmanned plane, so that unmanned plane is had prolonged continuous
Boat ability so that the Detection task of the mechanisms such as the unmanned longer bridge of function executive chairman degree or higher building.
Based on above-described embodiment, as a kind of alternative embodiment, unmanned plane is additionally provided with multiple alignment sensors and first
Data fusion device；Alignment sensor, the geographical location information for obtaining unmanned plane；First data fusion device, for multiple
The geographical location information that alignment sensor obtains carries out data fusion.
As a kind of alternative embodiment, unmanned plane includes multiple alignment sensors.
Alignment sensor is used to obtain the geographical location information of unmanned plane.GPS sensor, north may be used in alignment sensor
Bucket system alignment sensor or other alignment sensors.
In actual use, single alignment sensor is susceptible to the feelings such as star, no signal, disturbed, positioning accuracy difference
Condition causes the geographical location information of the unmanned plane obtained inaccurate or obtains the geographical location information less than unmanned plane.
After carrying out temporal registration to multiple alignment sensors, each alignment sensor obtains the geographical location letter of unmanned plane
Breath can effectively solve the geographical location information inaccuracy of the unmanned plane obtained or obtain the geographical location information less than unmanned plane
Problem.By multiple alignment sensors, the spatial position of unmanned plane can be precisely located, so as to can preferably control unmanned plane
Flight path and flight attitude.It is multiple, refer at least two.
Preferably, unmanned plane is additionally provided with the first data fusion device.
By the first data fusion device, the geographical position that above-mentioned multiple alignment sensors can be obtained by data anastomosing algorithm
Confidence breath carries out data fusion, obtains the geographical location information of accurate unmanned plane.
Present example can in a long time be provided subject to more more by multiple alignment sensors and the first data fusion device
The geographical location information of true unmanned plane, it is ensured that the flight precision of unmanned plane is convenient for the flight control of unmanned plane.
Based on above-described embodiment, as a kind of alternative embodiment, unmanned plane is additionally provided with ultrasonic detection sensor, inclination angle
At least one of detection sensor and modulus of elasticity of concrete tester；Ultrasonic detection sensor, for passing through ultrasonic wave
Detection is detected the damage in geodesic structure；Inclination angle detection sensor, the inclination angle for measuring tested geodesic structure；Modulus of elasticity of concrete
Tester, the elasticity modulus of the concrete for measuring tested geodesic structure.
As a kind of alternative embodiment, unmanned plane is additionally provided with ultrasonic detection sensor, inclination angle detection sensor, crack
At least one of tilted object sensor and modulus of elasticity of concrete tester are realized and are joined to the various structures for being detected geodesic structure
Several detections.
Unmanned plane of the embodiment of the present invention includes mainly two kinds of operating modes of dynamic duty and quiescent operation.Quiescent operation mould
Formula is adsorbed in tested works surface by vacuum cup mainly for unmanned plane or is parked in tested works table by undercarriage
It is detected when face, test job, such as carries out fracture width test, modulus of elasticity of concrete is tested and sensed based on Image Acquisition
Device and distance measuring sensor carry out the quantitative detection for being tested the geometric dimension of the crack on works surface, bolt fracture and component buckling
Deng；Dynamic operation mode is such as based on image acquiring sensor mainly for the detection work that unmanned plane is engaged in flight course
The quantitative detection of the geometric dimension of the crack on tested works surface, bolt fracture and component buckling is carried out with distance measuring sensor,
And ultrasound examination etc..
When tested geodesic structure is steel construction, ultrasonic detection sensor can be started, Steel Structure Weld situation is detected, to quilt
Detection structure carries out ultrasonic examination.
Inclination angle detection sensor, the inclination angle for measuring tested geodesic structure.
The inclination data obtained by inclination angle detection sensor, can be with the tested geodesic structure that is obtained based on distance measuring sensor
Surface and acquisition are detected the angle between the image planes of the image acquiring sensor of the image data of geodesic structure, are checked mutually,
Obtain more accurately detected body structure surface be detected with acquisition geodesic structure image data image acquiring sensor image planes it
Between angle, the crack of more accurately quantitative detected body structure surface, the dimensioning of bolt fracture or component buckling can be obtained
It is very little, so as to quantitatively, more accurately reflect the crack of detected body structure surface, the feature of bolt fracture or component buckling.
Fracture width tests sensor, the width for measuring crack in measured structure.Fracture width tester for
Localized micro test is advantageous, is generally used for static measurement.It is provided in an embodiment of the present invention to be based on image acquiring sensor and ranging
The method of sensor measurement crack length and width belongs to dynamic and measures.Since dynamic measurement imaging effect is poor, fracture width can be used
Tester carries out static measurement to the width for being measured crack in structure.It can directly be split stationary measurements as final
The measurement result of slit width degree can also check the result that the result of static measurement is measured with dynamic, obtain more accurate
Measurement result.
Modulus of elasticity of concrete tester can obtain the springform for the concrete for being detected geodesic structure by concrete springback
Amount.The sensor of unmanned plane setting is not limited to the sensor, can be according to other sensors need to be arranged.
Inclination angle detection sensor, fracture width test sensor and modulus of elasticity of concrete tester are mainly used for unmanned plane
Static detection when tested geodesic structure upper surface is parked in by sucker suction and tested geodesic structure lower surface or by undercarriage, and
Ultrasonic detection sensor can be also used for dynamic detection in addition to for static detection.
The embodiment of the present invention realizes the detection to various structural parameters simultaneously, section by the way that multiple sensors are arranged on unmanned plane
About detection time, improves detection efficiency.
As a kind of alternative embodiment, UAV system provided in this embodiment includes multiple unmanned planes.Based on multiple nothings
It is man-machine, by planning the flight path of each unmanned plane, it can realize the inspection of multiple structural parameters of the different zones to being detected geodesic structure
It surveys, i.e. multitask detects, and can save detection time, improves detection efficiency.
Preferably, using fast multisensor fusion optimization algorithm, meet all the sensors Simultaneous Transmission of Data, meet not
With species sensor fusion device connection type and realize each sensor and the most fast requirement of ground real-time Transmission efficiency.
For example, when being provided with multiple images acquisition sensor, by the second data fusion device, multiple images is acquired and are sensed
The Simultaneous Transmission of Data of device acquisition is to third data fusion device；After the data of each distance measuring sensor acquisition are by filter,
It is transmitted to third data fusion device；Strain transducer, ultrasonic detection sensor, inclination angle detection sensor and concrete elastic mould
The data of tester acquisition, are also transmitted to third data fusion device；First data fusion device acquires each alignment sensor
Simultaneous Transmission of Data to third data fusion device；Third data fusion device collects the data of each sensor acquisition of unmanned plane
Afterwards, using fast multisensor fusion optimization algorithm, structure detection device is transmitted to by communication module.
Structure detection device may include data memory module.Data memory module connects for storage organization detection device
The data of each sensor acquisition of the unmanned plane for the communication module transmission received.
Data fusion device mainly solves the problems, such as big data transmission speed and precision.The flight control of unmanned plane can also lead to
It crosses data fusion device and is transmitted to ground receiving system.On the other hand, relative to the independent transmission data of multiple sensors, using data
Fusion device fusion overall transfer can reduce the energy consumption of unmanned plane in data transmission procedure, extend the cruise duration of unmanned plane.
The structure of the unmanned plane of UAV system provided by the invention is illustrated below by one embodiment.
Fig. 3 is the structural schematic diagram of unmanned plane in a kind of UAV system for structure detection of the embodiment of the present invention；Fig. 4
For the structural schematic diagram of unmanned plane in a kind of UAV system for structure detection of the embodiment of the present invention.Fig. 3 is unmanned plane
Front view, Fig. 4 are the left view of unmanned plane.
As shown in Figure 3 and Figure 4, unmanned plane includes：Fuselage 1；Rotor 2；Undercarriage 3；Driving wheel 4；Vacuum cup 5；Connection
Component 6；Motor 7 is reliably connected with rotor 2, and power is provided for rotor 2；Propeller 8；Fuselage fixing threaded hole 9, for fixing machine
The image acquiring sensor of body；Fixed knob 10, the levelness for adjusting image acquiring sensor and laser range finder；
Vertical distance measuring sensor 11；Curved bar 12, for fixing image acquiring sensor；Integral box 13, integral box 13 is interior to be adopted equipped with image
Collect instrument sensor and other sensors；Fracture width tests sensor 14；The image acquiring sensor 15 of back；Level is surveyed
Away from sensor 16；Strain transducer 17.
Finally, the above embodiment of the present invention is only preferable embodiment, is not intended to limit the protection model of the present invention
It encloses.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention
Protection domain within.
Claims (10)
1. a kind of structure detection method, which is characterized in that including：
The distance measuring sensor that S1, at least three distance measuring sensors that are generally aligned in the same plane of acquisition acquire respectively is to detected knot
The distance on structure surface；
S2, the distance measuring sensor acquired respectively according at least three distance measuring sensor to detected body structure surface away from
From the angle between the plane that the acquisition detected body structure surface and at least three distance measuring sensor are located at；
S3, according to the image data of the angle and detected body structure surface, obtain the detected structure or be detected knot
The quantitative geometric properties information of defect existing for structure surface.
2. a kind of structure detection device, which is characterized in that including：
Apart from acquisition module, passed for obtaining the ranging that at least three distance measuring sensors being generally aligned in the same plane acquire respectively
Sensor to detected body structure surface distance；
Angle acquisition module, the distance measuring sensor for being acquired respectively according at least three distance measuring sensor is to tested
The distance on geodesic structure surface, obtain plane that the detected body structure surface is located at at least three distance measuring sensor it
Between angle；
Dimensional measurement module obtains the detected knot for the image data according to the angle and detected body structure surface
The quantitative geometric properties information of defect existing for structure body or detected body structure surface.
3. a kind of UAV system for structure detection, which is characterized in that including：Unmanned plane and according to claim 2
Structure detection device；
At least three distance measuring sensors that the unmanned plane is provided with several image acquiring sensors and is generally aligned in the same plane；
The image planes of described image acquisition sensor are parallel with the plane that at least three distance measuring sensor is located at or can adjust
It is parallel for the plane that is located at at least three distance measuring sensor.
4. UAV system according to claim 3, which is characterized in that described image acquires sensor, for visible
Under the conditions of light and/or infrared light, the image data of the detected body structure surface is acquired.
5. UAV system according to claim 3, which is characterized in that the unmanned plane is multi-rotor unmanned aerial vehicle；
The unmanned plane is provided with vacuum cup identical with the quantity of rotor；
Each vacuum cup corresponds to a rotor, the rotation that the sucker handle of the vacuum cup passes through connecting component and corresponding rotor
Shaft connects；Each connecting component all same.
6. UAV system according to claim 5, which is characterized in that
It is provided with strain transducer on the corresponding cantilever of each rotor；
The strain transducer, the strain variation amount before and after external load action for measuring the tested geodesic structure.
7. UAV system according to claim 3, which is characterized in that the unmanned plane further include it is symmetrically arranged at least
Three undercarriages；
Driving wheel is arranged in the foot of each undercarriage.
8. UAV system according to claim 3, which is characterized in that the unmanned plane is additionally provided with wireless charging module
And battery；
The wireless charging module, for wirelessly charging to the battery.
9. UAV system according to claim 3, which is characterized in that the unmanned plane is additionally provided with multiple orientation sensings
Device and the first data fusion device；
The alignment sensor, the geographical location information for obtaining the unmanned plane；
The first data fusion device, the geographical location information for being obtained to multiple alignment sensors carry out data and melt
It closes.
10. according to any UAV system of claim 3 to 9, which is characterized in that the unmanned plane is additionally provided with ultrasound
In wave detection sensor, inclination angle detection sensor, fracture width test sensor and modulus of elasticity of concrete tester at least
It is a kind of；
The ultrasonic detection sensor, for the damage by being detected described in ultrasonic listening in geodesic structure；
The inclination angle detection sensor, the inclination angle for measuring the tested geodesic structure；
The fracture width tests sensor, the width for measuring crack in the measured structure；
The modulus of elasticity of concrete tester, the elasticity modulus of the concrete for measuring the tested geodesic structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344905.9A CN108593656B (en) | 2018-04-17 | 2018-04-17 | Structure detection method and device and unmanned aerial vehicle system for structure detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344905.9A CN108593656B (en) | 2018-04-17 | 2018-04-17 | Structure detection method and device and unmanned aerial vehicle system for structure detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108593656A true CN108593656A (en) | 2018-09-28 |
| CN108593656B CN108593656B (en) | 2020-10-16 |
Family
ID=63613279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810344905.9A Active CN108593656B (en) | 2018-04-17 | 2018-04-17 | Structure detection method and device and unmanned aerial vehicle system for structure detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108593656B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109342190A (en) * | 2018-10-12 | 2019-02-15 | 中国石油大学(北京) | Rock crackle forming tip plastic zone metering method and system |
| CN110057829A (en) * | 2019-04-30 | 2019-07-26 | 南水北调工程设计管理中心 | A kind of comprehensive detection device and detection method in inner wall crack and deformation |
| CN110145989A (en) * | 2019-06-11 | 2019-08-20 | 广州珠江黄埔大桥建设有限公司 | Distress in concrete detection device and detection method based on unmanned plane |
| CN111272764A (en) * | 2020-01-22 | 2020-06-12 | 哈尔滨工业大学 | Large intelligent temporary platform non-contact image recognition mobile management and control system and method |
| CN112325767A (en) * | 2020-10-16 | 2021-02-05 | 华中科技大学鄂州工业技术研究院 | Spatial plane size measurement method integrating machine vision and flight time measurement |
| CN112594144A (en) * | 2020-12-10 | 2021-04-02 | 安徽农业大学 | Intelligent wind turbine generator system paddle monitoring mechanism of detecting a flaw based on unmanned aerial vehicle carries on |
| CN112881467A (en) * | 2021-03-15 | 2021-06-01 | 中国空气动力研究与发展中心超高速空气动力研究所 | Large-size composite material damage imaging and quantitative identification method |
| CN113772091A (en) * | 2021-09-14 | 2021-12-10 | 海安市华军测量有限责任公司 | Engineering measuring equipment based on unmanned aerial vehicle |
| CN114104287A (en) * | 2021-11-24 | 2022-03-01 | 国网山东省电力公司阳谷县供电公司 | Transmission line insulator detection device based on unmanned aerial vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120300059A1 (en) * | 2011-05-25 | 2012-11-29 | Jason Stege | Method to inspect components of a wind turbine |
| CN104267035A (en) * | 2014-10-11 | 2015-01-07 | 江苏交科工程检测技术有限公司 | Concrete quality detecting system and method |
| CN106124517A (en) * | 2015-09-29 | 2016-11-16 | 柳州欧维姆机械股份有限公司 | Detect many rotor wing unmanned aerial vehicles detection platform system in structural member surface crack and for the method detecting structural member surface crack |
| CN205898700U (en) * | 2016-06-27 | 2017-01-18 | 深圳大学 | Detecting system of outer wall defect |
| CN206109976U (en) * | 2016-08-30 | 2017-04-19 | 上海法赫桥梁隧道养护工程技术有限公司 | A unmanned aerial vehicle system for bridge detects |
-
2018
- 2018-04-17 CN CN201810344905.9A patent/CN108593656B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120300059A1 (en) * | 2011-05-25 | 2012-11-29 | Jason Stege | Method to inspect components of a wind turbine |
| CN104267035A (en) * | 2014-10-11 | 2015-01-07 | 江苏交科工程检测技术有限公司 | Concrete quality detecting system and method |
| CN106124517A (en) * | 2015-09-29 | 2016-11-16 | 柳州欧维姆机械股份有限公司 | Detect many rotor wing unmanned aerial vehicles detection platform system in structural member surface crack and for the method detecting structural member surface crack |
| CN205898700U (en) * | 2016-06-27 | 2017-01-18 | 深圳大学 | Detecting system of outer wall defect |
| CN206109976U (en) * | 2016-08-30 | 2017-04-19 | 上海法赫桥梁隧道养护工程技术有限公司 | A unmanned aerial vehicle system for bridge detects |
Non-Patent Citations (2)
| Title |
|---|
| 彭玲丽 等: "浅谈无人机在桥梁检测中的应用与发展", 《交通科技》 * |
| 陶晓力 等: "基于无人机视觉的桥梁裂缝检测", 《计算机技术与发展》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109342190A (en) * | 2018-10-12 | 2019-02-15 | 中国石油大学(北京) | Rock crackle forming tip plastic zone metering method and system |
| CN109342190B (en) * | 2018-10-12 | 2020-06-12 | 中国石油大学(北京) | Rock crack tip plastic zone metering method and system |
| CN110057829A (en) * | 2019-04-30 | 2019-07-26 | 南水北调工程设计管理中心 | A kind of comprehensive detection device and detection method in inner wall crack and deformation |
| CN110145989A (en) * | 2019-06-11 | 2019-08-20 | 广州珠江黄埔大桥建设有限公司 | Distress in concrete detection device and detection method based on unmanned plane |
| CN111272764A (en) * | 2020-01-22 | 2020-06-12 | 哈尔滨工业大学 | Large intelligent temporary platform non-contact image recognition mobile management and control system and method |
| CN112325767A (en) * | 2020-10-16 | 2021-02-05 | 华中科技大学鄂州工业技术研究院 | Spatial plane size measurement method integrating machine vision and flight time measurement |
| CN112594144A (en) * | 2020-12-10 | 2021-04-02 | 安徽农业大学 | Intelligent wind turbine generator system paddle monitoring mechanism of detecting a flaw based on unmanned aerial vehicle carries on |
| CN112881467A (en) * | 2021-03-15 | 2021-06-01 | 中国空气动力研究与发展中心超高速空气动力研究所 | Large-size composite material damage imaging and quantitative identification method |
| CN113772091A (en) * | 2021-09-14 | 2021-12-10 | 海安市华军测量有限责任公司 | Engineering measuring equipment based on unmanned aerial vehicle |
| CN114104287A (en) * | 2021-11-24 | 2022-03-01 | 国网山东省电力公司阳谷县供电公司 | Transmission line insulator detection device based on unmanned aerial vehicle |
| CN114104287B (en) * | 2021-11-24 | 2023-10-24 | 国网山东省电力公司阳谷县供电公司 | Unmanned aerial vehicle-based power transmission line insulator detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108593656B (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108593656A (en) | A kind of structure detection method, device and the UAV system for structure detection | |
| US12013485B2 (en) | Multi-scale inspection and intelligent diagnosis system and method for tunnel structural defects | |
| CN105083588B (en) | A kind of many rotor unmanned aircraft Testing Platforms and method | |
| EP3738892B1 (en) | In-service maintenance process using unmanned aerial vehicles | |
| CN101915563B (en) | Measurement method of aircraft rudder defelction angle | |
| US20180129211A1 (en) | Next generation autonomous structural health monitoring and management using unmanned aircraft systems | |
| CN108318499A (en) | A kind of bridge method for inspecting | |
| CN108408082A (en) | A kind of unmanned plane and its operating method for big aircraft vertical fin crack detection | |
| CN109623839A (en) | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting | |
| CN109780452A (en) | Gas based on laser telemetry technology leaks unmanned plane inspection retrieving concentration method | |
| US20140336928A1 (en) | System and Method of Automated Civil Infrastructure Metrology for Inspection, Analysis, and Information Modeling | |
| CN108021143A (en) | For carrying out the method and system of non-destructive testing using unmanned vehicle | |
| CN104851323B (en) | Aircraft safety landing real-time monitoring system based on the Big Dipper | |
| CN106774384A (en) | A kind of bridge machinery intelligent barrier avoiding robot | |
| CN207649604U (en) | A kind of intelligent landform survey system based on unmanned plane | |
| JP2018130983A (en) | Detection device | |
| CN108163229B (en) | System and method for synchronously detecting lift thrust and wing motion information of flapping-wing robot | |
| CN207067019U (en) | A kind of engineering construction Crack Detection unmanned plane | |
| CN109885098A (en) | A kind of bridge sidebar inspection flight course planning method | |
| De Gregorio | Flow field characterization and interactional aerodynamics analysis of a complete helicopter | |
| CN113419563A (en) | Unmanned aerial vehicle positioning device, method, equipment and medium | |
| CN106320173B (en) | Vehicle-mounted unmanned aerial vehicle bridge routine safety detection system and detection method | |
| Tijs et al. | Hear-and-avoid for micro air vehicles | |
| Graves et al. | Dynamic deformation measurements of an aeroelastic semispan model | |
| Durdevic et al. | Lidar assisted camera inspection of wind turbines: experimental study |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211208 Address after: 100089 2nd floor, Beijing municipal building, 17 Changyun palace, Zizhuqiao, West Third Ring Road, Haidian District, Beijing Patentee after: CHINA HIGHWAY ENGINEERING CONSULTING Corp. Patentee after: CHECSC HIGHWAY MAINTENANCE AND TEST TECHNOLOGY CO.,LTD. Patentee after: ZHONGZI DATA CO.,LTD. Address before: 100089 2nd floor, Beijing municipal building, 17 Changyun palace, Zizhuqiao, West Third Ring Road, Haidian District, Beijing Patentee before: CHINA HIGHWAY ENGINEERING CONSULTING Corp. Patentee before: Zhongzi highway maintenance and Inspection Technology Co., Ltd |
|
| TR01 | Transfer of patent right |