CN109491408A - A kind of unmanned plane can be used for doors structure detection - Google Patents
A kind of unmanned plane can be used for doors structure detection Download PDFInfo
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- CN109491408A CN109491408A CN201811421191.3A CN201811421191A CN109491408A CN 109491408 A CN109491408 A CN 109491408A CN 201811421191 A CN201811421191 A CN 201811421191A CN 109491408 A CN109491408 A CN 109491408A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
本发明公开了一种可用于室内结构检测的无人机，属于结构检测技术领域，用于解决替代专业工程人员进入危险房屋室内检测的问题。其包括无人机主体、地面控制站、数据处理中心和无人机上设置的搭载模块组合四部分，搭载模块组合包括图像采集模块、传感器组、飞行状态处理器、通信模块和存储模块。地面控制站包括遥控器与显示屏。数据处理中心可从拍摄得到的图像中获取裂缝的尺寸数据。本发明巧妙地利用无人机拍摄的图像，用数据处理中心对室内结构构件进行裂缝长度和宽度的量测，快速判断房屋的健康状态，给出房屋结构的初步鉴定结论，操作简单，数据处理速度快，数据可靠性高。
The invention discloses an unmanned aerial vehicle which can be used for indoor structure detection, belongs to the technical field of structure detection, and is used for solving the problem of replacing professional engineers to enter dangerous houses for indoor detection. It includes four parts: the main body of the drone, the ground control station, the data processing center, and the combination of mounted modules set on the drone. The combination of mounted modules includes an image acquisition module, a sensor group, a flight status processor, a communication module, and a storage module. The ground control station includes a remote control and a display. The data processing center can obtain the size data of the cracks from the captured images. The invention cleverly utilizes the images captured by the unmanned aerial vehicle, uses the data processing center to measure the crack length and width of the indoor structural components, quickly judges the health state of the house, and gives the preliminary appraisal conclusion of the house structure, with simple operation and data processing. Fast speed and high data reliability.
Description
Technical field
The present invention relates to a kind of unmanned plane that can be used for doors structure detection, especially one kind can be used for indoor flaw size
The unmanned plane of measure analysis.
Background technique
Modern architecture is in its normal use process or after undergoing the natural calamities such as earthquake, due to construction material self reason
And imposed load influences, structure can be deformed, differential settlement, it is serious destroy etc. unfavorable phenomenon cause structural instability or
Lose bearing capacity.Although most of building structure is all work with cracking in Practical Project, when fracture width is more than threshold
Architectural appearance is not only influenced when value, is given user's feeling of risk, seriously also be will affect bearing capacity, the durability of component.
Crack Detection looks for and measures to split engineering by professional testing staff with fracture detecting instrument or scale in practice
Stitch size.But the problems such as this traditional detection method has at high cost, low efficiency, manpower safety guarantee is low, precision is low, especially
After earthquake, aftershock may continue long period of time, and aftershock earthquake magnitude also it is difficult to predict, allow at this time staff into
Enter to carry out operation inside house that larger threat is had to its personal safety.It is replaced in contrast using the unmanned plane of small size artificial
Detected, in the way of the unique Fast Labeling of unmanned plane itself and visual angle advantage, it can be achieved that multi-angle, all standing bat
It takes the photograph, detection data data can be made more complete；Possess numerous advantages such as feature easy to operate, at low cost, it is often more important that can be with
Reduce the risk of staff.
Existing patent mainly solves the problems, such as that unmanned plane carries out whole detection to building or road, river in outdoor,
But lack the unmanned plane for being able to enter and carrying out thin portion detection inside structure space.For example, patent CN201720977296 is proposed
A kind of engineering construction Crack Detection unmanned plane, which can realize the detection of the width to building surface crack, but not solve
Certainly the positioning for the unmanned plane for enabling to office work and to component to be measured carry out pin numbers the problems such as.In addition earthquake disaster
In dilapidated house detection after evil, due to that may meet with aftershock at any time, it is extremely hazardous that testing staff, which enters the room and carries out thin portion detection,
's.Therefore, the miniaturization unmanned plane that indoor detection function is added is necessary the dilapidated house detection of similar situation.
Summary of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of unmanned plane that can be used for doors structure detection, for solving
Certainly lack the problem of can entering the room the miniaturization unmanned plane detected to structural detail instantly.Concrete composition skill of the invention
Art scheme are as follows: can be used for the unmanned plane of doors structure detection, including at unmanned plane main body, corresponding ground control station, ground data
The carrying block combiner being arranged on reason center and unmanned plane.
Image capture module, sensing are arranged on the carrying composite module for the carrying block combiner being arranged in unmanned plane main body
Device group, state of flight processor, communication module and memory module.Wherein, image capture module includes being divided into key data acquisition
Module and auxiliary shooting module, for acquiring the image data for facilitating building structure safety detection, and pass through communication module
Collected data are transferred to central station, carry out Data Post, are detected with obtaining for safety of structure
Index data.The sensor group on composite module is carried, for acquiring Flight Condition Data, and is transmitted to flight shape
State processor makes it make the instruction of flight attitude according to the actual situation.The state of flight processor on composite module is carried, is used
In the Flight Condition Data that the transmission of receiving sensor group comes, unmanned plane during flying state and position are adjusted according to a pre-set procedure
It sets, after the image data received and status data pretreatment, is transferred to communication module, then described image data are saved in
Memory module.Such as in flight course, in order to hide structural obstructions object manipulation unmanned plane using a variety of flight attitudes close to shooting
Point adjusts the verticality etc. of unmanned plane when reaching camera site.Wherein, communication module is used for reception state data and picture number
According to, and status data and image data are transferred to ground control station, memory module be used to store the status data that receives with
Image data.
Image capture module, communication module, coprocessor in the combination respectively with ground control centre and data processing
Center is connected by wireless signal, and the exchange of data can be carried out between them, and control signal can be sent by ground control station
It is received again by unmanned plane, image data, Flight Condition Data etc. can also be transmitted to ground control station sum number by communication module
According to processing center.
Key data acquisition module included by image capture module is used for the acquisition of image information.The module by focal length,
Two groups of camera compositions of short focus, work respectively.When carrying out Image Acquisition, the same time is only by wherein one piece of camera lens work
Make.In use, usage scenario is judged by operator, for example, carrying out length direction when needing to carry out the biggish crack of length
When measurement, or when needing detection structure beyond the region of objective existence contour line, telephoto lens is called to carry out Image Acquisition by operator；When need
When badly being detected to thin portion breakage, such as when needing to measure the width in crack, then by operator call short-focus lens into
Row shooting.Two groups of cameras are operated respectively by ground control station, independent to transmit data to the ground, are not interfere with each other, have been widened image and adopted
The scope of application of collection.
The image capture module except as focal length, in addition to key data acquisition module composed by short focus camera, further include
Corresponding auxiliary shooting module and lighting module.Assisting shooting module includes infrared camera, and infrared camera is connected with ground control station,
Control station and data processing centre send data and receive the control instruction of ground control station transmission to the ground.The module is for working as
Key data acquisition module under dim light or no light conditions can not normal use when to structural body carry out image information acquisition,
Such as the module can be used to work inside the house to topple, in the spaces such as basement.
The lighting module of unmanned plane setting carries out remote control operation by the connection with ground control station.Lighting module
For being illuminated under low light environment or no light conditions so that unmanned plane in this case can with normal flight and work, and
Under low light environment or no light condition, light filling is carried out, makes unmanned plane that can shoot to obtain clearly image data.The lighting module
It is made of four pieces of LED lamp beads, the light and shade of light can be adjusted according to the number that lamp bead is lighted, the photo for preventing shooting from obtaining occurs
Overexposure.
Sensor group is used to be monitored and controlled the state of flight of unmanned plane.The sensor group is sensed by high-precision laser range-finding
Device, obliquity sensor, acceleration transducer and ambient light sensor composition, and handled by wired connection to the state of flight
Device sends data.Wherein, high-precision laser range-finding sensor is for acquiring range data, for judging unmanned plane space indoors
Relative position, two one group, totally six groups, be arranged on the front, back, left, right, up, down six direction of unmanned plane, work
Mode are as follows: first determine a plane to be measured, emit distance measuring laser beams from upfront sensor to metope, compare the length of twice laser beam
Degree, is finely adjusted, until the length of twice light beam is identical；Subsequent other five groups of sensors are repeated in this operation, finally make
Unmanned plane and indoor six planes keep Relative vertical, reduce shooting angle bring pattern distortion with this.Obliquity sensor is adopted
Collect flight attitude data, including unmanned plane rotor inclination angle and image capture module inclination angle, it is outstanding to be used to matching program setting unmanned plane
The angle in stopping time and horizontal plane guarantees that the angle of the unmanned plane after determining position will not deviate.Acceleration transducer cooperation
Range sensor uses, and for acquiring aircraft course line number evidence, prevents unmanned plane from colliding with works.Obliquity sensor
The course of work with acceleration transducer be it is known, details are not described herein.Ambient light sensor is for acquiring ambient light conditions
Data to monitor the light condition under detection environment, can matching program realize and remind switching of the operator to camera, if environment
Light intensity is less than definite value, then reminds user to call infrared camera according to field condition or lighting module is called to carry out light filling.
The communication module and data memory module for the carrying block combiner being arranged on unmanned plane, for image capture module
Data collected are transmitted and are saved, while guaranteeing the stabilization data connection between ground control station and unmanned plane.Communication
Module is connected using Wi-Fi signal with ground control station.Data memory module provides multiple interfaces, and it is outer to can access storage card etc.
Connect storage equipment.
The state of flight processor for the carrying block combiner being arranged on unmanned plane.The processor is mainly to the flight of unmanned plane
Status data is handled.The collected data of image capture module and sensor group institute, including image data, apart from number
According to, attitude data, course data and light condition data, handled by the processor, to guarantee its timeliness.Meanwhile
The processor can pre-process institute's acquired image data, i.e., be numbered, be grouped, sort out to image data, improve
The working efficiency of central station.
Complete equipment includes ground control station, which includes remote controler and user terminal display screen, is furnished with mating operation
Software.Earth station can real-time display unmanned plane various posture informations and measurement camera obtain high quality image information, be used for
The state of flight of unmanned plane is controlled and adjusted, and is operated by operator.
Central station possesses independent operational capability, handles data using high-performance computer, operation is independent
Application program receives the collected data of unmanned plane institute by wireless transmission or carrier transmission, and carries out to the data received
Analysis processing, mainly differentiates the edge in crack, then carries out the measurement of size.
The present invention provides a kind of unmanned planes that can be used for doors structure detection.Have it is following the utility model has the advantages that
When unmanned plane carries out operation, the collaborative work of preposition range sensor group, Automatic-searching and the first face can be passed through
The position of wall body vertical.It is adjusted by gyroscope, keeps unmanned plane spiral pushing aid axis and range laser line institute vertical at face,
And dimensional Cartesian coordinates system is established as origin, surveyed component is determined by the relative coordinate of unmanned plane in space
Position.The distortion that the image that shooting obtains occurs can be effectively reduced after the completion of positioning.When detection, unmanned plane is suitable in the direction of the clock
Secondary rotation calls focal length camera to be successively integrally scanned to metope.At the same time, it can be completed by central station
Number work to the room and other corresponding walls, and establish corresponding file respectively to store correspondence image information.
After the completion of the detection in big face, operator Selection and call short focus camera then can further examine thin portion as needed
It surveys.Cooperate ambient light sensor, operator can be assisted to judge whether to need to call auxiliary shooting module or lighting module to dark
Portion carries out data acquisition.Lighting module can carry out brightness regulation by ground control station by operator.Acceleration transducer can
So that unmanned plane has the function of intelligent anticollision.Gained image data is transmitted to central station by communication module,
Processing obtains specific size data, comprising: the length dimension in crack, the width dimensions in crack, house length, width and height three-dimensional dimension, knot
Structure and vertical line degrees of offset.After obtaining above-mentioned data, further according to the threshold value of setting, building safety conclusion, including knot are obtained
The bearing capacity of structure and the reliability of normal use.The unmanned machine equipment that the present invention is reached has applied widely, small-sized
Change, light-weighted advantage.
Detailed description of the invention
It in order to more clearly illustrate the technical solutions in the embodiments of the present invention, below will be in embodiment technical description
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that unmanned plane each section forms stratal diagram；
Fig. 2 is unmanned plane each section correlation figure；
Fig. 3 is unmanned plane work flow diagram.
In FIG. 1 to FIG. 3, included part is listed below: 1 unmanned plane main body；2 ground control stations；3 Data processings
The heart；4 block combiners；5 image capture modules；6 sensor groups；7 state of flight processors；8 communication modules；9 memory modules；10 is main
Want data acquisition module；11 auxiliary shooting modules；12 focal length cameras；13 short focus cameras；14 high-precision laser range-finding sensors；15
Obliquity sensor；16 acceleration transducers；17 ambient light sensors；18 lighting modules；19 remote controlers；20 display screens；21 is infrared
Camera.
Specific embodiment
For it is a kind of can be used for doors structure detection unmanned plane comprising unmanned plane main body, corresponding ground control station and
Central station.Wherein, block combiner is carried in setting on unmanned plane.Ground control station includes instruction issue remote controler
And display screen.
The composition of unmanned plane equipment components, connection relationship are as follows: laser range sensor is with 12 pieces, two one group, altogether
It six groups, is arranged on the front, back, left, right, up, down six direction of unmanned plane.Image capture module is integrated in gondola,
Using stacked layout, from the top down successively are as follows: key data acquisition module, auxiliary data acquisition module, lighting module.Environment
Optical sensor and auxiliary data acquisition module integrate.Obliquity sensor, acceleration transducer and gyroscope are placed in nobody
At machine inside center.The sensor passes through bus and is connected with state of flight processor, state of flight processor and transmission
Module is connected, and image capture module is connected with transmission module with memory module simultaneously.The above element passes through communication module
With in earth station ground control station and central station be connected.State of flight processor, transmission module, storage mould
Block, communication module, obliquity sensor, acceleration transducer and gyroscope are integrated in aircraft interior.
It needs first to manually control unmanned plane before use to fly from outdoor large space to indoor pre-position, and is arranged corresponding
Detection task, unmanned plane completes to System self-test after being powered, connects unmanned plane and earth station equipment, carry out real-time synchronization biography
It is defeated, it can start to carry out coordinate measuring automatically and calculate, and corresponding file to be measured is added to designated position, fulfil assignment
Preceding initial setting.
Concrete operating principle and the course of work of the present invention are as follows: the first step, detection prepare.First by the operation of ground control station
Personnel accordingly control program by unmanned plane and assign command adapted thereto to unmanned plane, and control unmanned plane flies to test point to be measured.Into
The debugging of row relevant parameter, parameter specifically include: the selection of working face, flight time control, setting required precision, setting movement speed
Degree adjusts camera parameter.After the completion of to be regulated, it is connected to the power supply of unmanned machine testing mould group, be switched on waiting system self-test.System is certainly
After the completion of inspection, activate indoor positioning correlation module and its accordingly meet the tendency of line program.Second step, detection.Before being passed through by unmanned plane
The collaborative work for the dual range sensor set, the position of Automatic-searching and the first face wall body vertical.Gyroscope is adjusted, is made
Unmanned plane spiral pushing aid axis and range laser line institute are vertical at face, and establish dimensional Cartesian coordinates system as origin, lead to
The relative coordinate of unmanned plane in space is crossed to determine the position of surveyed component.Start to detect after positioning.It hangs on this basis
Stop, sequentially rotate in the direction of the clock, focal length camera is called successively to be scanned to metope, at the same time by ground data
The number work to the room and other corresponding walls is completed at reason center, and establishes corresponding file respectively to store correspondence
Image information.After the completion of the detection in big face, short focus camera is called then to carry out to thin portion on demand by operator further
Detection.Thin portion detection specifically includes: frame structural beam, column, node, shear wall, wall between windows, staircase etc..When detection, by nothing
The image capture module of man-machine upper carrying acquires the image data in the face.A room is detected in this order, after the completion
Then enter Next Room, repeats identical operation.It is then the end of one-time detection after whole predetermined detection target to be done.The
Three steps, analyze data.After the image data of unmanned plane acquisition reaches central station, run by computer only
Vertical application software analyzes data, and content collected includes: the length dimension in crack, the width dimensions in crack, room
Room length, width and height three-dimensional dimension, structure and vertical line degrees of offset.After obtaining above-mentioned data, further according to the threshold value of setting, room is obtained
Room Safety Conclusions, the reliability of bearing capacity and normal use including structure.
Claims (9)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811421191.3A CN109491408A (en) | 2018-11-22 | 2018-11-22 | A kind of unmanned plane can be used for doors structure detection |
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| CN201811421191.3A CN109491408A (en) | 2018-11-22 | 2018-11-22 | A kind of unmanned plane can be used for doors structure detection |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974585A (en) * | 2019-04-18 | 2019-07-05 | 甘肃博程技术咨询服务有限公司 | A kind of elevator shaft structure recognition and data measurement unit |
| CN110161515A (en) * | 2019-04-23 | 2019-08-23 | 武昌理工学院 | A House Measurement System Based on Laser Distance Measurement |
| CN111103297A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | Non-contact detection method and system for quality of building outer wall surface |
| CN111103296A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | A data measurement control processing device of a non-contact detection system for the quality of building exterior wall layers |
| CN112130167A (en) * | 2020-07-03 | 2020-12-25 | 北京中电科卫星导航系统有限公司 | Mobile millimeter wave human body security inspection system |
| CN112378336A (en) * | 2020-11-13 | 2021-02-19 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN118090742A (en) * | 2024-04-18 | 2024-05-28 | 江西赣粤高速公路股份有限公司 | Image acquisition method for detecting hinge joint damage of prefabricated bridge |
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- 2018-11-22 CN CN201811421191.3A patent/CN109491408A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974585A (en) * | 2019-04-18 | 2019-07-05 | 甘肃博程技术咨询服务有限公司 | A kind of elevator shaft structure recognition and data measurement unit |
| CN110161515A (en) * | 2019-04-23 | 2019-08-23 | 武昌理工学院 | A House Measurement System Based on Laser Distance Measurement |
| CN111103297A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | Non-contact detection method and system for quality of building outer wall surface |
| CN111103296A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | A data measurement control processing device of a non-contact detection system for the quality of building exterior wall layers |
| CN111103297B (en) * | 2020-01-20 | 2024-07-12 | 无锡市建筑工程质量检测中心 | Non-contact detection method and detection system for quality of building exterior wall surface layer |
| CN111103296B (en) * | 2020-01-20 | 2024-10-18 | 无锡市建筑工程质量检测中心 | A data measurement control processing device for a non-contact detection system of building exterior wall surface quality |
| CN112130167A (en) * | 2020-07-03 | 2020-12-25 | 北京中电科卫星导航系统有限公司 | Mobile millimeter wave human body security inspection system |
| CN112378336A (en) * | 2020-11-13 | 2021-02-19 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN112378336B (en) * | 2020-11-13 | 2023-02-17 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN118090742A (en) * | 2024-04-18 | 2024-05-28 | 江西赣粤高速公路股份有限公司 | Image acquisition method for detecting hinge joint damage of prefabricated bridge |
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