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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- data
- module
- flight
- structure detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000003862 health status Effects 0.000 abstract 1
- 238000006467 substitution reaction Methods 0.000 abstract 1
- 238000012360 testing method Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 239000011324 bead Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004035 construction material Substances 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- G05D1/12—Target-seeking control
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of unmanned planes that can be used for doors structure detection, belong to structure detection technical field, detect for solving the problems, such as that substitution specialized engineering personnel enter in dilapedated building room.It includes four part of carrying block combiner being arranged on unmanned plane main body, ground control station, data processing centre and unmanned plane, and carrying block combiner includes image capture module, sensor group, state of flight processor, communication module and memory module.Ground control station includes remote controler and display screen.Data processing centre can obtain the dimension data in crack from the image that shooting obtains.The image that the present invention dexterously utilizes unmanned plane to shoot, the measurement of fracture length and width is carried out with data processing centre to doors structure component, quickly judges the health status in house, provide the Preliminary Identification conclusion of building structure, easy to operate, data processing speed is fast, and data reliability is high.
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)
1. a kind of unmanned plane that can be used for doors structure detection, it is characterised in that: including unmanned plane main body (1), corresponding ground control
The carrying block combiner (4) being arranged on system station (2), central station (3) and unmanned plane carries block combiner (4)
Upper setting image capture module (5), sensor group (6), state of flight processor (7), communication module (8) and memory module (9)；
Wherein: image capture module (5) includes being divided into key data acquisition module (10) and auxiliary shooting module (11), for adopting
Collect image data, and collected data are transferred to central station (3)；Sensor group (6), for acquiring flight
Status data carries out the adjustment to unmanned plane；State of flight processor (7), the flight come for receiving sensor group (6) transmission
Status data adjusts unmanned plane during flying state and position, by the image data received and state according to a pre-set procedure
It is transferred to after data prediction communication module (8), then described image data is saved in memory module (9)；Communication module (8) is used
Ground control station (2) are transferred in reception state data and image data, and by status data and image data；Memory module
(9) for storing the status data received and image data.
2. according to claim 1 can be used for doors structure detection unmanned plane, it is characterised in that: described image acquisition module
(5) key data acquisition module (10) includes the long focus video camera of high-resolution (12) and short focus camera (13), and high-resolution is long
Focus video camera (12) and short focus camera (13) independently of one another, transmit data to the ground respectively.Two kinds of cameras can be controlled by ground
Stand (2) control respectively, facilitate user according to concrete operations demand carry out free switching.
3. according to claim 1 can be used for doors structure detection unmanned plane, it is characterised in that: described image acquisition module
(5) auxiliary shooting module (11) includes infrared camera (21), and infrared camera (21) passes through at communication module (8) and ground data
Reason center (3) connection.
4. according to claim 1 can be used for doors structure detection unmanned plane, it is characterised in that: the sensor group (6)
For monitoring the state of flight of control unmanned plane, including high-precision laser range-finding sensor (14), obliquity sensor (15), acceleration
Spend sensor (16) and ambient light sensor (17), high-precision laser range-finding sensor (14), obliquity sensor (15), acceleration
Sensor (16) and ambient light sensor (17) send data to the state of flight processor (7) by wired connection.
5. according to claim 1 can be used for doors structure detection unmanned plane, it is characterised in that: the communication module (8)
For wireless transport module.
6. according to claim 1 can be used for doors structure detection unmanned plane, it is characterised in that: setting lighting module
(18), by the connection remote control operation with ground control station (2), lighting module (18) to compared with dark place for illuminating.
7. according to claim 1 can be used for doors structure detection unmanned plane, it is characterised in that: the state of flight processing
Device (7) is for receiving and processing unmanned plane during flying status data.Pass through image capture module (5), sensor group (6), flight shape
The work in combination of state processor (7) makes unmanned plane have the ability of automatic positioning and coordinate acquisition data indoors.
8. the unmanned plane according to claim 1 that can be used for doors structure detection, it is characterised in that: ground control station includes
Remote controler (19) and display screen (20), are integrated with flight control and instruction issue function to unmanned plane, and controllers are being done
Unmanned plane receiver can be sent to by ground control station (2) after instructing out, to the state of flight of unmanned plane carry out manual adjustment with
Amendment.
9. the unmanned plane according to claim 1 that can be used for doors structure detection, it is characterised in that: data processing centre
(3) for handling the data received, classification, number and the later period identifying processing of image data can be carried out, it can be with
Plan as a whole the Flight Condition Data of processing unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811421191.3A CN109491408A (en) | 2018-11-22 | 2018-11-22 | A kind of unmanned plane can be used for doors structure detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811421191.3A CN109491408A (en) | 2018-11-22 | 2018-11-22 | A kind of unmanned plane can be used for doors structure detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109491408A true CN109491408A (en) | 2019-03-19 |
Family
ID=65697670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811421191.3A Pending CN109491408A (en) | 2018-11-22 | 2018-11-22 | A kind of unmanned plane can be used for doors structure detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109491408A (en) |
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 kind of house measurement system based on laser ranging |
| CN111103296A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | Data measurement control processing device of non-contact detection system for quality of building outer wall surface |
| 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 |
| 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 |
-
2018
- 2018-11-22 CN CN201811421191.3A patent/CN109491408A/en active Pending
Cited By (9)
| 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 kind of house measurement system based on laser ranging |
| CN111103296A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | Data measurement control processing device of non-contact detection system for quality of building outer wall surface |
| 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 |
| 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 |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109491408A (en) | A kind of unmanned plane can be used for doors structure detection | |
| CN109459439B (en) | Tunnel lining crack detection method based on mobile three-dimensional laser scanning technology | |
| US20170215086A1 (en) | Subterranean 3d modeling at cell sites | |
| CN110246235B (en) | Power distribution room on-site inspection method and system based on Hololens mixed reality technology | |
| KR20020097172A (en) | Method for Measuring Three- dimensional Coordinate, Apparatus Thereof and Method for Building Large Construction Therewith | |
| CN111931565A (en) | Photovoltaic power station UAV-based autonomous inspection and hot spot identification method and system | |
| CN101922895A (en) | Small-target surface vertical target dispersion photoelectric measurement device | |
| CN106018417A (en) | External wall defect detection method and system | |
| CN102798350A (en) | Method, device and system for measuring deflection of arm support | |
| CN109828281A (en) | A kind of unmanned machine equipment for according to photo calculating flaw size | |
| CN104515514A (en) | Measuring Method And Measuring Instrument | |
| CN112882446A (en) | BIM platform-based large-scale space steel structure visual construction monitoring system | |
| KR20170036488A (en) | Boiler tube diagnosis apparatus | |
| US20230003674A1 (en) | System and method for identifying lithology based on images and xrf mineral inversion | |
| JP2021001862A (en) | System and method for measuring deformation | |
| CN114812403A (en) | Large-span steel structure hoisting deformation monitoring method based on unmanned aerial vehicle and machine vision | |
| KR102448233B1 (en) | Drone controlling method for precise landing | |
| CN102494629B (en) | Method and device for detecting transmission chain of assembling line | |
| CN209215943U (en) | A kind of unmanned plane can be used for doors structure detection | |
| CN114119614A (en) | Method for remotely detecting cracks of building | |
| CN114051093B (en) | Portable navigation mark lamp field detection system based on image processing technology | |
| JP2021039013A (en) | Wall crack measuring machine and measuring method | |
| CN112730422B (en) | Nuclear power station containment defect detection method and system | |
| CN111898474B (en) | Target surface feature change recognition system and method based on optical sensing perception | |
| CN110987936A (en) | Dam surface crack intelligent identification measuring device towards unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190319 |