DE102018114310A1 - Method and device for the outer skin and / or inner skin inspection of infrastructure objects using a rotary wing drone - Google Patents

Abstract

The invention relates to a method for the outer skin and / or inner skin inspection of infrastructure objects (1, 2, 3), using at least one rotary wing drone (4), after which the skin surface in question is scanned using a thermal imaging camera (5), and then the thermographic data recorded in each case are transmitted to a control unit (7, 10) for linking to further status data of the skin surface.

Description

The invention relates to a method for the outer skin and / or inner skin inspection of infrastructure objects, such as buildings, bridges, wind turbines, tunnels, electricity pylons, power plants, towers, chimneys, etc., using a rotary wing drone, after which the skin surface in question by means of a thermal image -Camera is scanned.

A method comparable to the form described in the introduction is described in, among others DE 10 2015 013 550 A1 described. Among other things, this involves securing long-term availability of infrastructure objects and the detection of damaged areas. For this purpose, a so-called ground penetrating radar (GPR) can be used to perform a non-destructive characterization of the subsurface using high-frequency electromagnetic waves.

Similar considerations are made on the website of the company "pv-SOS" (pv-sos.de). Because there is talk of a "flying eye", which among other things can detect hot spots in photovoltaic systems.

When teaching according to the DE 10 2012 003 513 B3 is a procedure for checking the structural condition of wind turbines. For this purpose, one or more thermographic recording devices are installed on an aircraft. Based on the measured values determined, conclusions can be drawn about any damage. The aircraft is typically a helicopter or helicopter.

Due to the high availability of rotary wing drones, their simple operation and the extremely low operating costs, inspections of infrastructure objects are carried out almost exclusively with the help of rotary wing drones. Another example of this is the DE 10 2012 108 179 A1 which deals with a radioactivity measurement method and an associated radioactivity measurement drone. At this point, however, there are still no comprehensible concepts to provide reliable and meaningful judgments about the condition of the respective outer skin or inner skin of the examined infrastructure object. This can be attributed to the fact that so far only individual aspects of skin inspection have been considered and an overall concept is missing. The invention seeks to remedy this overall.

The invention is based on the technical problem of providing a method of this type for outer skin and / or inner skin inspection of infrastructure objects, with the aid of which a reliable statement can be made about the overall condition of the skin surface in question and any remedial measures can be taken precisely.

To solve this technical problem, a generic method for outer skin and / or inner skin inspection of infrastructure objects within the scope of the invention is characterized in that the thermographic data recorded in each case is transmitted to a control unit for linking to further status data of the skin surface, for example its image data.

The invention therefore first of all, and in contrast to the prior art, does not only rely on the thermographic data of the respective scanned skin surface. Rather, these thermographic data are additionally linked to further state data of the skin surface, which are not thermographic data, that is to say the thermal image of the relevant skin surface. Rather, these additional status data of the skin surface can simply be photographic image data that are made from the relevant and examined skin surface with the aid of a high-resolution photo camera or image camera. In the example under consideration, the state data therefore represent the image of the facade examined or its skin surface in the visible spectral range, whereas the thermographic data reflect the infrared data corresponding to the associated thermal image.

The skin surface in question can be one of the outer skin of the examined infrastructure object or also the inner skin or both. The inner skin of an infrastructure object is understood to mean, for example, an inner surface of a cooling tower in a power plant, the inner surface of a chimney, but also the inner surface of a bridge, a tunnel, etc. Such inner skin surfaces are sometimes also observed in buildings, for example when a passage, a shelter, a loggia, etc. are realized.

In any case, in the simplest case, the invention ensures that the thermographic data are linked to the image data. The bottom line is that the thermal image and the actual photographic image of the skin surface examined are linked together. In the simplest case, the link provides that the associated images are brought into line.

In order to realize this in detail, the thermographic data and the condition data of the skin surface are generally recorded three-dimensionally. For the three-dimensional acquisition of the thermographic data and / or the state data, the procedure is typically such that the respective sensor data, for example a respectively recorded two-dimensional image, are linked to position data of the rotary wing drone. This means that the thermal image recorded or the photographic image of the examined skin surface is linked to position data of the rotary wing drone. In the simplest case, the position data of the rotary wing drone correspond to its spatial position. The spatial position and orientation of the examined skin surface can be determined on the basis of the spatial position of the rotary wing drone in connection with the distance to the examined skin surface of the infrastructure object.

The position data of the rotary wing drone can be determined using a GPS sensor (Global Positioning System) integrated in the rotary wing drone. Most often, alternatively or additionally, distance measurements to the infrastructure object and / or distance measurements to ground points are carried out. The distance measurements to the infrastructure object can be carried out with the help of ultrasound waves similar to a sonar or by sending out pulsed laser beams and a time-of-flight measurement until the reflected signal is received. In this way, even, uneven and fissured skin surfaces can be scanned perfectly and correspond to corresponding three-dimensional thermographic data and / or condition data or image data. The same applies if distance measurements to ground points are made. The spatial position of the rotary wing drone can in turn be derived from this distance measurement to geographically known ground points.

For example, the rotary wing drone in question can be controlled when scanning the relevant skin surface in such a way that it maintains the same distance from the infrastructure object or the skin surface. In this way, the thermographic data and / or state data or image data are each recorded at the same distance, so that a three-dimensional thermal image and / or three-dimensional photographic image is produced on a fissured skin surface.

As an alternative to the procedure described in such a way that the rotary wing drone scans the examined skin surface at the same distance using a distance measurement, it is also possible to work with appropriate lenses on the one hand the thermal imaging camera and on the other hand the high-resolution photo camera. In this case, the three-dimensional scanning of the skin surface can be carried out in such a way that individual parts of the skin surface are scanned and “focused” using the upstream lenses by “zooming”. If you then use the control unit to determine the respective focal length of the zoom lens used and take into account the set imaging ratios, three-dimensional values for the photographic image data and also for the thermographic data can also be derived from this.

Either way, a three-dimensional image of the examined skin surface is ultimately available in the control unit, which not only brings the thermal image and also associated status data or image data to cover, but also the structure of the examined skin surface due to the presence of three-dimensional data provides. This allows, for example, cracks in the facade or skin surface, which are optically detected with the aid of the photo camera, to be covered if necessary with zones of high heat loss. Concealed sources of high heat loss, for example behind a facade surface, can also be detected and spatially identified.

If these three-dimensional thermographic data and / or condition data or photographic image data are then linked with three-dimensional object data of the examined infrastructure object, a technical drawing of the infrastructure object or its outer skin or inner skin can be used to precisely or optionally to renovate an area or an area Identify previously unobserved precision. For this purpose, the object data of the infrastructure object reflect at least its outer skin and / or inner skin surface. Most of the time, the object data not only include the respective skin surface, but are based on all the construction data of the infrastructure object. However, the outer skin or inner skin surface examined in each case is essential for the invention, so that these can be brought into coincidence with the determined thermographic data and also photographic image data.

The condition data of the skin surface associated with the thermography data is not necessarily photographic image data. Rather, the condition data can also generally reflect, for example, the reflectivity or absorption capacity of the examined skin surface against electromagnetic radiation. Such status data will be used, for example, when the carrier is on Bridges, high-voltage pylons etc. or other steel structures are to be examined. For example, with the help of high-frequency electromagnetic waves, radar measurements can be carried out, from which conclusions can be drawn about any corrosion, defective weld seams, etc. Such investigations are known in principle and are referred to as GPR measurements (ground penetrating radar) or ground radar. A range between 1 and 2400 µHZ is used as the working frequencies.

The thermographic data and / or status data are generally transmitted by the rotary wing drone to a stationary and / or mobile control unit. In most cases, both a stationary control unit and a mobile control unit are implemented. The mobile control unit, like the thermal imaging camera and the image camera or photographic image camera, generally forms part of the rotary wing drone. In contrast, the stationary control unit is generally attached to the ground.

It has also proven itself in this context if the control unit or the plurality of control units communicates or communicates with a central control. In this way, for example, the thermographic data and / or state data of the examined skin surface can be easily linked to object data, which are stored in the central control, for example. In the simplest case, the object data are, for example, CAD data of the examined infrastructure object, from which corresponding data for the respective outer skin and / or inner skin can be derived. Likewise, the object data corresponding to the examined skin surface can be derived from this object data or CAD data.

The central control system also regularly and additionally stores location data of the object, in the simplest case its GPS coordinates. Furthermore, temperature and / or weather data can be made available at the examination site via the control. Control data can also be received via the central controller in order to control the rotary wing drone accordingly and to specify its spatial position. For example, the control data may be linked to the object data of the skin surface to be examined, so that the flight drone specifically flies to a suitable spatial position on the basis of the object data of the skin surface in question and of interest, in order to then scan the thermographic data and / or state data of the selected skin surface of the infrastructure object can. At the same time, the thermographic data or state data can be linked to the object data of the relevant skin surface in this way.

As a result, a three-dimensional image of the examined skin surface of the infrastructure object is ultimately available. This three-dimensional image not only provides information about any damaged areas or surface irregularities, which can be recorded and evaluated using the photographic image data. Instead, these irregularities or damage to the skin surface can also be linked to thermographic data and / or GPR data recorded at the same point.

All of this is achieved particularly cost-effectively, precisely and with little effort by linking the thermographic data and / or status data recorded by the rotary wing drone to the object data. The three-dimensional data of the examined infrastructure object made available in this way, namely with regard to its outer skin and / or inner skin, can now be visualized using the data made available in the stationary control unit. This can be done using a screen at the location of the stationary control unit or using three-dimensional rendering techniques using VR glasses (virtual reality). In addition, the coupling of the stationary control unit with the central control enables data transmission of the obtained and linked data to practically any place in the world. This is because the stationary control unit and the central control can be connected to one another, for example, wirelessly or by wire via a computer network, for example via the Internet.

The stationary control unit or the central control can in principle also be brought together and, in the manner of a mobile control, provide for the control of the rotary wing drone as a whole. In this case, a corresponding control panel or the data recorded there can still be transmitted unchanged over the previously mentioned computer network and also evaluated at remote locations.

By using the mobile control unit as part of the rotary wing drone and additionally the stationary control unit, data redundancy is also achieved, which ensures that the recorded data is not lost in the event of damage to the rotary wing drone or other malfunctions, for example. This is because the mobile control unit and the stationary control unit constantly communicate bidirectionally, so that the data recorded and linked with the help of the rotary wing drone is permanently exchanged with each other become. The corresponding memory contents of the mobile and the stationary control unit are therefore usually the same, so that any failures can be easily coped with.

In addition, it goes without saying that the rotary wing drone can be equipped with safety measures, such as an additional parachute, in order to prevent an impending crash and its damage. There are also different possibilities for the electrical energy supply of the rotary wing drone within the scope of the invention. For example, the rotary wing drone in question can be equipped with the necessary electrical energy to supply its electric motors with the aid of an energy supply cable and a connection to the stationary control unit. In addition, it is of course within the scope of the invention to operate the rotary wing drone using rechargeable batteries. In this context, so-called docking stations are conceivable, on which the rotary wing drone is placed in order to recharge the existing battery or the multiple batteries. This can be done by means of contacts which are appropriately closed when docking, or also inductively, that is to say without contact.

The invention also relates to a correspondingly designed device according to claim 10. As a result, a method and a device for outer skin and / or inner skin inspection of infrastructure objects are made available, which enable a comprehensive analysis of the respective skin condition of the relevant skin surface. It is not only the actual object data that corresponds to the planning of the infrastructure object that is compared with photographic image data, in order to detect damage such as cracks, deformations, breakthroughs, etc. Rather, by additionally linking this data with thermographic data or corresponding thermal images, conclusions can be drawn about possible weak points on the facade or skin surface, hidden sources of heat loss, anomalies in the material composition, etc.

If radar measurements are then additionally carried out using high-frequency electromagnetic radiation, a three-dimensional image of the surface of the examined skin can be made available, which is far superior to previous analysis results with regard to the possible informative value. The additional possibility of being able to represent the three-dimensionally recorded data as a whole also contributes to this, for example with the aid of VR glasses in the sense of "virtual reality". For this purpose, two images are derived from the three-dimensional images obtained, which are generated separately for each human eye and which, by overlapping, provide the desired three-dimensional image.

Apart from that, of course, several rotary wing drones can be used for surveillance. Their data may be brought together in a (single) stationary control unit (on the ground). Here, the invention can also use aspects of swarm intelligence. This means that the data of the individual rotary wing drones with regard to the image data, thermographic data and / or GPR data are combined.

list of figures

• 1 und 2 das erfindungsgemäße Verfahren schematisch im Zusammenhang mit der Untersuchung unterschiedlich gestalteter Infrastrukturobjekte.

The invention is explained in more detail below on the basis of a drawing illustrating only one exemplary embodiment; show it:

• 1 and 2 the method according to the invention schematically in connection with the examination of differently designed infrastructure objects.

In the figures there is a device for inspecting the outer skin and inner skin of infrastructure objects 1 . 2 . 3 with the help of a rotary wing drone 4 shown. For the infrastructure objects 1 . 2 . 3 it is a building in detail 1 , a wind turbine 2 and finally a bridge 3 as in the 2 is shown. The list of infrastructure objects shown 1 . 2 . 3 is, of course, only to be considered as an example and not in conclusion.

The rotary wing drone 4 is for this purpose and in detail with a thermal imager 5 equipped to scan the relevant skin surface. There is also a control unit 7 intended. In addition to the thermal imaging camera 5 has the rotary wing drone 4 additionally via a high-resolution photographic image camera 6 , According to the embodiment, the rotary wing drone 4 also with a GPR sensor 8th equipped. With the help of the GPR sensor 8th radar measurements of the examined skin surface are carried out using high-frequency electromagnetic waves, as was explained in detail in the introduction to the description.

Using the control unit 7 be using the thermal imaging camera 5 recorded thermographic data and other condition data of the skin surface linked together. This condition data of the skin surface in the example is photographic image data using the image camera 6 recorded images of the examined skin surface.

In addition, the data of the GPR sensor 8th to the control unit 7 transmitted. The control unit 7 now links the thermal imaging data of the thermal imager 5 with the other condition data of the skin surface. This is the image data of the photographic images taken with the image camera 6 have been made from the surface of the skin. In addition, these status data also include the sensor data of the GPR sensor in the context of the exemplary embodiment 8th , Of course, this is not mandatory and should only be understood as an example.

The thermographic data in question and the condition data of the skin surface are each recorded three-dimensionally. For this purpose, the respective thermographic data and / or status data, for example a respectively recorded two-dimensional image, with position data of the rotary wing drone 4 connected.

The position data of the rotary wing drone 4 according to the embodiment using an integrated GPS sensor 9 determined. Based on the position data from the GPS sensor 9 can determine the exact spatial position of the drone 4 are determined, namely during the associated scanning of the skin surface of the infrastructure object to be examined in each case 1 . 2 . 3 , In this way, the overall thermographic data and also the state data (image data and GPR data) can be recorded three-dimensionally and in relation to the rotary wing drone 4 associated mobile control unit 7 be filed. In addition, the thermographic data and / or state data in question can then also be combined with three-dimensional object data of the examined infrastructure object 1 . 2 . 3 link.

This object data ultimately reflects that for the construction of the infrastructure area 1 . 2 . 3 associated CAD data, which according to the embodiment from a central control 11 to provide. That means the CAD data of the examined infrastructure object 1 . 2 . 3 like, for example, in a central computer of the relevant infrastructure object 1 . 2 . 3 are available, which one with the controller 11 communicates or the controller 11 represents itself or can represent. The control 11 is in turn with a stationary control unit 10 linked to the mobile and on or in the rotary wing drone 4 provided mobile control unit 7 communicates like this in the 1 is shown.

Via the central control 11 can not only stored object data of the relevant infrastructure object according to the embodiment 1 . 2 . 3 to provide. But via the control 11 are also location data of the infrastructure object 1 . 2 . 3 accessible, for example its exact geographical position. The controller also likes 11 Provide temperature and weather data at the examination site so that, for example, warning messages about a storm, thunderstorm, etc., can be derived. All of this data is handled by the central controller 11 provided and are available due to the connection of the central control 11 with the stationary control unit 10 also in the stationary control unit 10 and also the mobile control unit 7 in the rotary wing drone 4 to disposal.

Both the thermographic data and the previously mentioned status data (image data and GPR data in the example) are now stored in the mobile control unit 7 as well as in the stationary control unit 8th saved in each case. Due to the possible wireless bidirectional communication between the two control units 7 . 10 it is ensured that the data is mirror-image identical in the relevant control units 7 . 10 be available. In addition, there is bidirectional data exchange between the two control units 7 . 10 the control of the rotary wing drone 4 on the basis of control data or control commands generated here. This control data or control commands can also be via the central control 11 to the stationary control unit 10 be transmitted.

Since the total data obtained both in the mobile control unit 7 as well as a mirror image in the stationary control unit 10 are available and also the stationary control unit 10 with the central control 11 coupled, the data in question can be transmitted to virtually any location and evaluated here via a computer network. This means that the evaluation of the thermographic data, image data and also GPR data in the example can also take place at a remote location and does not necessarily have to be at the location of the central control unit 10 be made. For this purpose, the data are advantageously reproduced in three dimensions, for example via a to the stationary control unit 10 connected VR glasses, as already explained in detail in the introduction.

LIST OF REFERENCE NUMBERS

1 =

infrastructure object

2 =

infrastructure object

3 =

infrastructure object

4 =

Rotary-wing UAV

5 =

Thermal camera

6 =

camera

7 =

mobile control unit

8 =

GPR sensor

9 =

GPS sensor

10 =

stationary control unit

11 =

central control

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102015013550 A1 [0002]
• DE 102012003513 B3 [0004]
• DE 102012108179 A1 [0005]

Claims (10)

Method for the outer skin and / or inner skin inspection of infrastructure objects (1, 2, 3), using at least one rotary wing drone (4), after which the skin surface in question is scanned by means of a thermal imaging camera (5), and then the thermographic data recorded in each case a control unit (7, 10) for linking to further status data of the skin surface, for example its image data, is transmitted. Procedure according to Claim 1 , characterized in that the thermographic data and the state data of the skin surface are each recorded three-dimensionally. Procedure according to Claim 2 , characterized in that for the three-dimensional acquisition of the thermographic data and / or state data the respective sensor data, for example a respectively recorded two-dimensional image, are linked with position data of the rotary wing drone (4). Procedure according to Claim 3 , characterized in that the position data of the rotary wing drone (4) are derived by means of a GPS sensor (9) and / or by distance measurements to the infrastructure object (1, 2, 3) and / or by distance measurements to ground points. Procedure according to Claim 3 or 4 , characterized in that the three-dimensional thermographic data and / or state data are linked with three-dimensional object data of the examined infrastructure object (1, 2, 3). Procedure according to Claim 5 , characterized in that the object data of the infrastructure object (1, 2, 3) reflect at least its outer skin and / or inner skin surface. Procedure according to one of the Claims 1 to 6 , characterized in that the thermographic data and / or status data is transmitted by the rotary wing drone (4) to a stationary and / or mobile control unit (7, 10). Procedure according to Claim 7 , characterized in that the mobile control unit (7) as well as the thermal imaging camera (5) and a photographic image camera (6) form part of the rotary wing drone (4). Procedure according to one of the Claims 1 to 8th , characterized in that the control unit (7, 10) communicates with a central controller (11), for example to access the object data stored in the central controller (11), additional location data of the object, and / or temperature and weather data at the examination site and / or to receive control data. Device for the outer skin and / or inner skin inspection of infrastructure objects (1, 2, 3) with the aid of at least one rotary wing drone (4), in particular for carrying out the method according to one of the Claims 1 to 9 , with a thermal imaging camera (5) for scanning the relevant skin surface, and with a control unit (7, 10) for linking thermographic data recorded with the aid of the thermal imaging camera (5) to further status data of the skin surface, for example its image data.

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