KR101252080B1 - The apparatus and method of inspecting with flying robot of quad roter - Google Patents

Abstract

PURPOSE: A transmission tower insulator crack inspection apparatus and a method using a quadrotor type flying robot are provided to reduce the inspection time of a transmission tower insulator, and to secure safety of the inspector by processing with a smart phone after acquiring real time video data not shaken by wind or external pressure through a flying robot. CONSTITUTION: A flying robot body(110) plays a role supporting a rotor formed by crossing from the east, the west, the south, and the north at a crossing point in the center, and is formed to be a cylindrical shape or a cubic box shape. A quadrotor unit(120) is formed by crossing in the east, the west, the south, and the north directions based on the flying robot body, performs hovering, thrusting, rolling, pitching, and yawing motions, and is levitated to a specific location and locates the flying robot body in the stop position. Also, the quadrotor unit consists of a support frame, a first rotor unit(122), a second rotor unit(123), a third rotor unit(124), and a fourth rotor unit(125). A sensor unit is located in one side of the quadrotor unit and the flying robot body, and measures a location, a speed and an approaching object of the flying robot in order to transmit to a flying robot control unit. A smart phone(200) downloads and activates an application for the flying robot control, sets the quadrotor type flying robot and an AP(Access Point), and sends a posture control command and a location control command to the quadrotor type flying robot. In response to the command, the smart phone receives real time video data of an insulator crack of the transmission tower, inspects the surface of the insulator, and performs a non-destructive inspection searching for a mechanical defect related to the crack on the insulator surface.

Description

Transmission Apparatus Crack Inspection Apparatus and Method Using Quadrotor Flight Robot {THE APPARATUS AND METHOD OF INSPECTING WITH FLYING ROBOT OF QUAD ROTER}

The present invention relates to a non-destructive testing method for inspecting the surface state of the insulator by photographing the insulator installed in the transmission tower using a quadrotor-type flying robot that is floating in the air, and collecting the captured image in real time, and to an autonomous flying robot equipped with a camera. will be.

In general, insulators used in transmission towers are damaged by crack damage or physical external force due to repeated mechanical and thermal stresses.

Conventionally, many methods have been developed to check for insulator abnormalities, including potential measurement, resistance measurement, electric field measurement, and insulator nondestructive testing using frequency response function. An insulator detector is introduced and used.

In this method, the crack of the insulator caused by repetitive mechanical and thermal stress or damage caused by physical external force cannot be inspected.The insulator nondestructive testing method using the frequency response function performs the non-destructive test, so In order to measure the insulator installed in the transmission tower, the inspection equipment is taken to the top of the transmission tower where the insulator is installed.

Such a method has a significant risk, and therefore, the inspector frequently has an electric shock, and it takes a long time to start and complete the test.

In order to solve such a problem, a conventional method of photographing through a flying robot has been proposed, but it is difficult to obtain accurate image data due to shaking due to the influence of wind.

In addition, it is difficult to obtain real-time image data to a control terminal located at a short distance, so that accurate image data regarding cracks of a transmission tower insulator is difficult to obtain.

Domestic Patent Publication No. 10-0873976 (August 17, 2008)

In order to solve the above problems, the present invention can obtain real-time image data regarding the crack of the transmission tower insulator while being positioned on the inspection object without being shaken by wind or external pressure, and processing the acquired image directly on the flying robot control smartphone. A non-destructive test that detects mechanical defects related to cracks on the insulator surface by inspecting the state of the surface can be performed, which shortens the inspection time of the transmission tower insulator and ensures the safety of the inspector. It is an object of the present invention to provide an insulator crack inspection apparatus and method.

Transmission tower insulator crack inspection apparatus through a quadrotor-type flying robot according to the present invention to achieve the above object

It is operated by receiving posture control signal and position control signal by flight robot control smart phone. After quadrotor moves to hovering, thrust, roll motion, pitch motion and yaw movement to the insulator of the transmission tower, the image is taken. And, quadrotor type flight robot 100 for transmitting real-time image data to the flight robot control smartphone via a WiFi communication network,

After downloading the flight robot control application and activating it on the screen, the quadrotor type flight robot and AP (Access Point) are set, and the posture control command and the position control command are sent to the quadrotor type flight robot, and as a response signal accordingly. It is achieved by receiving a real-time image data about the insulator cracks of the transmission tower, and is configured by the flight robot control smartphone 200 to perform a non-destructive inspection to find the mechanical defects related to the cracks of the insulator surface.

In addition, the transmission tower insulator crack inspection method using a quad rotor type flight robot according to the present invention

Downloading the flight robot control application from the flight robot control smartphone to activate on the screen (S100),

Setting a quadrotor-type flight robot and an AP (access point) in a smartphone for flight robot control, and transmitting a posture control command and a position control command to the quadrotor-type flight robot (S200);

Quadrotor-type flying robot 100 is hovering, thrust, roll movement, pitch movement, yaw (YAW) movement to the insulator of the transmission tower is positioned and then taken the image (S300),

And transmitting the real-time video data to the flight robot control smartphone via the WiFi communication network (S400),

Receiving real-time image data about the insulator crack of the transmission tower is achieved by performing a non-destructive inspection to find the mechanical defects related to the crack of the insulator surface (S500) by inspecting the state of the insulator surface.

As described above, in the present invention, imaging and acquisition of transmission tower insulators, and non-destructive inspections can be carried out at the same time, reducing inspection time and costs, and above all, quadrotor-type flying robots. Through this, it is possible to shoot accurate image data while locating the object to be lifted while being levitation, which has a good effect of extending the application range for industrial and military use.

1 is a perspective view showing the components of a transmission tower insulator crack image inspection apparatus through a quadrotor-type flying robot according to the present invention,
Figure 2 is an exploded perspective view showing the components of the transmission tower insulator crack image inspection apparatus through a quad rotor type flight robot according to the present invention,
3 is a block diagram showing the components of the flight robot control smartphone 200 according to the present invention,
4 is a block diagram showing the components of the flight robot controller 140 according to the present invention;
5 is a block diagram showing the components of the PID controller according to the present invention;
6 is a flowchart illustrating a method for inspecting a transmission tower insulator crack through a quad rotor-type flying robot according to the present invention;
Figure 7 is an embodiment showing a process of transmitting the transmission tower insulators by taking a video of the transmission tower insulator through the transmission tower insulator crack inspection apparatus through a quadrotor-type flying robot according to the present invention to transmit to the flying robot control smartphone ,
8 is a diagram illustrating a process of detecting an internal crack of a transmission tower insulator by using an ultrasonic generator and a detector according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view showing the components of the transmission tower insulator crack inspection apparatus through a quadrotor-type flying robot according to the present invention, which comprises a quadrotor-type flying robot 100 and a flying robot control smartphone 200 do.

First, the quadrotor-type flying robot 100 according to the present invention will be described.

The quadrotor-type flying robot 100 is operated by receiving a posture control signal and a position control signal by a smartphone for controlling the flight robot, and hovering, thrust, roll motion, pitch motion, yaw to the insulator of the transmission tower through the quadrotor. YAW) After the position is fixed by movement to take a picture, and to transmit the real-time image data to the flight robot control smartphone via WiFi communication network, which is a flight robot body 110, quadrotor unit 120, sensor unit 130, the flight robot controller 140, the WiFi communication module 150, the power supply unit 160, and the image camera unit 170.

First, the flight robot body 110 according to the present invention will be described.

The flying robot body 110 serves to support the rotor formed across the east, west, north, and north directions at the interlock point.

It is formed in a cylindrical or rectangular box shape, and is made of a light and durable aluminum alloy steel material.

Then, the quadrotor part is formed in the east, west, north and north directions around the flight robot body, and the flight robot controller, the WiFi communication module, and the power supply unit are formed therein, and the image camera unit is formed while being supported by the stabilizer at the bottom.

Second, the quadrotor unit 120 according to the present invention will be described.

The quadrotor unit 120 is formed across the flight robot body in the east-west-south north direction, while hovering, thrust, roll movement, pitch movement, yaw (YAW) movement according to the attitude control and position control of the flight robot controller It is levitation to a specific position and serves to position the flying robot body.

It is composed of a support frame 121, the first rotor portion 122, the second rotor portion 123, the third rotor portion 124, the fourth rotor portion 125.

The support frame 121 is formed in a cross shape around the flying robot body to support the rotors located in the east, west, north and south directions, which is made of light and durable aluminum alloy steel.

The first rotor part 122 is positioned in the east direction with respect to the flight robot body, and is supported by the support frame to receive the attitude control signal and the position control signal of the flight robot controller to receive the second rotor part, the third rotor part, Together with the fourth rotor, hovering, thrust, roll movement, pitch movement, yaw movement are performed.

It is composed of a first rotor 122a and a first BLDC motor 122b.

The first rotor 122a is a linear rotor blade and is rotated by a first BLDC motor while being located in an east direction with respect to the flying robot body.

The first BLDC motor 122b drives a rotational force to the first rotor, which has a speed of 3600 rpm / V, a power of 375W, a voltage of 6 to 15V, a current of 20A, and a weight of 60g. Has

The BLDC motor controller 140a for controlling the first BLDC motor according to the present invention is configured at the upper side of the flight robot controller of the flight robot body part.

The second rotor part 123 is disposed in a diagonal direction with the first rotor part, and is supported by the support frame to receive the attitude control signal and the position control signal of the flight robot controller, and receive the first rotor part, the third rotor part, and the third rotor part. 4 It plays a role of hovering, thrust, roll movement, pitch movement and yaw movement together with the rotor part.

It is composed of a second rotor 123a and a second BLDC motor 123b.

The second rotor 123a is a linear rotor blade, and is rotated by a second BLDC motor while being positioned diagonally with the first rotor part about the flying robot body.

The second BLDC motor 123b drives a rotational force to the second rotor, which has a speed of 3600 rpm / V, a power of 375W, a voltage of 6 to 15V, a current of 20A, and a weight of 60g. Has

The second BLDC motor is controlled by the BLDC motor controller 140a.

The third rotor part 124 is located in the south direction with respect to the flight robot body, and is supported by the support frame and receives the attitude control signal and the position control signal of the flight robot controller to receive the first rotor part, the second rotor part, Together with the fourth rotor portion, hovering, thrust, roll movement, pitch movement, yaw movement is performed.

It is composed of a third rotor 124a and a third BLDC motor 124b.

The third rotor 124a is a linear rotor blade and is rotated by a third BLDC motor while being located in a south direction with respect to the flying robot body.

The third BLDC motor 124b drives a rotational force to the third rotor, which has a speed of 3600 rpm / V, a power of 375W, a voltage of 6 to 15V, a current of 20A, and a weight of 60g. Has

The third BLDC motor is controlled by the BLDC motor controller 140a.

The fourth rotor part 125 is positioned in a diagonal direction with the third rotor part, and is supported by the support frame to receive the attitude control signal and the position control signal of the flight robot controller, and thereby receive the first rotor part, the second rotor part, and the first rotor part. Hovering, thrust, roll movement, pitch movement, yaw (YAW) movement with the three rotor portion, which is composed of a fourth rotor (125a), the fourth BLDC motor (125b).

The fourth rotor 125a is a linear rotor blade, and is rotated by a fourth BLDC motor while being positioned diagonally with the third rotor part about the flying robot body.

The fourth BLDC motor 125b drives rotational force to the fourth rotor, which has a speed of 3600 rpm / V, a power of 375W, a voltage of 6 to 15V, a current of 20A, and a weight of 60g. Has

The fourth BLDC motor is controlled by the BLDC motor controller 140a.

Third, the sensor unit 130 according to the present invention will be described.

The sensor unit 130 is located on one side of the quad rotor unit and the flying robot body, and serves to measure the position, speed, and proximity object detection of the flying robot to be transmitted to the flying robot controller.

It is composed of a gyro sensor 131, an acceleration sensor 132, an infrared sensor 133, a GPS receiver 134, an altimeter 135.

The gyro sensor 131 is a sensor that informs the value of the angle of the rotation of the flight robot body in unit time based on one axis, which is configured on the lower side of the flight robot body, roll motion, pitch motion, yaw (YAW) Measure the angle of rotation of the flying robot body during exercise.

The acceleration sensor 132 is a sensor for measuring the acceleration or impact strength of the moving object, which is configured on one side of the first rotor portion and the third rotor portion.

The infrared sensor 133 is used to reflect the infrared rays on the bottom surface and receive a return value to control the distance between the flying robot body and the object in close proximity. It is selected and configured in any one of a 1st rotor part, a 2nd rotor part, a 3rd rotor part, and a 4th rotor part.

The GPS receiver 134 is located at one side of the upper part of the flying robot body, and receives the position (X-axis, Y-axis) and time of the current quadrotor-type flying robot from the GPS satellites and transmits it to the flying robot controller.

The altimeter 135 serves to measure the elevation of the flying robot body on the floor reference plane.

In addition, in the present invention, the sensor unit 130 includes an ultrasonic oscillator 136 and a detector 137 to find the internal crack of the transmission tower insulator on one side of the quadrotor unit and the flying robot body.

Here, the ultrasonic oscillator 136 serves to oscillate the ultrasonic wave to the transmission tower insulator.

The detector 137 receives the ultrasonic wave oscillated in the transmission tower insulator, stores internal crack data indicating the difference between the incident wave and the bottom reflection wave, and transmits the internal crack data to the flying robot controller.

Fourth, the flight robot control unit 140 according to the present invention will be described.

The flight robot controller 140 receives the position, the speed, and the height of the flight robot measured from the sensor unit, calculates an error by comparing with a reference setpoint, and uses the current value to calculate the current flight robot. After calculating the posture control and position control, the quadrotor outputs the posture control command and the position control command, and the real-time image data and the internal crack data captured by the video camera unit with the flight robot control smartphone through the WiFi communication module. It also controls the transmission of sensor survey data.

It is composed of a PID controller 141, a PWM control unit 142, a data transmission unit 143.

The PID controller 141 receives the position, speed, and height of the flying robot measured from the sensor unit, and compares the error with the reference set point of the hovering, thrust, roll movement, pitch movement, yaw movement, error), calculates the attitude control and position control of the current flight robot using this error value, and generates the reference voltage signal of the PWM controller to reduce the error.

It consists of a hovering mode 141a, a thrust mode 141b, a roll motion mode 141c, a pitch motion mode 141d, and a yaw motion mode 141e.

The hovering mode 141a rotates the first rotor part and the second rotor part clockwise to counteract the torque resulting from the rotation, and rotates the third rotor part and the fourth rotor part counterclockwise to float in the air. In this state, it performs vertical takeoff and vertical landing.

The thrust mode 141b rotates the speeds of the first rotor part, the second rotor part, the third rotor part, and the fourth rotor part in the same manner, causing the gas to rise and fall in the vertical direction, and increase the acceleration to Has the ability to control altitude.

The roll motion mode 141c has a function of increasing or decreasing the rotational speed of the first rotor part and the second rotor part to move left roll or right roll.

That is, when the speed of the first rotor portion is increased and the speed by the increase is decreased through the second rotor portion, the torque appearing in the four rotor portions is canceled out, and the speed difference between the first rotor portion and the second rotor portion Force difference occurs, which causes acceleration of left and right motion, which causes left and right roll motion of quadrotor type flight robot.

The pitch movement mode 141d has a function of increasing or decreasing the speed of the third rotor portion and the fourth rotor portion to pitch the gas from the top to the bottom or from the bottom to the top.

That is, when the speed of the fourth rotor portion is increased and the speed by the increase is decreased through the third rotor portion, the torques appearing in the four rotor portions are canceled out, and the third rotor portion and the fourth rotor portion have different speed differences. Due to the difference in force caused by the acceleration of the vertical movement occurs, which causes the pitch motion of the quadrotor flying robot.

The yaw motion mode (141e) yaw movement of the quad rotor type flight robot based on the Z axis by increasing or decreasing the speed of the first rotor portion, the second rotor portion, the third rotor portion, and the fourth rotor portion rotating in the same direction. It has a function to make.

That is, when the speed of the first rotor part and the second rotor part is increased, and the speed of the increase is decreased through the third rotor part and the fourth rotor part, the plane rotation is caused by the torque difference appearing in the four rotor parts. Acceleration of motion occurs, which causes the quadrotor type flight robot to yaw about the Z axis.

The PID controller according to the present invention is a fuzzy algorithm engine for the hovering mode, the thrust mode, the roll motion mode, the pitch motion mode, the yaw motion mode to maintain the posture and position to avoid being pushed by the wind around the transmission tower. 141f).

In order to design the fuzzy algorithm engine 141f, the following process is performed.

That is, the specific motion equation for the quadrotor flying robot to fly is expressed as in Equation 1 below.

Here, u is a control input, and e is an error, Kp, KI, and Kz are proportional gain, integral gain, and differential gain, respectively.

This is expressed using a Laplace transform and is expressed as in Equation 2 below.

In addition, in constructing a fuzzy algorithm engine using Matlab / Simulink, since excessive integral gain may cause system instability, there is a limitation for a certain section, In case of over 180 °, the system is configured to express only up to ± π by limiting the π bound to prevent the calculation error of the system.

In other words, the fuzzy algorithm engine according to the present invention stabilizes the system using the Roof-Locus method, and obtains an appropriate gain in which damping becomes 0.707 and ω _n becomes 1rar / s. Calculate the mode so that K _p = 0.8, K _d = 0.4, K _i = 0.01 in roll motion mode and pitch motion mode, respectively, and K _p = 0.8, K _d = 0.5, K in yaw motion mode. Set the mode so that _i = 0.05.

The PWM control unit 142 receives the comparator reference voltage signal from the PID controller, compares the reference sawtooth signal regarding the hovering, thrust, roll motion, pitch motion, yaw (YAW) motion through a comparator internal operation, and then a first rotor. It serves to adjust the PWM duty ratio of the BLDC motor control unit for controlling the output of the second, third rotor, third rotor, fourth rotor.

The data transmission unit 143 serves to transmit the real-time image data taken by the image camera unit to the flight robot control smartphone through the WiFi communication module.

This is measured by the internal crack data measured by the detector 137 under the control of the flight robot controller, the gyro sensor 131, the acceleration sensor 132, the infrared sensor 133, the GPS receiver 134, and the altimeter 135. It includes sensor survey data and transmits it to the smartphone for flight robot control.

Fifth, the WiFi communication module 150 according to the present invention will be described.

The WiFi communication module 150 is located at one side of the flight robot control unit to serve as a connection between the flight robot control smartphone and the WiFi communication network.

It receives the posture control signal and the position control signal by the flight robot control smartphone, and serves to transmit the real-time image data taken by the video camera unit to the flight robot control smartphone.

Sixth, the power supply unit 160 according to the present invention will be described.

The power supply unit is located at one side of the flying robot body and serves to supply power to the flying robot controller, the sensor unit, and the quadrotor unit.

This consists of a battery pack structure in which lithium polymer batteries are connected in parallel.

Seventh, the image camera unit 170 according to the present invention will be described.

The image camera unit 170 is located on the lower surface of the flying robot body and is supported by the stabilizer, and serves to take an image of the inspection object without being shaken by external pressure.

It is configured to image or photograph the surface cracks of the transmission tower insulator.

That is, a square panel-shaped stabilizer 171 is formed, a spherical video camera 172 is formed from the center of the stabilizer to the bottom outward, and a rotating motor 173 for rotating the video camera 360 ° at the rear of the video camera is provided. Is formed.

In addition, the image camera unit is connected to the input terminal of the flight robot controller to the output terminal, and transmits the captured real-time image data directly to the flight robot controller.

Next, the flight robot control smartphone 200 according to the present invention will be described.

The flight robot control smartphone 200 is downloaded and activated on the screen after the flight robot control application, set the quadrotor-type flight robot and the AP (Access Point), the attitude control command and position with the quadrotor-type flight robot It sends a control command and receives the real-time image data of the insulator cracks of the transmission tower as a response signal, and inspects the state of the insulator surface.

This is composed of WiFi communication module 210, memory unit 220, image data conversion unit 230, flight robot control application 240, microcomputer unit 250, non-destructive inspection unit 260.

The WiFi communication module 210 is connected to each other via a flight robot control smartphone and a WiFi network, so as to communicate by two-way data communication.

The memory unit 220 serves to primarily store image data transmitted from the WiFi communication module.

The image data converter 230 extracts image data stored in a memory unit and converts the image data into a bitmap.

This binarizes the image data and converts the image data into a bitmap.

The flight robot control application 240 activates the 3D image of the quadrotor-type flight robot to be moved on the touch screen of the smartphone, the image data converted through the image data conversion unit and the current position data stored in the memory unit To activate the user interface.

It consists of Linux kernel-based (JAVA) Android and Object-C-based iOS SDK.

In addition, the levitation flying robot according to the present invention is a moving coordinate system, since the transmission tower insulator is a fixed coordinate system, the flight robot control application 240 converts the real-time image data into a 3D model to express the crack position of the transmission tower insulator on the screen. The 3D image conversion program engine 241 is configured.

The 3D image conversion program engine is a sensor measurement data measured by the gyro sensor 131, the acceleration sensor 132, the infrared sensor 133, the GPS receiver 134, the altimeter 135 transmitted under the control of the flight robot controller ( Calculate the relative position of the transmission tower insulator after acquiring the position information of the transmission tower insulator based on the position through the GPS receiver on the X and Y axes, the altitude of the Z axis, the roll, the pitch, and the gyro sensor during the yaw movement. Thereafter, the real-time image data of the transmission tower insulator is converted into a 3D model to express the crack position of the transmission tower insulator on the screen.

The microcomputer unit 250 detects a hovering event, a thrust event, a roll exercise event, a pitch exercise event, and a yaw exercise event touched on a touch screen of the smartphone. It is a quadrotor type flight robot that controls the attitude control command signal and the position control command signal.

It consists of the PIC16C711 one-chip microcomputer.

The non-destructive inspection unit 260 receives real-time image data regarding the insulator cracks of the transmission tower and checks the state of the insulator surface to find a mechanical defect regarding the insulator surface crack.

It compares the actual image data with the normal image data of the transmission tower insulator, finds mechanical defects such as surface cracks or internal cracks on the insulator surface based on the internal crack data, and then displays them as graphs or figures on the smartphone screen. And to output a mechanical fault level.

Hereinafter, a description will be given of a transmission tower insulator crack inspection method through a quadrotor-type flying robot according to the present invention.

First, download the flight robot control application from the flight robot control smartphone to activate on the screen (S100).

Subsequently, a quadrotor type flight robot and an AP (Access Point) are set in the flight robot control smartphone, and the attitude control command and the position control command are transmitted to the quadrotor type flight robot (S200).

Subsequently, the quadrotor-type flying robot 100 moves to hovering, thrust, roll movement, pitch movement, yaw (YAW) movement to the insulator of the transmission tower, and then takes an image (S300).

Subsequently, real-time image data is transmitted to the smartphone for flight robot control through the WiFi communication network (S400).

Finally, by receiving real-time image data regarding the insulator crack of the transmission tower, a non-destructive test is performed to find a mechanical defect related to the crack of the insulator surface by inspecting the state of the insulator surface (S500).

It compares the actual image data with the normal image data of the transmission tower insulator, finds mechanical defects such as surface cracks or internal cracks on the insulator surface based on the internal crack data, and then displays them as graphs or figures on the smartphone screen. Output the mechanical fault level.

100: quadrotor flying robot 110: flying robot body
120: quadrotor unit 130: sensor unit
140: flight robot controller 150: WiFi communication module
160: power supply unit 170: video camera unit
200: flight robot control smartphone 210: WiFi communication module
220: memory unit 230: image data conversion unit
240: flight robot control application 250: microcomputer unit
260 nondestructive inspection unit

Claims (7)

It is operated by receiving posture control signal and position control signal by flight robot control smart phone. After quadrotor moves to hovering, thrust, roll motion, pitch motion and yaw movement to the insulator of the transmission tower, the image is taken. And, quadrotor type flight robot 100 for transmitting real-time image data to the flight robot control smartphone via a WiFi communication network,
After downloading the flight robot control application and activating it on the screen, the quadrotor type flight robot and AP (Access Point) are set, and the posture control command and the position control command are sent to the quadrotor type flight robot, and as a response signal accordingly. Quad, characterized in that consisting of a flying robot control smartphone 200 for receiving non-destructive inspection to find the mechanical defects related to the crack of the insulator surface by receiving the real-time image data about the insulator crack of the transmission tower Transmission tower insulator crack inspection device using rotor type flight robot.
According to claim 1, wherein the quadrotor-type flying robot 100
A flying robot body 110 supporting the rotor formed across the east-west-south direction at the center of the deadlock;
It is formed across the body of the flying robot in the north, south, east, west, and north directions, and is hovered, thrust, roll, pitch, yaw, and floats to a specific position according to the attitude and position control of the flight robot controller. Quad rotor portion 120 for positioning the body,
Located on one side of the quad rotor, the sensor unit 130 for measuring the position of the flight robot, the speed, close object detection and transmits to the flight robot control unit,
The position, speed, and height of the flying robot measured from the sensor unit are input, and the error is calculated by comparing with the setpoint. Using this error value, the attitude control and position control of the current flying robot can be calculated. Afterwards, the flight robot controller outputs the posture control command and the position control command to the quadrotor unit and transmits the real-time image data and the internal crack data captured by the image camera unit to the smart flight robot control through the WiFi communication module. 140,
Located on one side of the flight robot controller WiFi communication module 150 for connecting to the flight robot control smartphone and WiFi communication network,
A power supply unit 160 positioned at one side of the flying robot body to supply power to the flying robot controller, the sensor unit, and the quadrotor unit;
Positioned on the bottom surface of the flying robot body is supported by a stabilizer, the transmission tower insulator via a quadrotor type flying robot, characterized in that it comprises an image camera unit 170 for recording the image of the inspection object without shaking by external pressure Crack inspection device.
The method of claim 2, wherein the quadrotor unit 120
The support frame 121 is made of a cross-shaped shape around the flying robot body for supporting the rotors located in the north-west, north-west direction, and
Located in the east direction with respect to the flight robot body, supported by the support frame and receiving the attitude control signal and the position control signal of the flight robot controller, the hovering and thrust together with the second rotor part, the third rotor part and the fourth rotor part. And the first rotor part 122 for rolling, pitching, yawing,
Located in a diagonal direction with the first rotor part, while being supported by the support frame and receiving the attitude control signal and the position control signal of the flying robot controller, the hovering, thrust, and the first rotor part, the third rotor part, and the fourth rotor part are received. The second rotor portion 123 to roll, pitch, yaw (YAW) movement,
Located in the south direction with respect to the flight robot body, supported by the support frame and receiving the attitude control signal and the position control signal of the flight robot controller, the hovering and thrust together with the first rotor part, the second rotor part, and the fourth rotor part. And, the third rotor portion 124, roll movement, pitch movement, yaw (YAW) movement,
Located in a diagonal direction with the third rotor part, while being supported by the support frame and receiving the attitude control signal and the position control signal of the flight robot controller, the hovering, thrust, and the first rotor part, the second rotor part, and the third rotor part are received. Transmission tower insulator crack inspection apparatus using a quad rotor type flight robot, characterized in that the roll movement, pitch movement, yaw (YAW) movement of the fourth rotor portion (125).
The method of claim 2, wherein the flight robot control unit 140
The position, speed, and height of the flying robot measured from the sensor unit are input, and the error is calculated by comparing with the setpoint. Using this error value, the attitude control and position control of the current flying robot can be calculated. After that, to reduce the error PID controller 141 for generating a reference voltage signal of the PWM controller,
The comparator reference voltage signal is input from the PID controller, and compared with reference sawtooth signals related to hovering, thrust, roll motion, pitch motion, yaw motion through internal comparator calculation, and then the first rotor part, the second rotor part, PWM control unit 142 for adjusting the PWM duty ratio of the BLDC motor control unit for controlling the output of the third rotor unit, the fourth rotor unit,
Transmission tower insulator crack inspection device through a quadrotor type flight robot, characterized in that it comprises a data transmission unit for transmitting the real-time image data captured by the video camera unit to the smart flight robot control via the WiFi communication module.
According to claim 1, wherein the flight robot control smartphone 200
Wi-Fi communication module 210 is connected to each other via a flight robot control smartphone and WiFi network, the communication connection so that two-way data communication,
A memory unit 220 for primarily storing image data transmitted from the WiFi communication module;
An image data converter 230 for extracting image data stored in a memory unit and converting the image data into a bitmap;
For flight robot control that activates 3D images of quadrotor type flight robots to be moved on the touch screen of a smartphone, and activates the image data converted through the image data converter and the current position data stored in the memory unit as a user interface. Application 240,
Posture with quadrotor type flight robot by detecting hovering event, thrust event, roll exercise event, pitch exercise event, and yaw exercise event that are touched on the smartphone's touch screen A microcomputer unit 250 which controls to send a control command signal and a position control command signal;
Transmission tower insulator through quadrotor type flight robot, comprising a non-destructive inspection unit 260 that receives real-time image data of the insulator crack of the transmission tower and inspects the state of the insulator surface to find a mechanical defect related to the crack of the insulator surface Crack inspection device.
According to claim 5, The flight robot control app 240
Position information of the transmission tower insulator based on sensor survey data measured by the gyro sensor 131, the acceleration sensor 132, the infrared sensor 133, the GPS receiver 134, and the altimeter 135 transmitted under the control of the flight robot controller. After acquiring the, after calculating the relative position of the tower insulator, the 3D image conversion program engine for converting the real-time image data about the tower insulator into a 3D model to express the crack position of the tower insulator on the screen Transmission tower insulator crack inspection device characterized by a quadrotor flying robot.
Downloading the flight robot control application from the flight robot control smartphone to activate on the screen (S100),
Setting a quadrotor-type flight robot and an AP (access point) in a smartphone for flight robot control, and transmitting a posture control command and a position control command to the quadrotor-type flight robot (S200);
Quadrotor-type flying robot 100 is hovering, thrust, roll movement, pitch movement, yaw (YAW) movement to the insulator of the transmission tower is positioned and then taken the image (S300),
And transmitting the real-time video data to the flight robot control smartphone via the WiFi communication network (S400),
Receiving real-time image data on the insulator crack of the transmission tower to inspect the state of the insulator surface to perform a non-destructive inspection to find the mechanical defects related to the crack on the insulator surface (S500) Transmission tower insulator crack inspection method.

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