KR101634937B1 - System for automatic vision inspection, method using the same - Google Patents

System for automatic vision inspection, method using the same Download PDF

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Publication number
KR101634937B1
KR101634937B1 KR1020150065295A KR20150065295A KR101634937B1 KR 101634937 B1 KR101634937 B1 KR 101634937B1 KR 1020150065295 A KR1020150065295 A KR 1020150065295A KR 20150065295 A KR20150065295 A KR 20150065295A KR 101634937 B1 KR101634937 B1 KR 101634937B1
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South Korea
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subject
vision inspection
thermal image
unmanned
aerial vehicle
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KR1020150065295A
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Korean (ko)
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최기성
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(주)투비시스템
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
    • G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Studio Devices (AREA)

Abstract

Disclosed herein is an unmanned vision inspection system for visually inspecting a subject using an unmanned aerial vehicle. The unmanned vision inspection system includes a unmanned aerial vehicle for setting a flight path on the basis of position information of a subject, thermally capturing the subject, and collecting thermal images of the subject; And a vision inspection device for visually inspecting whether the object is abnormal according to a temperature difference of the object based on the thermal image of the object received from the unmanned air vehicle. Accordingly, it is possible to check the abnormality of the object through the unmanned aerial vehicle, and the manager can check the progress of the vision inspection in real time through the vision inspection apparatus. Thus, when the inspector directly inspects the object, You can save. Further, it is possible to check the abnormality of the object through the thermal image, so that it is possible to collect the thermal image of the same level irrespective of the illumination environment and to perform more accurate inspection than when the inspector directly inspects the object.

Description

Technical Field [0001] The present invention relates to an automatic vision inspection system,

The present invention relates to an unmanned vision inspection system and an unmanned vision inspection method using the same. More particularly, the present invention relates to an unmanned vision inspection system for visually inspecting an object using an unmanned aerial vehicle, and an unmanned vision inspection method using the same.

Generally, power generated by a power plant is supplied to a factory or a home through a substation. Here, the power generated by the power plant is supplied from the power plant to the substation through the transmission line installed in the transmission tower, and the transmission line installed in the transmission tower is installed in the air of tens of meters from the ground for stability reasons because high voltage power of tens of thousands of volts [V] flows.

On the other hand, transmission towers and transmission lines may be damaged by an external impact during transmission line use, resulting in deterioration of power transmission efficiency, resulting in potential damage due to exposure to natural environments such as lightning, rainfall, snowfall, .

However, there is a problem that transmission towers and transmission lines are mainly installed in a rare area such as a mountainous area, so that human and material costs are consumed for regular inspection and maintenance.

In addition, it may be a safety problem that the inspectors directly inspect the transmission line, which is installed in a transmission tower and a transmission tower, which are built high on the ground, and is located in the air several tens of meters away from the ground.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and an object of the present invention is to provide a method and apparatus for capturing a thermal image by thermally imaging a subject (for example, a transmission tower and a transmission line) The vision inspection apparatus transmits the image to the real-time vision inspection apparatus, and the vision inspection apparatus provides an unmanned vision inspection system that visually inspects whether the object is abnormal based on the received thermal image.

It is another object of the present invention to provide an unmanned aerial vehicle capable of realizing a vision check by setting a flight path by unmanned airplane based on the position information of a subject, Inspection system.

It is still another object of the present invention to provide a method and an apparatus for collecting thermal images of the same level regardless of an illumination environment of a subject through an unmanned aerial vehicle and adjusting the focus of the thermal image of the subject by itself without any intervention, And an unmanned vision inspection system for photographing an image.

According to an aspect of the present invention, there is provided an unmanned vision inspection system for setting a flight path based on position information of a subject, capturing a thermal image of the subject, Flight; And a vision inspection device for visually inspecting whether the object is abnormal according to a temperature difference of the object based on the thermal image of the object received from the unmanned air vehicle.

When the plurality of subjects are provided, the vision inspecting apparatus assigns each of the identification numbers to the respective objects, and based on the GPS coordinates of the respective objects, each of the positions matching the respective identification numbers Information can be generated.

In addition, the unmanned aerial vehicle may set the flight path based on the respective identification numbers and the respective location information received from the vision inspection apparatus.

The unmanned aerial vehicle determines whether the photographed object is out of a predetermined range in the collected thermal image, and when it is determined that the photographed object is out of the preset range, So that the photographed subject can be brought within the predetermined range.

Further, the predetermined range of the thermal image means a specific range set inside the thermal image by the vision inspection apparatus, and the vision inspection apparatus is configured such that the subject is completely out of the thermal image The destination of the flight path of the unmanned air vehicle may be forcibly set to specific position information or specific GPS coordinates so that the unmanned air vehicle is safely retrieved.

The unmanned aerial vehicle may further include: an image collecting unit for taking a thermal image of the subject and collecting a thermal image of the subject; A communication unit that receives the position information of the subject and transmits the collected thermal image to the vision inspection apparatus; And a controller for setting the flight path based on the position information of the received subject.

In addition, the communication unit may include a GPS receiving module for receiving the GPS coordinates of the unmanned aerial vehicle, and may transmit the received GPS coordinates to the vision inspection device.

The three-dimensional sensing unit is connected to the image capturing unit and senses the three-dimensional orientation of the image capturing unit when the image capturing unit thermally captures the subject to generate three-dimensional orientation information. .

When the plurality of subjects are provided, the vision inspecting apparatus may be configured to assign each of the identification numbers to each of the objects, and to determine, based on each of the GPS coordinates of the object, And when receiving the thermal image of the subject from the unmanned air vehicle, receiving the GPS coordinates of the unmanned aerial vehicle and the 3D orientation information of the image collection unit together, Based on the position information of the object matched with the identification number, the GPS coordinates of the unmanned air vehicle, and the three-dimensional orientation information of the image collecting unit, it is determined which of the plurality of subjects the thermal image is , It is possible to determine from which position the subject has been thermally photographed.

The vision inspection apparatus may be configured such that the destination of the flight path of the unmanned air vehicle is forcibly set to specific position information or specific GPS coordinates so that the unmanned air vehicle can be safely retrieved if it is determined that the vision check is completed.

Also, the unmanned aerial vehicle can collect the thermal image of the same level even if the illumination environment of the subject is changed.

The subject may be any one of a transmission tower and a transmission line.

According to another aspect of the present invention, there is provided a method for inspecting an unmanned vehicle, comprising: setting a flight path based on position information of a subject by an unmanned aerial vehicle; A thermal image of the subject is captured by the unmanned aerial vehicle and a thermal image of the subject is collected; Transmitting the thermal image of the subject to the vision inspection apparatus by the unmanned air vehicle; And a step of visually inspecting the object by the vision inspection apparatus based on the thermal image of the object received from the unmanned air vehicle to determine whether the object is abnormal due to a temperature difference between the object and the object.

Accordingly, it is possible to check the abnormality of the object through the unmanned aerial vehicle, and the manager can check the progress of the vision inspection in real time through the vision inspection apparatus. Thus, when the inspector directly inspects the object, You can save.

Further, it is possible to check the abnormality of the object through the thermal image, so that it is possible to collect the thermal image of the same level irrespective of the illumination environment and to perform more accurate inspection than when the inspector directly inspects the object.

1 is a view illustrating an unmanned vision inspection system according to an embodiment of the present invention.
2 is a flowchart illustrating an unattended vision inspection method according to an embodiment of the present invention.
3 is a view for explaining a flight path of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 4 is a diagram for explaining a method for adjusting the distance to a subject by moving an unmanned aerial vehicle according to an embodiment of the present invention on a thermal image of a subject during flight.
FIG. 5 is a diagram for explaining a method for adjusting a distance to an object by moving an unmanned aerial vehicle according to an embodiment of the present invention on a thermal image of a subject during flight.
FIG. 6 is a view for explaining a method for adjusting a distance to a subject by moving an unmanned aerial vehicle according to an embodiment of the present invention on a thermal image of a subject during flight. FIG.
7 is a block diagram illustrating a configuration of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 8 is a diagram illustrating an image acquisition apparatus and a three-dimensional sensing unit of an unmanned aerial vehicle according to an embodiment of the present invention.
9 is a view showing an example of a thermal image captured by an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below and may be embodied in other forms. In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness, etc. of the components may be exaggerated for convenience. Like reference numerals refer to like elements throughout the specification.

1 is a view illustrating an unmanned vision inspection system according to an embodiment of the present invention.

The unmanned vision inspection system according to the present embodiment is configured to thermally image a subject P or L to collect thermal images and to visually check whether the subject P or L is abnormal based on the thermal image do.

To this end, the unmanned vision inspection system includes the unmanned air vehicle 100 and the vision inspection apparatus 200.

The unmanned air vehicle 100 is provided for collecting a thermal image by thermography of a subject P or L and transmitting the collected thermal image to the real-time vision inspection apparatus 200.

Specifically, the unmanned air vehicle 100 captures a thermal image of a subject P or L by taking a thermal image of the subject P or L. FIG.

Then, the unmanned air vehicle 100 delivers the thermal image of the collected object (P or L) to the vision inspection apparatus 200.

Also, the unmanned air vehicle 100 sets a flight path based on the position information of the subject P or L received from the vision inspection apparatus 200.

Here, the positional information of the subject P or L is generated from the vision inspection apparatus 200 or externally based on the GPS coordinates of the subject P or L, and is transmitted to the UAV 100.

The outside means a terminal connected to a communication network such as a PC and a notebook, or a server connected to a communication network provided separately from the unmanned air vehicle 100 and the vision inspection apparatus 200.

On the other hand, the vision inspection apparatus 200 is provided for visually inspecting the abnormality of the transmission tower and the transmission line based on the thermal image received from the unmanned air vehicle 100.

Specifically, the vision inspection apparatus 200 determines whether or not an abnormality of the subject (P or L) due to the temperature difference of the subject (P or L) based on the thermal image received from the unmanned air vehicle (100) do.

When the vision inspection apparatus 200 determines that the vision inspection has been completed, the vision inspection apparatus 200 may force the destination of the flight path of the unmanned air vehicle 100 to be specific position information or specific GPS coordinates so that the unmanned air vehicle 100 can be safely retrieved. have.

Here, the subject P or L may be one of a transmission tower and a transmission line, and the vision inspection apparatus 200 may be implemented as a terminal connected to a communication network such as a PC and a notebook computer or a server connected to a communication network.

2 is a flowchart illustrating an unattended vision inspection method according to an embodiment of the present invention.

First, the unmanned aerial vehicle 100 sets a flight path based on the position information of the subject P or L (S210).

Then, the unmanned object 100 captures a thermal image of the subject P or L to collect a thermal image of the subject P or L (S220).

In addition, the unmanned air vehicle 100 transmits the thermal image of the collected object (P or L) to the vision inspection apparatus 200 (S230).

The vision inspection apparatus 200 then detects an abnormality of the subject P or L based on the temperature difference of the subject P or L based on the thermal image of the subject P or L received from the unmanned air vehicle 100 (S240).

Thus, it is possible to check whether the subject P or L is abnormal through the unmanned air vehicle 100, and the manager can check the situation of the vision inspection in real time through the vision inspection apparatus 200, Or L), it is possible to save the human or material costs that are consumed.

Further, it is possible to check whether the subject (P or L) is abnormal through the thermal image, so that it is possible to collect the thermal image of the same level irrespective of the illumination environment and to inspect the subject (P or L) It is possible to perform more accurate inspection than in the case of

3 is a view for explaining a flight path of the UAV 100 according to an embodiment of the present invention.

The vision inspection apparatus 200 according to the present embodiment assigns each identification number to each of the subjects P or L as shown in FIG. 3 when a plurality of subjects P or L are provided, (P or L) based on the GPS coordinates of each of the mobile stations.

At this time, the vision inspection apparatus 200 may store the GPS coordinates of each subject (P or L) in advance or receive it from the outside.

In a case where the unmanned object 100 thermally images a subject P or L of a plurality of subjects P or L and collects the thermal image to deliver it to the vision inspection apparatus 200, The inspection apparatus 200 receives both the information about the flight path of the unmanned object 100 and the GPS coordinates of the unmanned air vehicle 100 so that the object P or L photographed in the thermal image is captured by a plurality of objects P L) of the subject (P or L).

Specifically, the vision inspection apparatus 200 acquires information on the GPS coordinates and the flight path of the received unmanned air vehicle 100, and position information of each subject (P or L) It is possible to determine which subject (P or L) of the plurality of subjects (P or L) the subject (P or L) photographed in the image is.

Here, the information on the flight path means information on which coordinates of the current unmanned aerial vehicle 100 is traveling in the flight path, or from which coordinates the aircraft is departing.

When a plurality of objects P or L are provided, the UAV 100 sets up a flight path based on each identification number and position information received from the vision inspection apparatus 200.

At this time, the unmanned air vehicle 100 may set a flight path so as to fly over the side of the subject P or L in order to prevent the collision with the subject P or L during the fall.

Then, the unmanned air vehicle 100 receives the GPS coordinates of the starting point and the GPS coordinates of the destination point, and sets the path by itself.

Here, the GPS coordinates of the arrival point may be the GPS coordinates of the subject (P or L) to be thermally imaged.

In addition, the GPS coordinates of the starting point and the GPS coordinates of the point to be passed as well as the GPS coordinates of the point to be passed are transmitted, and the path can be set up by reflecting the GPS coordinates.

When a plurality of GPS coordinates are transmitted, the GPS coordinates of the departing point, the GPS coordinates of the arrival point, and the plurality of GPS coordinates of the plurality of points to be passed are considered You can set the flight path yourself.

However, in order for the unmanned air vehicle 100 to set its own flight path, it is necessary for the vision inspection apparatus 200 to determine the method of setting the flight path of the unmanned airplane and transmit it to the unmanned airplane.

In this case, the method of setting the flight path includes a method of setting the flight path so that the unmanned object 100 moves to the shortest distance, a method of setting the flight path so that the unmanned object 100 moves to the shortest time, And a method of setting the flight path by putting the priority in the priority order.

Here, the specific condition is, for example, a condition such that the frequency of occurrence of the abnormality of the subject (P or L) is preferentially performed by visually inspecting the frequently occurring subject (P or L) more frequently than the frequency set by the vision inspection apparatus .

On the other hand, a subject (P or L) such as a power transmission line of a subject (P or L) hangs in a curved shape and is provided in the air several tens of meters away from the ground so that the subject (P or L) Simply setting the flight path based on the position information of the subject P or L makes it difficult for the unmannurular vehicle 100 to thermally image the subject P or L so that the subject P or L is in focus, .

Therefore, the UAV 100 sets a flight path on the basis of the position information of the subject P or L, determines whether the thermal image of the collected subject P or L is well-focused, .

Hereinafter, a method for adjusting the distance from the subject (P or L) to the subject (P or L) will be described with reference to FIGS. 4 to 6, by moving the unmanned air vehicle 100 based on the thermal image of the subject P or L during flight .

4 to 6 illustrate a method of adjusting the distance to the subject P or L based on the thermal image of the subject P or L while the unmanned air vehicle 100 according to an embodiment of the present invention is moved during flight Fig.

The unmanned flying vehicle 100 according to the present embodiment sets the flight path based on the positional information of the subject P or L as described above and focuses the thermal image of the collected subject P or L It is necessary to judge whether it is fitted and to reflect it.

Therefore, the unmanned air vehicle 100 itself determines whether the photographed object P or L photographed in the thermal image of the collected object P or L is out of a predetermined range, and if the object P or L The distance to the subject P or L is adjusted so that the subject P or L is moved to the predetermined range so that the subject P To the vision inspection apparatus 200 only when it is determined that the predetermined range has reached the predetermined range.

Here, the preset range means a specific range set within the thermal image, and this range is set by the vision monitor and transferred to the unmanned air vehicle 100.

When it is determined that the photographed subject P or L is out of the preset range, the unmanned air vehicle 100 sets a new flight path and moves during the flight so that the distance to the subject P or L is adjusted, P or L) is reached within a predetermined range.

More specifically, when the unmanned air vehicle 100 takes a thermal image of a subject P or L and collects a thermal image as shown in FIG. 4C, the unmanned air vehicle 100 directly outputs the thermal image to the vision inspection apparatus 200 , It is determined whether the size of the photographed subject (P or L) photographed in the thermal image as shown in FIG. 4 (a) is below or exceeds the predetermined range.

If it is determined that the size of the photographed subject (P or L) photographed in the thermal image is below the preset range as shown in FIG. 4 (a), the unmanned air vehicle 100 sets a new flight path and moves during the flight , The distance to the subject (P or L) is reduced so that the size of the photographed subject (P or L) is increased.

If the size of the subject P or L photographed in the thermal image reaches the predetermined range as shown in FIG. 4 (b), the unmanned air vehicle 100 transmits the thermal image to the vision inspection apparatus 200).

4D, the unmanned air vehicle 100 may move toward the subject P or L by moving the airplane while setting a new flight path, thereby reducing the distance to the subject P or L. FIG.

If the size of the subject P or L photographed in the thermal image exceeds the preset range, the unmanned object 100 moves the object P or L by setting a new flight path, So that the size of the photographed subject (P or L) is reduced.

If the size of the subject P or L photographed in the thermal image reaches the predetermined range as shown in FIG. 4 (b), the unmanned air vehicle 100 transmits the thermal image to the vision inspection apparatus 200).

At this time, the unmanned air vehicle 100 can move in the opposite direction to the subject P or L by moving the airplane while setting a new flight path, thereby increasing the distance to the subject P or L.

If it is determined that the photographed subject P or L is located outside a predetermined range, the unmanned air vehicle 100 sets a new flight path and moves during flight to adjust the distance to the subject P or L, (P or L) is positioned within a predetermined range.

More specifically, when it is determined that the height of the photographed subject P or L is positioned outside a predetermined range (below the range) as shown in FIG. 5A, the object of the thermal image The distance to the subject P or L is adjusted by newly setting the flight path as shown in FIG. 5D so as to focus on the height of the subject P or L, Similarly, the height of the subject (P or L) of the thermal image can be focused.

Incidentally, when the height of the photographed subject P or L is positioned below or above a predetermined range, the unmanned air vehicle 100 determines that the subject P or L is located outside a predetermined range.

6A, if the object P or L of the thermal image is determined to be located outside a predetermined range (left side of the range) as shown in FIG. 6A, When the distance to the subject P or L is adjusted by setting a new flight path as shown in FIG. 6 (d) so as to focus on the horizontal position of the subject, The horizontal position of the subject (P or L) of the thermal image can be focused.

When the horizontal position of the photographed subject P or L is positioned to the left or right of the predetermined range, the unmanned air vehicle 100 determines that the subject P or L is located outside a predetermined range.

In addition, when the unmanned air vehicle 100 determines that the subject P or L is completely deviated from the thermographic image, the unmanned air vehicle 100 transmits the result to the vision inspection apparatus 200.

If the destination of the flight path of the unmanned air vehicle 100 is determined to be the specific location information or the specific GPS information so that the unmanned air vehicle 100 can be safely retrieved, the vision inspection apparatus 200 determines that the unmanned air vehicle 100 has deviated from the flight path, You can force the flight path to be forced into coordinates.

In summary, the UAV 100 sets the flight path based on the position information of the subject P or L, determines whether the thermal image of the collected subject P or L is well focused, If it is determined that the subject of spirituality (P or L) is out of focus, the distance to the subject (P or L) is adjusted by moving the flight path by setting a new flight path, have.

Thus, the unmanned vision inspection system according to the present invention is capable of collecting a thermal image of a subject (P or L), such as a transmission line provided in the air several tens of meters away from the ground, It is possible to more accurately inspect the subject (P or L) than the case where the examinee directly examines the subject (P or L) by collecting the thermally image with the focus of the subject (P or L)

7 is a block diagram illustrating the configuration of the UAV 100 according to an embodiment of the present invention.

The UAV 100 includes an image collecting unit 110, a controller 120, a communication unit 130, a three-dimensional sensing unit 140, and a driving unit 150.

The image collecting unit 110 is provided for collecting a thermal image of a subject P or L by taking a thermal image of the subject P or L. [

Here, the thermal image refers to an image captured in a different color depending on the temperature of the subject (P or L) so that the temperature of the subject (P or L) can be seen by our eyes.

To this end, the image collection unit 110 may be implemented with a thermal imaging camera.

The control unit 120 is provided to set a flight path based on the position information of the subject P or L. [

Then, the control unit 120 determines whether the photographed subject (P or L) photographed in the thermal image is out of a preset range.

When the control unit 120 determines that the photographed subject P or L is out of the preset range, the control unit 120 sets a new flight path and moves during the flight so that the distance to the subject P or L is adjusted, (P or L) is reached within a predetermined range.

For this, the control unit 120 may be implemented as a portable computer provided with a central processing unit.

The communication unit 130 is provided to receive the position information of the subject P or L and to transmit the collected thermal image to the vision inspection apparatus 200.

Here, the positional information of the subject P or L can be received from the vision inspection apparatus 200 or from outside.

The communication unit 130 may be provided with a GPS receiving module.

Accordingly, the communication unit 130 can receive the GPS coordinates of the unmanned air vehicle 100 and transmit the received GPS coordinates to the vision inspection apparatus 200.

The three-dimensional sensing unit 140 is provided for sensing the three-dimensional orientation of the image collection unit 110 and generating three-dimensional orientation information.

The three-dimensional sensing unit 140 will be described in detail with reference to FIG.

The driving unit 150 is provided to provide a drag force necessary for flying the unmanned air vehicle 100.

More specifically, the driving unit 150 rotates the rotating wing of the driving motor to provide the drag necessary for the unmanned aerial vehicle 100 to fly.

Here, a plurality of rotary blades are provided and rotated at the same speed, thereby minimizing shaking of the unmanned air vehicle 100 when the unmanned air vehicle 100 in flight collects thermal images.

FIG. 8 is a diagram illustrating an image capturing apparatus and a three-dimensional sensing unit 140 of the UAV 100 according to an embodiment of the present invention.

The three-dimensional sensing unit 140 according to the present embodiment is connected to the image capturing unit 110 as shown in FIG. 8, and is connected to the image capturing unit 110 at a time point when the image capturing unit 110 captures a subject P or L Dimensional orientation of the display unit 110 to generate three-dimensional orientation information.

Here, the 3D orientation information includes not only position information such as GPS coordinates but also direction information of the image capturing unit 110 represented by a vector value, Dimensional orientation of the light source 110. [

The 3D orientation information of the image collection unit 110 generated by the 3D sensing unit 140 is transmitted to the vision inspection apparatus 200 together with the GPS coordinates of the unmanned air vehicle 100 received by the communication unit 130 .

The vision inspection apparatus 200 can detect the position of the subject P or L based on the GPS coordinates of the subject P or L, the GPS coordinates of the unmanned air vehicle 100, It is possible to judge from which position the image P is photographed.

When a plurality of subjects P or L are provided, the vision inspection apparatus 200 acquires a unique identification number of the subject P or L, positional information of the subject P or L matched with the identification number, The object P or L photographed in the thermal image based on the GPS coordinates of the unmanned air vehicle 100 and the three-dimensional azimuth information of the image capturing unit 110 can be obtained from any one of the plurality of subjects P or L, L), and it is possible to determine from which position the subject P or L is thermally taken.

Here, the three-dimensional sensing unit 140 may be provided inside the image collecting unit 110, not on the side of the image collecting unit 110 (outside).

In addition, the three-dimensional sensing unit 140 may be implemented as a three-axis acceleration sensor module capable of sensing a bearing and an operation.

9 is a diagram illustrating an example of a thermal image captured by the UAV 100 according to an embodiment of the present invention.

The vision inspection apparatus 200 of the unmanned vision inspection system according to the present embodiment is configured to perform a vision inspection based on a difference in temperature of a subject P or L based on a thermal image of a subject P or L received from the unmanned air vehicle 100 Vision check is performed to determine whether the subject (P or L) is abnormal.

Specifically, the unmanned aerial vehicle 100 of the present unmanner vision inspection system thermally images a subject P or L as shown in FIGS. 9A and 9C, And transmits the collected thermal image to the vision inspection apparatus 200.

The vision inspection apparatus 200 then determines whether the subject P or L is abnormal based on the temperature difference of the subject P or L based on the thermal image as shown in FIGS. 9B and 9D, do.

As described above, the thermal image refers to an image photographed such that the temperature of the subject (P or L) can be seen by our eyes in different colors depending on the temperature of the subject (P or L).

For example, if there is a portion (beta) represented by another color (color representing high temperature) in the subject P or L as shown in Figs. 9B and 9D, There is an abnormality in the part (β) where the difference in temperature occurs.

Incidentally, if an object (P or L), such as a power transmission tower and a power transmission line, to which a high voltage power flows, an abnormality occurs in the object P or L, heat loss occurs and the temperature of the object P or L rises.

Therefore, when the unmanned air vehicle 100 photographs a subject P or L on which an abnormality has occurred, the temperature at which the abnormality is generated is higher than the temperature at another place, and the portion where the abnormality occurs is represented by a different color .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the invention as defined by the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

100: unmanned aerial vehicle 110: image collecting unit
120: control unit 130:
140: three-dimensional sensing unit 150:
200: vision inspection device
P (Pylon): Transmission tower (Subject) L: Transmission line (Subject)

Claims (13)

A unmanned aerial vehicle for setting a flight path on the basis of position information of a subject and thermally capturing the subject to collect thermal images of the subject; And
And a vision inspection device for visually inspecting the abnormality of the subject according to a temperature difference of the subject based on the thermal image of the subject received from the unmanned air vehicle,
The vision inspection apparatus includes:
Wherein each of the plurality of subjects is provided with a plurality of identification numbers for each of the plurality of subjects and generates respective pieces of positional information matched with the respective identification numbers based on the GPS coordinates of the respective subjects Unmanned vision inspection system. delete The method according to claim 1,
In the unmanned aerial vehicle,
And the flight path is set based on the respective identification numbers and the respective location information received from the vision inspection apparatus. The method according to claim 1,
In the unmanned aerial vehicle,
Determines whether or not the photographed subject is out of a predetermined range in the collected thermal image, and adjusts a distance from the photographed subject when the photographed subject is determined to be out of the predetermined range, And to reach the predetermined range within a predetermined range. A unmanned aerial vehicle for setting a flight path on the basis of position information of a subject and thermally capturing the subject to collect thermal images of the subject; And
And a vision inspection device for visually inspecting the abnormality of the subject according to a temperature difference of the subject based on the thermal image of the subject received from the unmanned air vehicle,
In the unmanned aerial vehicle,
Determines whether or not the photographed subject is out of a predetermined range in the collected thermal image, and adjusts a distance from the photographed subject when the photographed subject is determined to be out of the predetermined range, To reach the predetermined range,
Wherein the predetermined range of the thermal image is a predetermined range,
Means a specific range set within the thermal image by the vision inspection apparatus,
The vision inspection apparatus includes:
The destination of the flight path of the unmanned air vehicle is determined to be the specific position information or the specific GPS coordinates so that the unmanned air vehicle can be safely retrieved if the subject is completely out of the thermal image, Wherein the unattended vision inspection system is forcibly set. The method according to claim 1,
In the unmanned aerial vehicle,
An image collecting unit for collecting a thermal image of the subject by thermally imaging the subject;
A communication unit that receives the position information of the subject and transmits the collected thermal image to the vision inspection apparatus; And
And a controller for setting the flight path based on the position information of the received subject. The method according to claim 6,
Wherein,
A GPS receiving module for receiving GPS coordinates of the unmanned aerial vehicle is provided, and the received GPS coordinates are transmitted to the vision inspection device. 8. The method of claim 7,
In the unmanned aerial vehicle,
And a three-dimensional sensing unit connected to the image sensing unit and sensing the three-dimensional orientation of the image sensing unit at a time when the image sensing unit thermally senses the subject to generate three-dimensional orientation information. Unmanned vision inspection system. 9. The method of claim 8,
The vision inspection apparatus includes:
Wherein each of the plurality of subjects is provided with an identification number for each subject and generates position information corresponding to each identification number based on the GPS coordinates of the subject,
Receiving the thermal image of the object from the unmanned air vehicle with the GPS coordinates of the unmanned air vehicle and the 3D orientation information of the image collection unit,
And a control unit for controlling the position of the object on the basis of the three-dimensional orientation information of the image collecting unit and the GPS coordinates of the unmanned air vehicle and the position information of the object matched with the identification number, Determines which of the plurality of subjects is the subject, and determines from which position the subject is photographed by thermal imaging. The method according to claim 1,
The vision inspection apparatus includes:
Wherein the destination of the flight path of the unmanned aerial vehicle is forcibly set to specific position information or specific GPS coordinates so that the unmanned air vehicle can be safely retrieved if it is determined that the vision check is completed. The method according to claim 1,
In the unmanned aerial vehicle,
And collects the thermal image of the same level even if the illumination environment of the subject is changed. The method according to claim 1,
Wherein,
Wherein the unmanned vision inspection system is one of a transmission tower and a transmission line. The flight path is set based on the position information of the object by the unmanned aerial vehicle;
A thermal image of the subject is captured by the unmanned aerial vehicle and a thermal image of the subject is collected;
Transmitting the thermal image of the subject to the vision inspection apparatus by the unmanned aerial vehicle; And
And a step of visually inspecting the object based on the thermal image of the object received from the unmanned aerial vehicle by the vision inspection apparatus according to a difference in temperature of the object,
The vision inspection apparatus includes:
An unmanned vision inspection method for providing respective identification numbers to respective objects when the plurality of objects are provided and generating position information each of which is matched to each of the identification numbers based on GPS coordinates of the respective objects .
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CN106054927A (en) * 2016-08-04 2016-10-26 北方民族大学 Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method
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KR102008176B1 (en) * 2019-01-31 2019-08-07 (주)다음기술단 Inspection method for thermal imaging and dam damage using a drone for diagnosis
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