KR101718310B1 - Vibration -based structure damage monitoring system using drone, and method for the same - Google Patents

Vibration -based structure damage monitoring system using drone, and method for the same Download PDF

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Publication number
KR101718310B1
KR101718310B1 KR1020160153321A KR20160153321A KR101718310B1 KR 101718310 B1 KR101718310 B1 KR 101718310B1 KR 1020160153321 A KR1020160153321 A KR 1020160153321A KR 20160153321 A KR20160153321 A KR 20160153321A KR 101718310 B1 KR101718310 B1 KR 101718310B1
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South Korea
Prior art keywords
sensor
drone
camera
sensor module
unit
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KR1020160153321A
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Korean (ko)
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나원기
박기태
서동우
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한국건설기술연구원
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/09—Analysing solids by measuring mechanical or acoustic impedance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/14—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
    • B64C2201/042—
    • B64C2201/12—
    • B64C2201/127—
    • B64C2201/146—

Abstract

It is possible to detach and attach only one detachable sensor module using a dron to a structure such as a bridge or a building and perform vibration-based nondestructive inspection using one detachable sensor module, It is possible to monitor the structure with a dron equipped with only one detachable sensor module and it is possible to monitor the structure according to the electromechanical impedance technique which is a high frequency vibration based monitoring technique, There is provided a vibration-based structure damage detection system and method using a drone capable of analyzing and determining damage to a structure corresponding to signal processing and frequency-dependent impedance by a probabilistic neural network method.

Description

TECHNICAL FIELD [0001] The present invention relates to a damage detection system for a vibration-based structure using a drone,

The present invention relates to a structure damage detection system, and more particularly, to a structure damage detection system, in which a sensor module is detachably attached to a structure such as a bridge or a building using an unmanned vehicle, such as a drone, And more particularly, to a system and method for detecting damage to a vibration based structure using a drone.

Large structures and facilities constructed in the process of developing into an industrial society are subject to structural damage due to defects in the design and construction process or due to various factors which were not considered at the time of designing, Its safety is being threatened. For example, in the case of structures with severe structural damage, frequent shortening of the service life is caused to a degree that is far less than the planned design life at the time of design.

Accordingly, there is an urgent need for efforts to secure long-term safety and operability of building structures. In particular, large structures such as buildings, bridges, and dams are continuously exposed to various operating loads, shocks from external objects, earthquakes, wind loads, wave loads, and corrosion. Therefore, Has become a pending issue of interest. In order to accurately diagnose these large structures, it is required to monitor structural behavior through proper experimental measurement, to mechanically analyze structure damage, and to diagnose the structure damage through analysis technology.

The techniques that are used to detect the damage of these large structures include the material non-destructive testing method, the positive displacement measurement method, and the vibration characteristic measurement method. For example, the method of estimating the damage of the structure using the positive displacement measurement and the vibration characteristic value is commonly referred to as a System Identification (SID). This structure identification technique (SID) is a method of measuring the behavior of a structural system and modeling the behavior of the structural system, thereby estimating the structural characteristic value.

As described above, the nondestructive inspection technology for evaluating the abnormal behavior of a structure is a high-tech technology that is highly utilized in all industries such as machinery, aviation, shipbuilding, and construction. Especially, in the case of large social infrastructures such as super-long bridges and skyscrapers, abnormal behavior causes damages, which causes enormous economic damage and serious loss of life.

Therefore, periodical safety check of major infrastructure facilities is carried out, but it remains at the level of visual inspection for points accessible mainly by inspectors. In addition, insufficient manpower and resources for inspections and facilities that can not be accessed It is a reality that the inspection cycle is limited due to difficulties in checking. Also, in order to solve the problem of the non-destructive diagnosis method according to the related art, there is a need to develop an algorithm technology capable of early detection of local damage of a vulnerable member through a local measurement system.

On the other hand, in Korea, the number of periodic inspections is increasing as the number of aged special bridges increases rapidly.

In addition, researches to replace visual inspection using drone and image processing technique are going on actively, but it is impossible to grasp the minute crack or internal damage of structure. Therefore, for example, there is a need for a technique for early diagnosis of a target structure with a drone.

FIG. 1 is a view illustrating a structure to which a plurality of sensors are attached in order to detect damage to a structure according to a conventional technique.

1, a conventional suspension bridge structure 10 includes a main pillar 11 of a steel or reinforced concrete structure, a cable 12 suspended from the main pillar 11, A pillar 14 supporting the girder 13, a hanger 15 hanging on the cable 12 and leading the tension of the cable in the grounding direction, And a plurality of sensors 16 are attached to the suspension bridge structure 10 to detect damage.

At this time, since a plurality of sensors 16 are attached to the suspension bridge structure 10 to detect damage, the cost increases.

As described above, the high frequency vibration based structure monitoring method is advantageous in finding the minute damage, but the sensor must be attached to the structure in advance. Especially, in the case of a large structure having a large area, Is not suitable.

Therefore, nondestructive inspection technology that checks with one detachable sensor is needed for efficient inspection, rather than installing hundreds of sensors to monitor structures.

Korean Patent No. 10-1658785 filed on Dec. 16, 2015, entitled " Neutralization Measurement System for Concrete Structures, Method and System for Measuring Neutralization of Concrete Structures Using Drones or Robots, Korean Patent No. 10-1647281 filed on January 20, 2016, entitled "Drones for cable inspection" Korean Patent Publication No. 2016-171441 (Published on September 23, 2016), entitled "Surveillance System and Flying Robot" U.S. Patent No. 9,454,907 filed on May 19, 2015, entitled " System and Method for Arranging Sensors Using Unmanned Aerial Vehicles " Korean Patent No. 10-1039282 filed on Sep. 17, 2009, entitled "Robot-based wireless sensor network extension method, relay robot and wireless sensor network system therefor" Japanese Patent Laid-Open Publication No. 2016-171442 (published on Sep. 23, 2016), entitled "Surveillance System and Flying Robot" Japanese Laid-open Patent Application No. 2016-109557 (published on June 20, 2016), entitled "Structure Inspection Method and Structure Inspection Device" Japanese Unexamined Patent Publication No. 2013-25394 (published on Dec. 19, 2013), entitled "Method for Inspecting Concrete Structures and Inspection Device for Concrete Structures" U.S. Patent No. 9,036,861, issued May 19, 2015, entitled "Method and System for Remote Inspection of Bridges and Other Structures" U.S. Patent No. 9,454,157, issued September 27, 2016, entitled " System and Method for Controlling Unmanned Aerial Vehicle Flight Operations "

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a method and apparatus for detaching and attaching only one detachable sensor module using a drone to a structure such as a bridge or a building, Which is capable of performing efficient inspection of a structure by performing a dron operation on a vibration-based structure, and a method thereof.

According to another aspect of the present invention, there is provided a method of analyzing and determining damage to a structure corresponding to signal processing and frequency-dependent impedance by a probabilistic neural network method according to an electromechanical impedance technique, The present invention relates to a system and method for detecting damage to a vibration based structure using a drones.

According to an aspect of the present invention, there is provided a damage detection system for a vibration based structure using a dron according to the present invention, Drones flying to make; A drone manipulator for remotely controlling the drone by radio; A sensor for detecting a damage to the structure, the sensor module being attached to a sensor mounting position of the structure to measure the structure and then being detached from the structure; A sensor attaching unit installed on the drone and remotely controlled by the drone manipulator, for attaching or detaching the detachable sensor module to or from the structure; And a structure damage judging unit for judging whether the structure is damaged according to the measured value measured by the detachable sensor module. The detachable sensor module measures the attachment position of the structure by the vibration-based nondestructive inspection method, The structure is further moved by the drone to a position where the next sensor is attached to the structure.

The vibration-based structure damage detection system using the drones according to the present invention includes: a camera mounted on the drones to photograph a sensor attachment position of the structure; And a dronemon connected to the drone manipulator and displaying an image photographed by the camera.

Here, the detachable sensor module repeats detachment and attachment at each of the sensor attachment positions of the structure to measure the structure.

Here, the dron may include: a wireless communication module that receives a remote control signal from the dron controller and transmits the image signal photographed by the camera to the dronron controller; A controller for controlling the flight unit according to a remote control signal received through the wireless communication module, controlling driving of the camera, and transmitting data photographed by the camera to the drone manipulator through the wireless communication module, ; A memory for storing data photographed by the camera; A flight unit driven under control of the control unit to fly the drones in accordance with a remote control signal transmitted to the dronron controller; And a battery for supplying power to the wireless communication module, the control unit, the memory, and the flying unit.

Here, the battery may supply power to the sensor attachment unit and the detachable sensor module.

Here, the structure damage determination unit analyzes and determines damage to a structure corresponding to signal processing and frequency-specific impedance in a probabilistic neural network based on the data measured from the structure.

According to another aspect of the present invention, there is provided a method for detecting damage to a vibration based structure using a dron according to the present invention, comprising the steps of: a) flying a dron to a sensor attachment position of a structure using a dron controller; b) remotely driving the sensor attachment unit mounted on the drone using the drone manipulator; c) temporarily attaching one detachable sensor module to the sensor attaching position of the structure by the sensor attaching unit; d) measuring and demodulating the structure by a detachable sensor module temporarily attached to the structure, and transmitting measurement data; e) detaching the detachable sensor module from the sensor attachment position of the structure; And f) analyzing and determining damage of the structure corresponding to the frequency-specific impedance based on the data measured from the structure, wherein the detachable sensor module is a vibration-based nondestructive inspection system, And then moves to the next sensor attachment position of the structure by the drone to further measure the structure.

Here, if additional measurement of the structure is required in step e), steps a) to d) may be repeatedly performed.

In the step b), the sensor attachment position of the structure is photographed using a camera mounted on the dron, and a sensor attachment unit mounted on the drones is driven through a dronon monitor screen connected to the dronron manipulator .

Here, the detachable sensor module repeats detachment and attachment at each of the sensor attachment positions of the structure to measure the structure.

In the step f), based on the data measured from the structure, it is possible to analyze and determine whether the structure corresponding to the signal processing and the frequency-dependent impedance is damaged by the stochastic neural network method.

According to the present invention, only one detachable sensor module is detachably attached to a structure such as a bridge or a building using a drone, and vibration-based nondestructive inspection is performed using one detachable sensor module to perform efficient inspection of the structure have. Therefore, there is no influence on the number of sensors and measuring equipment required according to the size of small and large structures, and monitoring of the structure can be made with a drone equipped with only one detachable sensor module.

According to the present invention, it is possible to analyze and determine damage to a structure corresponding to signal processing and frequency-specific impedance by a probabilistic neural network method according to an electromechanical impedance technique which is a high frequency vibration based monitoring technique.

According to the present invention, since many national budgets (about 1 trillion won per year) are required for maintenance of major facilities in the country every year, the labor force is widened by combining drone and artificial intelligence technology in the management of such facilities And it is possible to build an intelligent and automated management system out of passive maintenance which was performed by analyzing the acquired measurement data by the manager. For example, you can manage multiple bridges with a single dron, leaving the system of permanently attaching and managing many sensors per bridge.

FIG. 1 is a view illustrating a structure to which a plurality of sensors are attached in order to detect damage to a structure according to a conventional technique.
2 is a view illustrating detachment of a single sensor using a drones for detecting damage to a structure according to an embodiment of the present invention.
3 is a block diagram of a damage detection system for a vibration based structure using a drone according to an embodiment of the present invention.
FIG. 4 is a specific configuration diagram of a dron in a vibration-based structure damage detection system using a dron according to an embodiment of the present invention.
5 is a view illustrating a drones and a drone manipulator in a vibration-based structure damage detection system using a dron according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating the measurement of a structure using one detachable sensor module in a vibration-based structure damage detection system using a drone according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating measurement of a structure at a plurality of sensor attachment positions using one detachable sensor module in a vibration-based structure damage detection system using a drone according to an embodiment of the present invention.
FIG. 8 is a diagram illustrating the repetitive measurement of a structure using one detachable sensor module in a vibration-based structure damage detection system using a drone according to an embodiment of the present invention.
9 is a flowchart illustrating a method of detecting damage to a vibration based structure using a dron according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the term "part" or the like, as described in the specification, means a unit for processing at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

[Damage Detection System for Vibration Infrastructure Using Drones (100)]

2 is a view illustrating detachment of a single sensor using a drones for detecting damage to a structure according to an embodiment of the present invention.

As shown in FIG. 2, according to an embodiment of the present invention,

A typical suspension bridge structure 200 includes a main pillar 210 of a steel or reinforced concrete structure, a cable 220 suspended from the main pillar 210, a top plate or girder 230 of a long bridge, A bridge 240 for supporting the girder 230, a hanger 250 for hanging the cable 220 in the ground direction and an anchorage for fixing one side of the cable 220 to the ground, And a plurality of sensors are not directly attached to the suspension bridge structure 200. The plurality of sensors are not directly attached to the suspension bridge structure 200 and the drones 110 having the camera 120 are used to fly to a predetermined position of the structure 200, The detachable sensor module 140 is temporarily attached to a predetermined position of the structure by driving the mounted sensor attachment unit 130 and repeatedly using only one detachable sensor module 140 to damage the structure 200 Detection.

Accordingly, instead of sensing damage to the structure using a plurality of sensors as described above, only one detachable sensor module 140 is repeatedly used to detect the damage of the structure 200, .

FIG. 3 is a block diagram of a damage detection system for a vibration based structure using a dron according to an embodiment of the present invention. FIG. 4 is a block diagram of a vibration detection system for a vibration based structure using a dron according to an embodiment of the present invention. FIG.

Referring to FIG. 3, a vibration based structure damage detection system 100 using a drone according to an embodiment of the present invention includes a drone 110, a camera 120, a sensor attachment unit 130, a detachable sensor module 140 A drone manipulator 150, a dron monitor 160, and a structure damage determiner 170.

The drones 110 are an unmanned aerial vehicle and fly so as to approach the structure 200 in order to attach one detachable sensor module 140 to the sensor attachment position 260 of the structure 200.

The camera 120 is mounted on the drone 110 to photograph the sensor attachment position 260 of the structure 200. The reason why the sensor attaching position 260 of the structure 200 is photographed using the camera 120 is that the detachable sensor module 140 is controlled to the sensor attaching position 260 by the dronron manipulator 150, .

The sensor attaching unit 130 is installed on the drone 110 and is remotely controlled by the drone manipulator 150 to attach or detach the detachable sensor module 140 to or from the structure 200. Here, the sensor attaching unit 130 is mounted on the dron 110, and is remotely controlled by the dron controller 150.

The detachable sensor module 140 is a sensor for detecting the damage of the structure 200 and is attached to a sensor attaching position 260 of the structure 200 to measure the structure 200 And is then detached from the structure 200. At this time, the detachable sensor module 140 can measure the structure 200 by repeating detachment and attachment at each sensor attachment position 260 of the structure 200. Specifically, the detachable sensor module 140 measures a sensor attachment position 260 of the structure 200 using a vibration-based nondestructive inspection method, and then measures the position of the next sensor of the structure 200 by the dragon 110 And moves to the attachment position 260 to further measure the structure 200.

The drone controller 150 remotely controls the drone 110 and the drone monitor 160 is connected to the drone manipulator 150 and displays the image photographed by the camera 120. That is, the detonation sensor module 140 can be attached to the sensor attachment position 260 of the structure in a precise and safe manner while confirming the sensor attachment position, which is the photographed image displayed on the drone monitor 160 .

The structure damage judging unit 170 judges whether the structure 200 is damaged according to the measurement value measured from the detachable sensor module 140. Here, the structure damage determiner 170 analyzes the structure 200 corresponding to the signal processing and frequency-specific impedance based on the data measured from the structure 200, using a Probabilistic Neural Network .

4, the dron 110 may include a wireless communication module 111, a control unit 112, a memory 113, a flight unit 114, and a battery 115 .

The wireless communication module 111 of the drone 110 receives a remote control signal from the drone manipulator 150 and transmits the image signal photographed by the camera 120 to the drone manipulator 150.

The control unit 112 of the drone 110 is implemented as an MCU (Micro Controller Unit), and controls the flight unit 114 according to a remote control signal received through the wireless communication module 111 Controls driving of the camera 120 and transmits data photographed by the camera 120 to the drone manipulator 150 through the wireless communication module 111. [

The memory 113 of the drone 110 stores data photographed by the camera 120.

The flight unit 114 of the dragon 110 is driven under the control of the controller 112 to fly the dragon 110 according to a remote control signal transmitted to the dragon manipulator 150.

The battery 115 of the dron 110 supplies power to the wireless communication module 111, the control unit 112, the memory 113 and the flight unit 114, And supplies power to the attaching unit 130 and the detachable sensor module 140.

FIG. 5 is a diagram illustrating a dron and a drone manipulator in a vibration-based structure damage detection system using a dron according to an embodiment of the present invention.

In the vibration-based structure damage detection system utilizing the drones according to the embodiment of the present invention, as shown in FIG. 5 a), the drone 110 includes a camera 120, a sensor attaching unit 130, Module 140 is mounted.

Specifically, the dron 110 includes a drone body having a propeller driven by a plurality of propeller motors, and a gimbals coupled to a lower portion of the drone body. The camera 120 is mounted on the gimbals, It keeps level by bee.

For example, the gimbals may be attached to the lower portion of the drones; A rolling operation part supported on the support so as to be capable of rolling; A pitching operation part supported by the rolling operation part so as to be capable of pitching; And a camera mounting portion coupled to the pitching operation portion and mounted with the camera, but the present invention is not limited thereto. Here, the rolling operation unit and the pitching operation unit are respectively rolling and pitching by a rolling motor and a pitching motor driven according to the horizontal level sensed by a horizontal sensor (not shown), so that the camera mounted on the camera mounting unit is kept horizontal .

The sensor attaching unit 130 is remotely controlled by the drone manipulator 150 to temporarily attach the detachable sensor module 140 to the sensor attaching position 260 of the structure 200. The detachable sensor module 140, Is attached to the sensor mounting position 260 of the structure 200 to measure the structure 200 and is moved to the next sensor mounting position 260 of the structure 200 by flying of the dron 110 And the structure 200 is measured.

5, the drone manipulator 150 remotely controls the drone 110 by radio, the drone monitor 160 is connected to the drone manipulator 150, And displays an image photographed by the camera 120. [ Accordingly, while the drone operator confirms the position of the sensor attached to the drone monitor 160, the detachable sensor module 140 can be accurately and safely attached to the sensor attachment position 260 of the structure temporarily have.

FIG. 6 is a diagram illustrating a structure measurement using a detachable sensor module in a vibration-based structure damage detection system using a drone according to an embodiment of the present invention.

Referring to FIG. 6, in a damage detection system for a vibration based structure using a dron according to an embodiment of the present invention, a frequency-dependent impedance is temporarily attached to a surface of a structure 200 using a piezoelectric material provided on a drone 110 And it is possible to determine whether the structure 200 is damaged by using a probabilistic neural network method which is a signal processing technique according to an embodiment of the present invention.

Meanwhile, FIG. 7 is a diagram illustrating measurement of a structure at a plurality of sensor attachment positions using one detachable sensor module in a vibration-based structure damage detection system using a drone according to an embodiment of the present invention.

Referring to FIG. 7, in the damage detection system using the drone according to an embodiment of the present invention, the detachable sensor module 140 detects a sensor attachment position 260 (see FIG. 7) of the structure 200 in a vibration- And then moved to the next sensor attaching position 260 of the structure 200 by the dragon 110 to measure the structure 200 further.

Thereafter, when the measurement of the structure 200 is completed using the drones 110, the drones 110 are returned.

Meanwhile, FIG. 8 is a diagram illustrating the repetitive measurement of a structure using one detachable sensor module in a vibration-based structure damage detection system using a drone according to an embodiment of the present invention.

Referring to FIG. 8, in the vibration-based structure damage detection system using the drone according to the embodiment of the present invention, since the detachable sensor module 140 attached to the structure 200 is excited simultaneously with the structure 200, The detachable sensor module 140 must be attached to the sensor attachment position 260 of the structure 200. In this case, when the detachable sensor module 140 is detached from the structure 200 and can not be measured, the detachable sensor module 140 can be detached from the structure 200 using the drone 110 200).

In addition, the impedance technique applied to the vibration-based structure damage detection system using the drone according to the embodiment of the present invention is a technique using a high-frequency region. Even if the detachable sensor module 140 is applied, the impedance is changed. The change in impedance is similar to the change in the measurement signal due to the damage of the structure 200. Therefore, as shown in FIG. 8A, the structure 200 is measured by repeating the detachment and attachment, (Probabilistic Neural Network) scheme is used to determine whether the structure 200 is damaged.

As a result, according to the vibration-based structure damage detection system using the drone according to the embodiment of the present invention, it is possible to reduce the sensor cost by checking the structure with one detachable sensor module, and furthermore, By using the probabilistic neural network method, which is an artificial intelligence technique that improves the impedance (electromechanical impedance) technique, signal processing and damage can be detected.

[Damage Detection Method for Damage Based Structures Using Drones]

9 is a flowchart illustrating a method of detecting damage to a vibration based structure using a dron according to an embodiment of the present invention.

Referring to FIG. 9, a method for detecting damage to a vibration-based structure using a dron according to an embodiment of the present invention includes the steps of: first, using a drone manipulator 150, (S110).

Next, the sensor attaching position 260 of the structure 200 is photographed using the camera 120 mounted on the drone 110 (S120).

Next, the sensor attaching unit 130 mounted on the drone 110 is driven through the screen of the dron monitor 160 connected to the drone manipulator 150 (S130).

Next, the sensor attaching unit 130 temporarily attaches one detachable sensor module 140 to the sensor attaching position 260 of the structure 200 (S140).

Next, one detachable sensor module 140 temporarily attached to the structure 200 measures the structure 200 and transmits measurement data (S150).

Next, the one detachable sensor module 140 is detached from the sensor attachment position 260 of the structure 200 (S160). At this time, the detachable sensor module 140 measures the sensor attachment position 260 of the structure 20 using a vibration-based nondestructive inspection method, and then the detachable sensor module 140 attaches the next sensor of the structure 200 And moves to position 260 to further measure the structure 200. In addition, the detachable sensor module 140 can measure the structure 200 by repeating detachment and attachment at each sensor attachment position 260 of the structure 200.

Next, it is determined whether additional measurement of the structure 200 is necessary (S170). If additional measurement of the structure 200 is required, steps S110 to S160 are repeatedly performed.

Next, based on the data measured from the structure 200, it is determined whether the structure 200 corresponding to the frequency-dependent impedance is damaged or not (S180). That is, signal processing is performed in a stochastic neural network based on the data measured from the structure 200, and the damage or the damage of the structure 200 corresponding to the frequency-specific impedance is analyzed and determined.

Subsequently, when the measurement of the structure 200 is completed using the drones 110, the drones 110 are returned.

As a result, according to the embodiment of the present invention, it is possible to attach and detach only one detachable sensor module using a dron to a structure such as a bridge or a building, and perform vibration-based nondestructive inspection using one detachable sensor module, A check can be performed. Therefore, there is no influence on the number of sensors and measuring equipment required according to the size of small and large structures, and monitoring of the structure can be made with a drone equipped with only one detachable sensor module.

According to the embodiment of the present invention, it is possible to analyze and judge whether or not damage to a structure corresponding to signal processing and frequency-dependent impedance is performed by a probabilistic neural network method according to an electromechanical impedance technique which is a high frequency vibration based monitoring technique.

According to the embodiment of the present invention, since many national budgets (about 1 trillion won per year) are required for maintenance of the major facilities in the country every year, the drones and artificial intelligence technologies are applied to the management of such facilities It is possible to greatly reduce the labor force and to build an intelligent and automated management system out of passive maintenance which was performed by the manager by analyzing the acquired measurement data. For example, you can manage multiple bridges with a single dron, leaving the system of permanently attaching and managing many sensors per bridge.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Structure Damage Detection System
200: Structure
110: Drone (unmanned aerial vehicle)
120: camera
130: Sensor attachment unit
140: detachable sensor module
150: Drone manipulator
160: Drones Monitor
170: Structure Damage Judgment Unit
111: Wireless communication module
112: Control unit (MCU)
113: Memory
114: Flying unit
115: Battery
260: Sensor mounting position

Claims (11)

1. A unmanned aerial vehicle comprising: a drone (110) flying to approach a structure (200) to attach a detachable sensor module (140) to a sensor attachment location (260) of a structure (200);
A drone manipulator 150 for remotely controlling the drone 110 by radio;
A sensor for detecting damage to the structure 200 is attached to a sensor attaching position 260 of the structure 200 to measure the structure 200 and then detachably attaches to and detaching from the structure 200. [ A sensor module 140;
A sensor attaching unit 130 installed on the drone 110 and remotely controlled by the drone manipulator 150 to attach or detach the detachable sensor module 140 to or from the structure 200; And
And a structure damage judging unit 170 for judging whether the structure 200 is damaged according to the measured value measured by the detachable sensor module 140,
The detachable sensor module 140 measures the sensor attachment position 260 of the structure 200 in a vibration-based nondestructive inspection method and then detects the sensor attachment position 260 of the structure 200 by the drill 110 260 to further measure the structure 200,
A camera 120 mounted on the drone 110 to photograph the sensor attachment position 260 of the structure 200; And a drones monitor 160 connected to the drones controller 150 and displaying an image photographed by the camera 120. The drones 110 output a remote control signal from the dronon controller 150 A wireless communication module (111) for receiving and transmitting the video signal photographed by the camera (120) to the drone manipulator (150); Controls the flight unit 114 in accordance with a remote control signal received through the wireless communication module 111 and controls driving of the camera 120 and transmits data photographed from the camera 120 to the wireless communication module 111. [ (112) for controlling transmission to the dronon controller (150) through the controller (111); A memory 113 for storing data photographed by the camera 120; A flight unit 114 driven under the control of the control unit 112 to fly the drones 110 according to a remote control signal transmitted to the dronon controller 150; And a battery (115) for supplying power to the wireless communication module (111), the control unit (112), the memory (113) and the flying unit (114). delete The method according to claim 1,
Wherein the detachable sensor module (140) measures the structure (200) by repeating detachment and attachment at each sensor attachment position (260) of the structure (200). delete The method according to claim 1,
Wherein the battery (115) supplies power to the sensor attaching unit (130) and the detachable sensor module (140). The method according to claim 1,
The structure damage judging unit 170 analyzes the damage of the structure 200 corresponding to the signal processing and the frequency-dependent impedance based on the data measured from the structure 200 by the probabilistic neural network method, Wherein the damage detection system comprises: a) flying the drones 110 to the sensor attachment locations 260 of the structure 200 using the drones 150;
b) remotely driving the sensor attaching unit 130 mounted on the drone 110 using the drone manipulator 150;
c) temporarily attaching one detachable sensor module (140) to the sensor attaching position (260) of the structure (200) by the sensor attaching unit (130);
d) measuring and demodulating the structure (200) by a detachable sensor module (140) temporarily attached to the structure (200);
e) detaching the detachable sensor module (140) from the sensor attachment position (260) of the structure (200); And
f) analyzing and determining damage of the structure 200 corresponding to the frequency-specific impedance based on the data measured from the structure 200,
The detachable sensor module 140 measures the sensor attachment position 260 of the structure 200 in a vibration-based nondestructive inspection method and then detects the sensor attachment position 260 of the structure 200 by the drill 110 260, and further measures the structure 200,
The sensor mounting position 260 of the structure 200 is photographed using the camera 120 mounted on the dron 110 and the drones 160 connected to the dronon manipulator 150, A sensor attaching unit 130 mounted on the drones 110 is driven through a screen,
The dron 110 includes a wireless communication module 111 for receiving a remote control signal from the dron controller 150 and transmitting the image signal photographed by the camera 120 to the dronron controller 150; Controls the flight unit 114 in accordance with a remote control signal received through the wireless communication module 111 and controls driving of the camera 120 and transmits data photographed from the camera 120 to the wireless communication module 111. [ (112) for controlling transmission to the dronon controller (150) through the controller (111); A memory 113 for storing data photographed by the camera 120; A flight unit 114 driven under the control of the control unit 112 to fly the drones 110 according to a remote control signal transmitted to the dronon controller 150; And a battery 115 for supplying power to the wireless communication module 111, the control unit 112, the memory 113, and the flying unit 114. The vibration- . 8. The method of claim 7,
The method according to any one of claims 1 to 5, wherein if the additional measurement of the structure (200) is required in the step (e), the steps (a) to (d) are repeatedly performed. delete 8. The method of claim 7,
Wherein the detachable sensor module (140) repeats detachment and attachment at each of the sensor attachment locations (260) of the structure (200) to measure the structure (200). 8. The method of claim 7,
In step f), it is possible to analyze and judge whether or not the structure 200 corresponding to the signal processing and frequency-specific impedance is damaged by the probabilistic neural network method based on the data measured from the structure 200 A method for detecting damage of a vibration based structure using a dron.
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