KR101862702B1 - Construction Safety Inspection Apparatus and Method using Umanned Aerial Vehicles - Google Patents

Abstract

The present invention relates to an apparatus and a method for inspecting a structure using an unmanned aerial vehicle.
A method for inspecting a structure using an unmanned aerial vehicle according to the present invention includes the steps of acquiring scan information for the structure by scanning a structure while flying around the structure, Detecting a POI (Part Of Interest), and outputting information on the POI.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure inspection apparatus and method using a unmanned aerial vehicle

The present invention relates to an apparatus and a method for inspecting a structure using an unmanned aerial vehicle.

In the domestic construction industry, accidents due to breakage and collapse of facilities have been increasing as the number of facilities over 20 years old has been increased, and the frequency of occurrence is increasing due to the aging of the facilities and the neglect of safety inspection.

Therefore, it is necessary to continuously inspect and manage stability. However, high-rise buildings of several tens of meters to 100 meters or more are very dangerous for the inspectors to inspect them directly with the equipment, and they are time-consuming and costly.

An object of the present invention is to provide an apparatus and method for inspecting a structure using a unmanned aerial vehicle for monitoring a structure using an unmanned aerial vehicle equipped with a scanning device including a camera for monitoring a structure, .

A method for inspecting a structure using an unmanned aerial vehicle according to the present invention includes the steps of acquiring scan information for the structure by scanning a structure while flying around the structure, Detecting a POI (Part Of Interest), and outputting information on the POI.

The method may further include transmitting the scan information by the unmanned aerial vehicle.

In addition, the scan information may include at least one of image information of the structure and thermal image information of the structure.

In addition, the information about the region of interest may include information about the location of the region of interest on the structure.

In addition, the information on the interested part may include information on the type of the abnormality.

In addition, the portion of interest may be a portion having a temperature higher than a preset reference temperature or a portion where physical damage has occurred.

The method may further include storing information on the structure in advance.

The method may further include setting a flight path of the unmanned aerial vehicle to the structure.

Also, the flight path may be spiral.

The method may further include acquiring a stereoscopic view of the structure by processing an image of the structure captured by the unmanned aerial vehicle while flying in accordance with the flight path.

The apparatus for inspecting a structure using an unmanned aerial vehicle according to the present invention includes an unmanned aerial vehicle that scans a structure while flying around a structure to acquire scan information on the structure, A controller for analyzing a part of interest (POI) of the structure, and an output unit for outputting information on the part of interest.

The apparatus and method for inspecting a structure using an unmanned aerial vehicle according to the present invention have the effect of monitoring a structure easily and safely.

1 and 2 are views for explaining a structure inspection apparatus using an unmanned aerial vehicle according to the present invention.
3 to 17 are views for explaining a structure inspection method using an unmanned aerial vehicle according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for inspecting a structure using an unmanned aerial vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood that the present invention is not intended to be limited to the specific embodiments but includes all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

In describing the present invention, the terms first, second, etc. may be used to describe various components, but the components may not be limited by the terms. The terms may only be used for the purpose of distinguishing one element from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The term " and / or " may include any combination of a plurality of related listed items or any of a plurality of related listed items.

When an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between Can be understood. On the other hand, when it is mentioned that an element is "directly connected" or "directly connected" to another element, it can be understood that no other element exists in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions may include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used interchangeably to designate one or more of the features, numbers, steps, operations, elements, components, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries can be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are, unless expressly defined in the present application, interpreted in an ideal or overly formal sense .

In addition, the following embodiments are provided to explain more fully to the average person skilled in the art. The shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

1 and 2 are views for explaining a structure inspection apparatus using an unmanned aerial vehicle according to the present invention.

Referring to FIG. 1, the structure inspection apparatus 10 using an unmanned aerial vehicle according to the present invention may include an unmanned aerial vehicle 100, a server 200, and an operation unit 300.

Unmanned aerial vehicle (UAV) 100 can collect various information while flying. For example, the unmanned aerial vehicle 100 can acquire information about the structure while flying around the structure.

In addition, the unmanned aerial vehicle 100 may determine the dangerous situation by itself, set the self-landing mode on its own if it is judged as a dangerous situation, and land at a predetermined landing point in accordance with the autonomous landing mode.

The information acquired by the UAV 100 may be transmitted to the server 200.

The server 200 can obtain information on the structure by analyzing the information received from the UAV 100. [

The operation unit 300 can manipulate the flying direction, the flying speed, and the like of the unmanned air vehicle 100. For example, it may be possible for the pilot to adjust the unmanned aerial vehicle 100 using the operation unit 300 on the ground.

Here, the operation unit 300 and the server 200 can be integrated.

The unmanned air vehicle 100 refers to an airplane in which a person is not boarding. It is sometimes referred to as the abbreviation of Uninhabited Aerial (Air) Vehicle, emphasizing that there is no pilot on the ground. There is usually a classification by mission, classification by flight altitude or size, also called drone which means buzzing bee.

The unmanned aerial vehicle 100 may include a camera, a sensor, and the like for performing a safety inspection of the structure.

2, the unmanned air vehicle 100 includes a scanning unit 110, a sensor unit 120, a hazard identification unit 130, a communication unit 140, a flight unit 150, a memory unit (not shown) 160 and a control unit 170. [

The scanning unit 110 may scan the structure during flight of the UAI 100 to obtain scan information. The scan information may include at least one of image information of the structure and thermal image information of the structure.

For this purpose, the scanning unit 110 may include a camera unit 111, a thermal imaging camera unit 112, and an ultrasonic unit 113.

The camera unit 111 can acquire image information by capturing an image of the structure.

The thermal imaging camera unit 112 can acquire thermal image information by capturing a thermal image of the structure.

The ultrasonic unit 113 acquires information about the distance between the unmanned object 100 and the structure during the flight of the unmanned air vehicle 100 and the distance between the unmanned object 100 and the ground (the altitude of the unmanned air vehicle 100) can do.

The sensor unit 120 can sense and acquire information about the unmanned air vehicle 100 and various information about the periphery of the unmanned air vehicle 100. [

For this, the sensor unit 120 may include an acceleration sensor, a pressure sensor, a temperature sensor, a lightness sensor, a smoke sensor, a humidity sensor, a carbon monoxide sensor, a gyroscope, a GPS, a CO2 sensor, an ozone sensor, Sensors, and the like.

The acceleration sensor can be used to maintain the altitude.

The gyro sensor can be used for leveling.

The pressure sensor can be used for posture stabilization function.

The danger discrimination unit 130 can discriminate whether the circumstance of the unmanned air vehicle 100 is a risk reward.

The communication unit 140 can exchange information with the server 200 or another device. For example, the communication unit 140 can transmit the information acquired by the unmanned aerial vehicle 100 to the server 200.

The flight unit 150 may enable the unmanned aerial vehicle 100 to fly. The flight unit 150 may include a power unit. The power unit may include a device capable of generating power such as a battery.

The flight unit 150 can determine information about the distance that the unmanned air vehicle 100 can fly with current power.

The memory unit 160 may store various information necessary for the operation of the unmanned air vehicle 100.

The controller 170 can control the overall function and operation of the UAV 100.

For example, the control unit 170 can control the flight of the unmanned air vehicle 100.

The control unit 170 may control transmission and reception of data between the unmanned air vehicle 100 and the server 200 and may transmit a dangerous situation based on the information acquired by the scanning unit 110 and / Can be distinguished. The controller 170 may control the landing of the unmanned air vehicle 100 by setting the unmanned air vehicle 100 to the autonomous landing mode in a dangerous situation.

In the following, the meaning of 'A and / or B' may mean 'at least one of A and B'.

The server 200 may analyze the scan information acquired by the scanning unit 110 to detect a POI (Part Of Interest) of the structure. Here, the interested part can be said to be a suspicious part.

2, the server 200 includes a communication unit 210, an image analysis unit 220, a position determination unit 230, an abnormal type determination unit 240, a path setting unit 250, A drawing information acquiring unit 260, a structure information unit 270, a memory unit 280, and a control unit 290.

The communication unit 210 can perform communication with the unmanned air vehicle 100 and / or the operation unit 300. For example, the communication unit 210 can receive the information acquired by the unmanned aerial vehicle 100 from the unmanned air vehicle 100.

The image analysis unit 220 can analyze the image information among the information acquired by the unmanned aerial vehicle 100.

The position determination unit 230 may determine information on the position of the interested portion.

The abnormal type determination unit 240 can determine information about what kind of abnormality has the interest portion. For example, you can determine information about whether there is physical damage or thermal anomalies in the area of interest.

The path setting unit 250 can set the flight path of the UAV 100 in correspondence with the structure.

The stereoscopic drawing acquiring unit 260 can acquire a stereoscopic drawing of a structure by processing an image of a structure photographed while the unmanned flying object 100 is flying corresponding to a flight path.

The structure information unit 270 can process information on a structure to be monitored. For example, the structure information unit 270 may process the information about the structure to obtain coordinate information (2D and / or 3D) for the structure.

The memory unit 280 may store various information required for inspection of the structure. For example, it may include information on the structure of the structure, information on the shape of the structure, information on the flight path, and / or information on the area of interest.

The output unit 310 may output various information so that the user can confirm the information. For example, the output unit 310 may output information on a part of interest of the structure. The output unit 310 may include a display part.

The control unit 290 can control overall functions and operations of the server 200. [ For example, the controller 290 may analyze the scan information received from the unmanned air vehicle 100 and detect a POI (Part Of Interest) of the structure.

Hereinafter, a method of inspecting a structure using the unmanned aerial vehicle structure inspection apparatus 10 will be described in detail. The function and operation of the structure inspection apparatus 10 using the unmanned aerial vehicle described above can be clarified through the following description.

3 to 17 are views for explaining a structure inspection method using an unmanned aerial vehicle according to the present invention. In the following, the description of the parts described in detail above can be omitted.

Referring to FIG. 3, in the structure inspection method, the unmanned aerial vehicle 100 may scan the structure while flying around the structure (S100) to acquire scan information about the structure.

For example, the unmanned aerial vehicle 100 can scan various information such as image information, thermal image information, and the like of the structure. In other words, the scan information may include at least one of image information and thermal image information of the structure.

Thereafter, the scan information is analyzed (S200), and the POI of interest of the structure can be detected (S200).

Then, it is possible to provide (output) information on a region of interest (POI) (S400).

At least one of the steps S200, S300, and S400 of FIG. 3 may be performed by the unmanned aerial vehicle 100 itself.

Alternatively, as in the case of FIG. 4, the unmanned aerial vehicle 100 may scan (S100) and transmit the acquired scan information to the server 200 (S500).

In this case, the process of analyzing the scan information (S200) to detect a POI of interest (S200) and providing information about a POI (S400) may be performed by the server (200) .

Information transmission from the unmanned air vehicle 100 to the server 200 can be performed during flight of the unmanned air vehicle 100.

Alternatively, it may be possible for the unmanned aerial vehicle 100 to transmit information to the server 200 after the end of the flight of the unmanned air vehicle 100.

Alternatively, as in the case of FIG. 5, it is possible to input information about the structure (S600) before scanning the structure.

For example, it is possible to input various drawings such as photographs, design drawings, form drawings, and image drawings of a structure to be monitored.

It is possible to obtain approximate coordinate information of the structure by using information on such a structure.

As in the case of FIG. 6, suppose that the structure is the chimney 400. Here, it is further assumed that the cross section of the chimney 400 has a trapezoidal shape.

In this case, coordinate information on the chimney 400 can be obtained by using information such as a photograph of the chimney 400.

For example, one of the four corners in the cross section of the chimney 400 is set as the origin coordinate (0, 0) and the remaining three corners are set as coordinates (a, b), (a1, b1) ).

It is possible to set the flight path FP of the unmanned air vehicle 100 based on the coordinate information of the structure obtained in this way, for example, the chimney 400. [ For example, as in the case of FIG. 7, it may be possible to set a flight path FP that traverses the periphery of the chimney 400.

The flight path (FP) of the unmanned aerial vehicle (100) can be variously changed.

For example, as in the case of FIG. 8, the flight path FP may be set to a spiral.

As described above, if the flight path FP is set to a spiral, the flight of the UAV 100 can be more effectively controlled. In addition, it may be possible to acquire information on the structure 400 more precisely and effectively.

The unmanned flight vehicle 100 can scan the information of the structure 400 while flying according to the set flight path FP.

8, at the first point P1, the second point P2, the third point P3 and the fourth point P4 in the helical flight path FP, It is possible to take an image of the subject 400. Although it is described here that the image of the structure 400 is photographed, it is also possible to acquire other information such as a thermal image of the structure 400. [ Hereinafter, it is assumed that the image of the structure 400 is photographed for convenience of explanation.

The image photographed at the first, second, third, and fourth points P1, P2, P3, and P4 while the unmanned flying vehicle 400 is flying can be continuously edited as shown in FIG.

In this way, a three-dimensional drawing of the structure can be obtained. In detail, the 3D image of the structure 400 can be obtained by processing images of the structure 400 photographed while the unmanned flying vehicle 100 is flying in accordance with the flight path FP.

An example of a three-dimensional drawing of the structure 400 obtained by editing and acquiring information acquired during flight of the UAV 100 is shown in FIG.

Thus, by acquiring the three-dimensional drawing of the structure 400, the user can be able to precisely monitor the structure 400 using the three-dimensional drawing without directly ascending the structure 400.

On the other hand, it may be possible for the server 200 to automatically monitor the structure 400 by analyzing the information acquired by the unmanned aerial vehicle 100, without manually monitoring the stereoscopic views of the structure 400. The following will be described with reference to FIGS. 11 to 15 attached hereto.

Referring to FIG. 11, in the information analysis step S200, the scan information may be received (S210).

Thereafter, the received scan information is compared with the previous scan information (S220), and the changed portion can be detected (S230). To this end, the scan information may be stored in the memory unit 280. For example, the monitoring of the structure 400 may be performed at a monthly cycle, and information on the structure 400 may be stored. In addition, it may be possible to compare the scan information obtained this month with the scan information obtained in the previous month to confirm whether or not there is a change in the current month compared with the previous month.

It is possible to judge whether or not there is an abnormality in the detected changed part (S240).

If it is determined that there is no abnormality in the changed portion, another preset function (Default) may be performed (S260).

On the other hand, if there is an abnormality in the changed part, the corresponding part can be set as the interested part (S250).

A method of determining whether there is an abnormality in a changed part will be described.

The currently received scan information includes the second photo information for the first location of the structure 400 and the previously received scan information is assumed to contain the first photo information for the first location of the structure 400 Let's do it. Here, the first location may be referred to as the interest portion of the structure 400.

In this case, the second photograph information is compared with the first photograph information, and when the matching rate of the second photograph information and the first photograph information is lower than a preset reference matching rate, It can be determined that an abnormality has occurred.

If it is determined that there is an abnormality in the region of interest (e.g., the first position), information on the position of the region of interest, such as coordinates (a3, b3) information of the region of interest, (2/3 height point) can be output so that the user can confirm the information.

In addition, it is possible to output information about the kind (for example, the division) of the abnormality of the interested part together. As such, the information about the interest portion may include information about the kind (crack, temperature abnormality, etc.) of the abnormality.

Alternatively, as in the case of FIG. 13, it may be possible to display the position of the point of interest (POI) on the stereogram of the structure 400. As such, the information about the area of interest may include information about the location of the area of interest (POI) on the structure 400.

In this case, the user can intuitively confirm the position of the interested portion.

On the other hand, it is possible to detect a region of interest using only the current scan information without comparing the current scan information with the previous scan information. Referring to FIG. 14, the following will be described. In FIG. 14, it is assumed that a portion of interest is detected using image information in the scan information.

Referring to FIG. 14, the server 200 receives the image information of the scan information from the unmanned air vehicle 100 (S211) and analyzes the received image information (S221).

Thereafter, the received image information may be compared with preset reference information (S231) using a preset image analysis algorithm. Here, the reference information may be information on a criterion where an abnormality may occur.

It is possible to judge whether or not there is an abnormal part as a result of comparing the received video information with the reference information (S241).

If it is determined that there is no abnormality in the image information, another preset function (Default) may be performed (S261).

On the other hand, if there is an abnormality in the image information, the position corresponding to the image information can be set as a region of interest (S251).

On the other hand, it is possible to detect a region of interest using the thermal image information in the scan information. Referring to FIG. 15, the following will be described. The thermal image information can be photographed by the thermal imaging camera unit 112.

15, the server 200 receives the thermal image information of the scan information from the unmanned air vehicle 100 (S212), and analyzes the temperature of the structure 400 (S222) using the received thermal image information have.

Then, based on the result of the temperature analysis, the high temperature portion of the structure 400 can be detected (S232). Hereinafter, a portion where the temperature is relatively high in the structure 400 is referred to as a high temperature portion.

Then, it is judged whether or not the temperature of the high temperature part is higher than a preset reference temperature (S242).

If it is determined that the temperature of the high temperature portion is lower than the reference temperature, another preset function (S262) may be performed.

On the other hand, if the temperature of the high temperature part is higher than the reference temperature, the high temperature part can be set as the interested part (S252).

For example, assuming a case where a chimney discharges high-temperature smoke or gas, if cracks are generated in the chimney, high-temperature smoke or gas is discharged to the outside through cracking, It may be relatively higher than ambient. Using this difference in temperature, it is possible to detect the part where the chimney is cracked.

As such, the portion of interest may be a portion having a temperature higher than a preset reference temperature or a portion where physical damage has occurred.

Meanwhile, when the POI is detected in the structure 400, the UAV 100 can accurately monitor the POI again.

For example, as in the case of FIG. 16A, when the unmanned flying vehicle 100 scans the structure 400 while moving along the helical flight path FP, (POI1) and the second region of interest (POI2) are detected.

In this case, as in the case of FIG. 16B, the UAV 100 moves to the first point of interest POI1 to acquire the scan information for the first point of interest POI1, It may be possible to move to the second point of interest PO2 and obtain scan information for the second point of interest PO2. In FIG. 16B, the flight path FP is a straight line connecting the starting point SP and the first point of interest POI1, a straight line connecting the first point of interest POI1 and the second point of interest POI2, . ≪ / RTI >

On the other hand, as in the case of FIG. 17, it may be possible to display information about a region of interest as an Augmented Reality (AR) image.

As described above, it is to be understood that the technical structure of the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

It should be understood, therefore, that the embodiments described above are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, And all changes or modifications derived from equivalents thereof should be construed as being included within the scope of the present invention.

Claims (11)

The unmanned aerial vehicle scans the structure while flying around the structure to obtain image information about the structure, thermal image information of the structure, interval information between the unmanned air vehicle and the structure, and interval information between the unmanned air vehicle and the ground Acquiring scan information;
Transmitting the scan information to the server by the unmanned aerial vehicle;
The scan information is compared with the previous scan information to detect a changed part, and the detected matching ratio of the changed part is compared with a predetermined reference matching rate to determine an abnormality. If the temperature is higher than the set reference temperature, (POI) of the structure by setting the POI as an area of interest when an abnormality is generated;
Outputting information on a part of interest including a type of information on a position and an abnormality of the interested part on the structure;
Acquiring information about the circumference of the unmanned air vehicle, acquiring information about the unmanned air vehicle comprising information on the distance that the unmanned air vehicle can fly, determining whether the circumstance of the unmanned air vehicle is a dangerous situation, ; And
Determining an autonomous landing mode by controlling the unmanned aerial vehicle if the surrounding situation is determined as a dangerous situation by analyzing the obtained information, and autonomously landing at a predetermined landing point in accordance with the autonomous landing mode;
And the method for inspecting a structure using an unmanned aerial vehicle. delete delete delete delete delete The method according to claim 1,
Storing information on the structure in advance; The method according to claim 1, further comprising the step of inspecting the structure using the unmanned aerial vehicle. 8. The method of claim 7,
Setting a flight path of the unmanned aerial vehicle to the structure; The method according to claim 1, further comprising the step of inspecting the structure using the unmanned aerial vehicle. 9. The method of claim 8,
Wherein the flight path is a spiral path. 9. The method of claim 8,
Processing an image of the structure captured by the unmanned aerial vehicle while flying in accordance with the flight path to obtain a stereoscopic view of the structure; The method according to claim 1, further comprising the step of inspecting the structure using the unmanned aerial vehicle. A camera unit that scans a structure while flying around the structure to acquire scan information of the structure, acquires image information of the structure, acquires image information, A scanning unit including an infrared camera unit for acquiring information about an unmanned air vehicle and an ultrasonic unit for acquiring information about an interval between the unmanned air vehicle and the structure or an interval between the unmanned air vehicle and the ground; A sensor part for sensing and acquiring information, a danger discriminating part for discriminating whether the circumstance of the unmanned aerial vehicle is in a dangerous state, a communication part for transmitting / receiving information to / from a server or another device, A memory unit for storing various information necessary for the operation of the unmanned air vehicle, and functions and operations of the unmanned aerial vehicle But controlled, unmanned air vehicle, which when it is determined as dangerous situation set to autonomous landing mode, or a control unit for controlling pre-land on the landing zone according to the set autonomous landing mode;
A control unit for analyzing the scan information acquired by the unmanned aerial vehicle and detecting a POI of the structure, a communication unit for receiving the information of the unmanned aerial vehicle, An image analysis unit, a position determination unit for determining information about a position of a part of interest, an abnormality type determination unit for determining which kind of an interest area is abnormal, a path setting unit for setting a flight path of the unmanned air vehicle A structure information acquiring unit for acquiring coordinate information for the structure; a memory unit for storing information necessary for inspection of the structure; And an output unit for outputting the output signal; And
An operation unit for operating a flight direction and a flying speed of the unmanned air vehicle and performing communication with a communication unit of the server;
And a controller for controlling the structure of the unmanned aerial vehicle.

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