KR101923314B1 - Unmanned air wehicle for tunnel structure investigation, and system using the same - Google Patents

Abstract

Disclosed is an unmanned air vehicle (UAV) to investigate a tunnel structure, which flies in the tunnel structure and photographs a surface state of the tunnel structure by infrared ray to evaluate a state of the tunnel structure, and a tunnel structure investigation system using the same. According to the present invention, the tunnel structure investigation system comprises: a UAV flying in a tunnel structure to collect image information about a surface state of the tunnel structure; and a tunnel structure investigation device to set a flying path of the UAV based on stored design information of the tunnel structure and to estimate a state of the tunnel structure based on the collected image information. Accordingly, the UAV is used, and thus the state of the tunnel structure is safely and conveniently estimated. Moreover, when the UAV flies in the tunnel structure and photographs the surface state of the tunnel structure, a distance between the UAV and the tunnel structure is continuously measured and a collision therebetween is prevented. Moreover, even if global positioning system (GPS) coordinates are not smoothly received, a current location of the UAV is recorded in the image information generated by photographing the surface state and thus it is possible to identify the position of the tunnel structure corresponding to the image information.

Description

[0001] The present invention relates to an unmanned aerial vehicle (" tunnel structure "),

The present invention relates to a tunnel structure surveying system using a tunnel structure, and more particularly, to a tunnel structure surveying system using a tunnel structure for evaluating the state of a tunnel structure by photographing the surface state of the tunnel structure by infrared rays, And a tunnel structure inspection system using the same.

Recently, as the structure of the tunnel is getting older, many inspections and diagnoses are conducted to evaluate the safety of the tunnel structure. However, in order to evaluate the condition and safety of the tunnel structure, it is necessary for the person to directly walk through the inside of the tunnel structure and to photograph and check the surface condition of the tunnel structure. When the upper part corresponding to the ceiling of the tunnel is photographed, It is necessary to take a picture using the tunnel, and the cost and time of the tunnel are considerably consumed. In case of a tunnel structure with poor condition, there is a problem that the investigator is exposed to collapse risk.

In addition, there is an inconvenience that the traffic of the vehicle must be blocked for the safety of the investigator even when the investigator directly examines the tunnel structure while checking the tunnel where the risk of collapse is not high.

Recently, researches on the possibility of using unmanned aerial vehicles such as drones in various fields are being actively carried out, and it is required to search for ways to apply such unmanned aerial vehicles to evaluate the condition of the tunnel structures.

In addition, since there is a risk that the unmanned aerial vehicle collides with the tunnel structure during flight in the inside of the tunnel structure and the GPS coordinate reception is not smoothly performed, the information about the surface state of the tunnel structure is collected using the unmanned aerial vehicle There is a difficulty in generating or receiving the position information of the unmanned aerial vehicle.

Therefore, considering the internal situation of the tunnel structure, it is required to search for a way to evaluate the state of the tunnel structure safely and conveniently using the unmanned aerial vehicle without the photographer photographing the top of the tunnel structure directly.

Korean Patent No. 10-1745619 entitled " Communication Relay System in Tunnel Using Unmanned Aerial Vehicle and Method Thereof "

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a tunnel structure which can examine the internal state of a tunnel structure using an unmanned aerial vehicle, And a tunnel structure inspection system using the same.

It is another object of the present invention to provide a tunnel structure for continuously monitoring the distance between an unmanned aerial vehicle and a tunnel structure when an unmanned aerial vehicle is flying inside a tunnel structure and photographing a surface state of the tunnel structure, And a tunnel structure inspection system using the same.

It is still another object of the present invention to provide a method and an apparatus for acquiring image information of a tunnel structure by photographing a surface state of a tunnel structure without taking the GPS coordinates smoothly when the surface of the tunnel structure is photographed, The present invention provides a tunnel structure-inspected unmanned aerial vehicle and a tunnel structure survey system using the tunnel structure, wherein the current position of the unmanned aerial vehicle is recorded to identify the location where the tunnel structure is photographed.

According to an aspect of the present invention, there is provided a tunnel structure surveying system for collecting image information on a surface state of a tunnel structure flying inside a tunnel structure, And a tunnel structure irradiator for setting a flight path of the unmanned aerial vehicle based on the design information of the tunnel structure previously stored and evaluating the state of the tunnel structure based on the collected image information.

In addition, the unmanned aerial vehicle may continuously fly at a predetermined altitude along the set flight path, continuously measuring first distance information by measuring a distance to the tunnel structure in a flying state, and generating the first distance information Determining whether a distance between the tunnel structure and the tunnel structure is within a predetermined shooting range and if the distance between the tunnel structure and the tunnel structure is within a predetermined shooting range, Information can be collected.

When the unmanned air vehicle is in flight, the tunnel structure irradiating device continuously measures second distance information by measuring a distance to the unmanned air vehicle by a wireless distance measurement method, and when the image information is received from the unmanned air vehicle The position information of the unmanned air vehicle based on the first distance information, the second distance information, and the image information, and stores the position information by matching with the received image information.

In addition, the tunnel structure illuminating device converts the real-time position of the unmanned air vehicle into three-dimensional virtual coordinates having a starting point of a flight path of the unmanned air vehicle as a reference point, thereby generating the position information, Wherein the control unit collects image information in a flying state from a starting point of the path, records the surface curvature value of the tunnel structure at the reference point, and calculates the surface curvature value of the tunnel structure based on the surface curvature value at the recorded reference point and the pre- The position information may be generated by calculating a design point having a curvature value equal to a surface curvature of the tunnel structure included in the image information among a plurality of points having the first distance information and the second distance information.

The tunnel structure irradiating device irradiates the surface of the tunnel structure with infrared rays to collect the image information. The tunnel structure irradiating device irradiates the surface of the tunnel structure with cracks, damages, And the state of the tunnel structure can be evaluated.

In addition, if it is determined that at least one of cracks, damages, and leaks is generated on the surface of the tunnel structure, the tunnel structure irradiating apparatus may include image information including the reformation of the surface of the tunnel structure, It is possible to evaluate the state of the tunnel structure by judging whether the uplift is due to an external force, material deterioration or leakage, by comparing with stored images.

The unmanned aerial vehicle determines whether the distance from the tunnel structure is within a predetermined collision range based on the generated first distance information and determines that the distance from the tunnel structure is within a predetermined collision range , It is possible to inform the tunnel structure irradiating apparatus of the possibility of collision with the tunnel structure, to fly to maintain the current position, or to fly outside the predetermined impact range in the tunnel structure.

In addition, the unmanned aerial vehicle may include a driving unit for allowing the user to fly along the flight path; An image information collecting unit for infrared-photographing the surface of the tunnel structure in a flying state by the driving unit and collecting the image information; A first distance information generation unit for measuring the distance from the tunnel structure to generate the first distance information; A communication unit for transmitting the image information and the first distance information to the tunnel structure irradiating apparatus; A control unit for controlling the driving unit, the image information collecting unit, the distance information generating unit, and the communication unit; And a battery unit for supplying the charged power source to the driving unit, the image information collecting unit, the distance information generating unit, the communication unit, and the control unit, If it is determined that the amount is less than or equal to the set amount, it is possible to change the flight path and return to the starting point of the flight path.

The first distance information generation unit may include a protection frame unit that is accommodated in the protection frame unit and is disposed along the periphery of the unmanned air vehicle along the protection frame unit, The first distance information can be generated by measuring the distance to the tunnel structure in a state where the first distance information is displayed.

According to another aspect of the present invention, there is provided a tunnels for unmanned aerial vehicles, comprising: a control unit for causing a tunnel structure to fly at a predetermined altitude; An image information collecting unit for collecting image information about a surface state of the tunnel structure in a flying state; A protective frame part provided so as to surround and protect the outer surface; And a tunnel structure that is accommodated in the protection frame portion so as to prevent collision with the tunnel structure, wherein the distance between the tunnel structure and the tunnel structure is measured while the surroundings of the unmanned air vehicle are rotated along the protection frame portion, Wherein the control unit determines whether to approach the tunnel structure within a predetermined range based on the generated first distance information and transmits the tunnel structure to the tunnel structure, To avoid the collision and to fly.

As a result, the state of the tunnel structure can be evaluated safely and conveniently by using an unmanned aerial vehicle. In addition, the distance between the unmanned aerial vehicle and the tunnel structure is continuously measured when the surface of the tunnel structure is photographed while the unmanned aerial vehicle is flying inside the tunnel structure. The collision between the unmanned aerial vehicle and the tunnel structure can be prevented, It is possible to record the current position of the unmanned aerial vehicle on the image information generated by photographing the surface state and identify the position where the tunnel structure is photographed.

FIG. 1 is a schematic view of a tunnel structure inspection system according to an embodiment of the present invention. Referring to FIG.
FIG. 2 is a view illustrating a configuration of a tunnel structure inspection system according to an embodiment of the present invention. Referring to FIG.
3 is a view illustrating a process of evaluating the surface condition of a tunnel structure according to an embodiment of the present invention.
4 is a view illustrating a process of evaluating the surface condition of a tunnel structure according to an embodiment of the present invention.
FIG. 5 is a view for explaining a first distance information generating unit of a tunneling structure unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG.
FIG. 6 is a view for explaining a method of generating location information of a tunnel structure-based unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 7 is a view for explaining a method of generating location information of a tunnel structure-based unmanned aerial vehicle according to an embodiment of the present invention.
8 is a view for explaining a survey method using a tunnel structure survey system 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 will be omitted from the drawings.

FIG. 1 is a schematic view of a tunnel structure inspection system according to an embodiment of the present invention. FIG. 2 is a view for explaining a configuration of a tunnel structure inspection system according to an embodiment of the present invention.

The tunnel structure inspection system according to the present embodiment investigates the internal condition of the tunnel structure using the unmanned air vehicle 100. The surface state of the tunnel structure is monitored while the unmanned air vehicle 100 is flying inside the tunnel structure The distance between the UAV 100 and the tunnel structure is continuously measured so as to prevent collision between the UAV 100 and the tunnel structure. Even if GPS coordinates are not smoothly received, The current position of the tunnel structure 100 is recorded so that it is identified at which position the tunnel structure is photographed so as to evaluate the state of the tunnel structure safely and conveniently.

For this purpose, the tunnel structure survey system sets the flight path of the unmanned air vehicle 100 and the unmanned air vehicle 100 that collects image information on the surface state of the tunnel structure at a certain altitude while flying the inside of the tunnel structure, And a tunnel structure irradiating device 200 for receiving the image information collected by the air vehicle 100 and evaluating the degree of deterioration and the degree of deterioration of the tunnel structure.

Specifically, the unmanned aerial vehicle (100) is configured to fly the inside of the tunnel structure at a predetermined altitude along a flight path set by the tunnel structure irradiating device (200), to infrared image the surface of the tunnel structure .

In order to prevent collision with the tunnel structure, the UAV 100 measures the distance between the UAV 100 and the tunnel structure in a state of being in flight, and when it is determined that the risk of collision is high, Can be changed.

To this end, the UAV 100 includes a driving unit 110, an image information collecting unit 120, a first distance information generating unit 130, a control unit 140, a communication unit 150, and a battery unit 160 .

The driving unit 110 is provided to allow the unmanned air vehicle 100 to fly along the flight path. More specifically, the driving unit 110 generates a drag force by rotating a plurality of rotation drive vanes 111 provided on the upper side of the unmanned air vehicle 100, allowing the unmanned air vehicle 100 to take off by the generated drag, So that the unmanned aerial vehicle (100) can take off.

The image information collecting unit 120 is provided to capture the surface state of the tunnel structure and collect image information. More specifically, the image information collecting unit 120 is provided with an infrared camera so that even when the inside of the tunnel structure is dark, the surface state of the tunnel structure can be smoothly captured and image information can be collected.

Here, the surface of the tunnel structure means a tunnel lining or a concrete lining in which shotcrete concrete is laid and a waterproof sheet is laid.

The first distance information generator 130 is provided for measuring the distance between the UWB 100 and the tunnel structure to generate the first distance information. More specifically, the first distance information generator 130 includes an ultrasonic proximity sensor 131 that emits ultrasonic waves toward the tunnel structure while the unmanned air vehicle 100 is flying, The first distance information can be generated by measuring the distance.

The control unit 140 is provided to control various aspects of the UAV 100. Specifically, the control unit 140 allows the UAV 100 to fly at a predetermined altitude along the set flight path, and measures the distance to the tunnel structure in a state of being in flight so that the first distance information is continuously generated have.

The control unit 140 determines whether the distance between the unmanned air vehicle 100 and the tunnel structure is within a preset photographing range based on the generated first distance information, The surface state of the tunnel structure is photographed so that the image information can be collected.

The control unit 140 allows the unmanned object 100 to fly at a certain altitude and photographs the surface of the tunnel structure so that the unmanned air vehicle 100 photographs the tunnel structure at a distance within a predetermined shooting range So that the image information is collected. This is because, when cracks or damages such as cracks are generated on the surface of the tunnel structure, the result of the state evaluation of the tunnel structure may vary depending on the thickness and length of the revetment. That is, in the case of the present embodiment, since the thickness and length of the reinsertion are taken at a constant ratio in the image information collected by the unmanned flying vehicle 100 while flying at a certain altitude, it is possible to easily calculate the thickness and length of the actual reins.

The control unit 140 determines whether the distance between the unmanned air vehicle 100 and the tunnel structure is within a predetermined collision range based on the generated first distance information, It is possible to transmit the possibility of collision with the tunnel structure to the tunnel structure irradiating apparatus 200 and to fly to maintain the current position or to control the driving unit 110 to deviate from the predetermined impact range in the tunnel structure .

The communication unit 150 is provided for performing wireless communication with the tunnel structure irradiating apparatus 200 by being connected to a wireless network. Specifically, the communication unit 150 may connect to a wireless network, receive information about a flight path from the tunnel structure illuminator 200, or transmit image information and first distance information to the tunnel structure illuminator 200.

The battery unit 160 is provided to supply power to the components of the unmanned aerial vehicle 100. Specifically, the battery unit 160 can supply power to the driving unit 110, the image information collecting unit 120, the first distance information generating unit 130, the control unit 140, and the communication unit 150.

The control unit 140 detects the remaining amount of power charged in the battery unit 160 and changes the flight path of the unmanned airplane 100 when the remaining amount of the charged power is less than a predetermined amount, It is possible to return to the starting point of the path.

Meanwhile, the tunnel structure irradiating apparatus 200 may store design information such as a design drawing for the tunnel structure, and set the flight path of the unmanned air vehicle 100 based on the stored design information. At this time, the tunnel structure inspection apparatus 200 sets the flight path of the unmanned air vehicle 100 based on the stored design information, and the setting of the flight altitude increases when the unmanned air vehicle 100 starts flying, If it is determined that the distance between the unmanned air object 100 and the tunnel structure is within the predetermined shooting range, the flight path is changed so as to maintain the flight altitude, so that the unmanned air vehicle 100 moves the tunnel structure The surface can be photographed by infrared rays.

In addition, the tunnel structure irradiating apparatus 200 stores images in which a tunnel structure is exposed, such as cracks, damage, and leaks, and the unmanned aerial vehicle 100 photographs the surface of the tunnel structure by infrared rays , And when the image information is collected, the image information is received and compared with the stored images, thereby determining whether or not the surface of the tunnel structure has undergone the reformation.

When receiving the image information from the unmanned air vehicle 100, the tunnel structure illuminating apparatus 200 can generate real-time location information of the unmanned air vehicle 100 and store the real-time location information in matching with the received image information. Accordingly, when it is judged that the surface of the tunnel structure is compensated for in the received image information, the position of the point where the compensation occurs can be easily calculated.

The tunnel structure irradiating apparatus 200 includes a second distance information generator 210, a communication unit 220, a controller 230, a storage unit 240, and a power supply unit 250.

The second distance information generation unit 210 is provided to generate the second distance information by measuring the distance between the tunnel structure illuminator 200 and the unmanned air vehicle 100 when the unmanned air vehicle 100 is in flight. Specifically, for example, the second distance information generator 210 may be configured to transmit a predetermined frequency signal to the unmanned air vehicle 100 in flight and receive a response signal, And the second distance information can be generated by measuring the distance between the unmanned air vehicle 100 and the unmanned air vehicle 100.

Here, the second distance information generating unit 210 may be a distance measuring method that projects a laser toward the unmanned air vehicle 100 in flight or emits an ultrasonic wave. Accordingly, even using a laser or an ultrasonic wave, The distance between the irradiation device 200 and the UAV 100 can be measured.

The communication unit 220 is provided for performing wireless communication with the unmanned air vehicle 100 by connecting to the wireless network. Specifically, the communication unit 220 may connect to the wireless network and transmit information on the flight path to the unmanned air vehicle 100, or may receive the image information and the first distance information from the unmanned air vehicle 100.

The control unit 230 is provided to control various matters of the tunnel structure irradiating apparatus 200.

Specifically, the control unit 230 can set the flight path of the unmanned air vehicle 100 based on the design information on the tunnel structure.

When the image information is received, the controller 230 may generate position information of the UAV 100 based on the first distance information, the second distance information, and the image information.

In addition, the controller 230 can evaluate the state of the tunnel structure by determining whether the surface of the tunnel structure is cracked, damaged, or leaking, based on the image information.

Here, the position information of the unmanned air vehicle 100 means position information at a point where the image information is collected, and the generated position information can be matched and stored with the image information, In the case where it is determined that the surface of the tunnel structure has undergone an augmentation in the received image information, the position of the point where the upsetting occurs can be easily calculated.

In addition, when it is determined that the surface of the tunnel structure is deformed, the control unit 230 displays the images of the tunnel structure where the deflection such as the stored cracks, damage, It is possible to judge whether the displacement is due to an external force, material deterioration, or leakage.

The storage unit 240 is provided to store programs and data necessary for driving the tunnel structure irradiating apparatus 200. Specifically, the storage unit 240 stores the image information of the tunnel structure, the program for evaluating the state of the tunnel structure, the design information of the tunnel structure, and the image of the tunnel structures where the scarring such as damage and leakage occurs Can be stored.

The power supply unit 250 is provided to supply power to the UAV 100 in a wireless or wired manner. Specifically, the power supply unit 250 is provided with a storage member capable of landing the UAV 100, and supplies power to the battery unit 160 of the unmanned air vehicle 100 in a landing state in a wireless or wired manner, So that the portion 160 can be charged.

FIGS. 3A to 4D are views for explaining a process of evaluating the surface condition of a tunnel structure by the tunnel structure irradiating apparatus 200 according to an embodiment of the present invention.

3B is a view showing a state in which transverse cracks are generated in a tunnel structure, FIG. 3C is a view showing a state in which a tunnel crack is generated in a tunnel structure, FIG. And FIG. 3D is a view showing a state where a network crack is generated in a tunnel structure.

FIG. 4A is a view showing a state in which water is held between the cracks generated on the surface, FIG. 4B is a view showing a state in which water leaks from the cracks generated in the surface, and FIG. FIG. 4D is a view showing a state in which water leaks from a crack generated on a surface, and FIG.

Hereinafter, with reference to FIGS. 3A to 4D, a tunnel structure irradiating apparatus 200 according to the present embodiment will be described for evaluating the surface state of a tunnel structure.

As described above, the tunnel structure illuminating apparatus 200 according to the present invention receives infrared rays of the surface of a tunnel structure and collects image information of the tunnel structure 100, compares the images with the stored images, It is possible to judge whether or not an overturn has occurred.

More specifically, the tunnel structure irradiating apparatus 200 compares the image information with the images generated with cracks as shown in FIG. 3A to FIG. 3D. When it is determined that a crack C is generated in the tunnel structure T, In order to evaluate cracks, it is necessary to distinguish between cracks of longitudinal cracks, transverse cracks, oblique cracks, and network cracks. The length and area of the cracks should also be calculated.

In the tunnel structure irradiating apparatus 200, when the crack shape generated in the tunnel structure T is a longitudinal crack, it is preferable to adjust the evaluation score to be lower than other cracks, mm or more and less than 0.3 mm, 0.3 mm or more and less than 1.0 mm, 1.0 mm or more and less than 3.0 mm, or 3.0 mm or more.

When the tunnel structure irradiating apparatus 200 evaluates the deterioration state and the degree of deterioration and the degree of deterioration of the tunnel structure T, Is still ongoing, or whether expansion or additional cracking occurs in the generated crack (C) can also be an important criterion for evaluation.

If it is judged that leakage occurs on the surface of the tunnel structure T based on the image information, the tunnel structure irradiating apparatus 200 compares the image information with the images of the leakage situation as shown in FIGS. 4A to 4D So that the leaked state can be evaluated.

Specifically, the tunnel structure irradiating apparatus 200 can distinguish whether the leaked region is an arc portion corresponding to a ceiling of the tunnel structure T or a side wall or a road surface.

4C and FIG. 4D, when the water leakage is generated in the arch portion, the tunnel structure irradiating apparatus 200 is free from the leakage of the water W because the amount of the water W leaking is large, 4a and 4b, it is judged whether or not to restore the leak by a simple recovery operation, not to block or limit the vehicle traffic, as shown in FIGS. 4A and 4B. can do.

In addition, the tunnel structure irradiating apparatus 200 can prevent or prevent the passage of the vehicle because there is a danger that the leakage of the soil or the leaking water W is frozen even when leakage occurs on the road surface, Whether it is necessary or not, you can judge whether you want to restore the leak by simple restoration work, not to block or limit the traffic.

In addition, when the tunnel structure irradiating apparatus 200 is peeled off, peeling off, or efflorescence on the surface of the tunnel structure T, or when the reinforcing bars are exposed, It can be judged that it is caused by material deterioration.

FIG. 5 is a view for explaining a first distance information generating unit 130 of a tunneling-type unmanned aerial vehicle 100 according to an embodiment of the present invention.

The unmanned air vehicle 100 according to the present embodiment includes the driving unit 110, the image information collecting unit 120, the first distance information generating unit 130, the control unit 140 , The communication unit 150 and the battery unit 160, as well as the protection frame unit 170.

The protection frame unit 170 is provided to surround the outer surface of the unmanned air vehicle 100 and can protect the unmanned air vehicle 100 when the unmanned air vehicle 100 collides with an external structure such as a tunnel structure.

To this end, the protection frame unit 170 may be provided with a plurality of protection frames arranged in a ring shape to rotate the unmanned air vehicle 100.

When the protection frame unit 170 is additionally included, the first distance information generating unit 130 is accommodated in the protection frame unit 170, and the first distance information generating unit 130 may surround the unmanned air vehicle 100 along the protection frame unit 170 It is possible to generate the first distance information by measuring the distance between the UAV 100 and the tunnel structure.

Specifically, a plurality of ultrasonic proximity sensors 131 of the first distance information generation unit 130 are provided so as to be individually accommodated in the respective protection frames, and each of the ultrasonic proximity sensors 131 is connected to the unmanned air vehicle 100, and emits ultrasonic waves toward the periphery of the unmanned aerial vehicle, thereby continuously measuring the distance between the unmanned air vehicle 100 and the tunnel structure.

Each of the ultrasonic proximity sensors 131 includes an ultrasonic wave emitting unit and an ultrasonic wave receiving unit. When the emitted ultrasonic wave is reflected by the tunnel structure and returns to the ultrasonic proximity sensor 131, the ultrasonic wave proximity sensor 131 receives the reflected ultrasonic wave, And the tunnel structure can be measured.

FIGS. 6 to 7 are views for explaining a method of generating position information of the tunneling structure unmanned aerial vehicle 100 according to an embodiment of the present invention.

Hereinafter, a method for generating the position information of the unmanned air vehicle 100 according to the tunnel structure irradiating apparatus 200 according to the present embodiment will be described with reference to FIGS. 6 to 7. FIG.

As described above, when the image information is received, the tunnel structure illuminating apparatus 200 generates position information of the unmanned air vehicle 100 based on the first distance information, the second distance information, and the image information, And can be stored.

Specifically, the tunnel structure illuminator 200 converts the real-time position of the unmanned air vehicle 100 into three-dimensional virtual coordinates having a starting point (0, 0, 0) of a flight path of the unmanned air vehicle 100 as a reference point, Information can be generated.

Referring to FIG. 6, the tunnel structure irradiating device 200 measures the current position of the unmanned air vehicle 100 in a direction A (0, 0, 0) The distance D1 between the first distance information generator 130 of the unmanned air vehicle 100 and the ceiling of the tunnel structure can be calculated through the first distance information.

Herein, the distance from the starting point (0, 0, 0) of the flight path to the second distance information generating unit 210 is a fixed error value and is a distance D2 from the second distance information generating unit 210 to the unmanned air vehicle 100 ) To generate the second distance information, the second distance information can be generated by correcting the fixed error value.

The current position (X1, Y1, 0) of the UAV 100 communicates with the second distance information generator 210 to determine the position of the communication unit 150 of the unmanned aerial vehicle It is preferable to calculate it as a reference point.

The tunnel structure irradiating apparatus 200 can calculate the overall height H of the tunnel structure through the pre-stored design information and calculate the distance H between the first distance information generating unit 130 and the tunnel structure The height H1 from the ground to the starting point of the flight path and the distances H2 and H3 between the communication unit 150 of the unmanned aerial vehicle and the first distance information generating unit 130 are subtracted from Equation 1 The distance H4 from the start point of the flight path to the current location of the UAV 100 can be calculated.

Here, the distance H4 from the start point (0, 0, 0) of the flight path to the current position of the UAV 100 can be converted into the Y coordinate value of the 3D virtual coordinates.

The tunnel structure irradiating apparatus 200 measures the distance H4 from the start point of the flight path 0 to the current position of the unmanned air vehicle 100 and the distance H4 between the tunnel structure irradiating apparatus 200 and the unmanned aerial vehicle communication unit 150 (0, 0, 0) of the flight path to the current position (X1, Y1, 0) of the unmanned air vehicle 100 as shown in Equation (2) D0) to the X coordinate value of the three-dimensional virtual coordinate.

In addition, the Z-coordinate of the current position of the UAV 100 may be either zero or variable and may be any of a plurality of points. The process of calculating the Z coordinate of the current position of the UAV 100 will be described with reference to FIG.

≪ Formula 1 >

H4 = H- (D1 + H2 + H3 + H1)

&Quot; (2) "

In addition, the tunnel structure survey apparatus 200 determines whether the unmanned air vehicle 100 is moving up from the starting point (0, 0, 0) of the flight path, 7, the image information is collected, the surface curvature value of the tunnel structure at the reference point is recorded, and based on the surface curvature value at the recorded reference point and pre-stored design information, the first distance information And a design point having a curvature value equal to the surface curvature of the tunnel structure included in the image information among the plurality of points having the second distance information.

Assuming that the plurality of points are the first point (0, 0, Z1) to the third point (0, 0, Z3), the surface curvature of the tunnel structure included in the image information is the second point (0, ), A design point having an alpha value is calculated, and if the third point (0, 0, Z3), a design point having a beta value can be calculated.

8 is a view for explaining a survey method using a tunnel structure survey system according to an embodiment of the present invention.

Hereinafter, an investigation method using the tunnel structure survey system according to the present embodiment will be described with reference to FIG.

First, the tunnel structure inspection apparatus 200 can set a flight path based on design information of a tunnel structure to be inspected (S810). Then, the set flight path can be transmitted to the unmanned air vehicle 100, allowing the unmanned air vehicle 100 to fly.

When the unmanned aerial vehicle 100 receives the information about the flight path from the tunnel structure irradiating device 200, it can fly the tunnel structure at a certain height according to the set flight path (S815).

In addition, the UAV 100 may generate the first distance information by measuring the distance to the tunnel structure in flight (S820). Specifically, the UAV 100 may emit ultrasonic waves toward the tunnel structure while flying and measure the distance between the UAV 100 and the tunnel structure to generate the first distance information.

When the first distance information is generated, the UWB 100 determines whether the distance from the tunnel structure is within a predetermined shooting range based on the generated first distance information (S825), and determines whether the distance from the tunnel structure If it is determined that the distance between the unmanned air vehicle 100 and the tunnel structure is within the preset shooting range (S825-Yes) and is outside the predetermined collision range (S830- No), the surface state of the tunnel structure may be photographed so that the image information may be collected (S840).

If it is determined that the distance between the unmanned air vehicle 100 and the tunnel structure is within the predetermined collision range (S830-Yes), the unmanned air vehicle 100 may determine that there is a danger of collision with the tunnel structure (S835), or to fly outside the predetermined range of collision in the tunnel structure (S835).

On the other hand, the tunnel structure irradiating apparatus 200 receives infrared images of the surface of the tunnel structure and collects image information of the tunnel structure (S845), compares the images with the stored images, It can be determined whether or not an overturn has occurred (S850).

In addition, when it is judged that the surface of the tunnel structure is displaced (S855-Yes), the tunnel structure irradiating apparatus 200 displays the images of the tunnel structure where the scatters such as stored cracks, It is possible to judge whether the displacement is caused by an external force, material deterioration, or leakage (S860).

Thereby, the state of the tunnel structure can be evaluated safely and conveniently by using the UAV 100. In addition, when the unmanned aerial vehicle (100) is flying inside the tunnel structure and the surface state of the tunnel structure is photographed, the distance between the unmanned air vehicle (100) and the tunnel structure is continuously measured, Even if GPS coordinates are not smoothly received, the current position of the UAV 100 can be recorded in the generated image information by photographing the surface state, and it is possible to identify from which position the tunnel structure is photographed.

While the embodiments of the present invention have been described with reference to the accompanying drawings, it is to be understood that the present invention is not limited by the specific embodiments for effectively explaining the technical idea of the present invention. Therefore, it is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. You can do it. In addition, the scope of the present invention is indicated by the following claims rather than the above detailed description. Also, all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: unmanned aerial vehicle 110:
111: driving blade 120: image information collecting unit
130: First distance information generator 131: Ultrasonic proximity sensor
140: control unit 150: communication unit
160: battery part 170: protective frame part
200: Tunnel structure survey equipment
210: second distance information generator 220:
230: control unit 240:
250: Power supply
T: Tunnel
C: Crack
W: Leaked water

Claims (10)

An unmanned aerial vehicle for flying inside a tunnel structure and collecting image information on a surface state of the tunnel structure; And
And a tunnel structure irradiator for setting a flight path of the unmanned aerial vehicle on the basis of design information of the tunnel structure previously stored and evaluating the state of the tunnel structure based on the collected image information,
In the unmanned aerial vehicle,
The first distance information is continuously generated by measuring a distance from the tunnel structure in a flying state while flying at a predetermined altitude along the set flight path,
Determining whether a distance between the tunnel structure and the tunnel structure is within a predetermined shooting range based on the generated first distance information, and if it is determined that the distance from the tunnel structure is within a predetermined shooting range, Capturing the surface state, collecting the image information,
The tunnel structure irradiating device includes:
Wherein when the unmanned air vehicle is in flight, the second distance information is continuously generated by measuring a distance to the unmanned air vehicle by a wireless distance measurement method,
Wherein the position information of the unmanned air vehicle is generated based on the first distance information, the second distance information, and the image information when the image information is received from the unmanned aerial vehicle, and the position information is matched with the received image information,
The tunnel structure irradiating device includes:
Wherein the real-time position of the unmanned aerial vehicle is converted into three-dimensional virtual coordinates having a starting point of a flight path of the unmanned aerial vehicle as a reference point,
And the surface curvature value of the tunnel structure at the reference point is recorded, and the surface curvature value at the recorded reference point and the pre-stored value Calculating a design point having a curvature value equal to a surface curvature of the tunnel structure included in the image information among a plurality of points having the first distance information and the second distance information based on the design information, ≪ / RTI &
In the unmanned aerial vehicle,
Infrared imaging the surface of the tunnel structure, collecting the image information,
The tunnel structure irradiating device includes:
Evaluating the state of the tunnel structure by judging whether cracks, damages and leakage occur on the surface of the tunnel structure based on the image information,
The tunnel structure irradiating device includes:
Comparing the image information including the reformation of the surface of the tunnel structure and pre-stored images if it is determined that at least one of cracks, damages and leaks is generated on the surface of the tunnel structure, Determining whether the tunnel structure is caused by external force, material deterioration, or leakage, and evaluating the state of the tunnel structure. If it is determined that cracks have occurred on the surface of the tunnel structure, In order to evaluate the cracks, it is necessary to classify whether the crack corresponds to longitudinal cracks, transverse cracks, oblique cracks, or network cracks,
Wherein the generated crack is a longitudinal crack, the evaluation score is adjusted to be lower than that of any one of the transverse crack, the inclined crack, and the network crack, and the area of the generated longitudinal crack is less than 0.1 mm, mm or more and less than 0.3 mm, 0.3 mm or more and less than 1.0 mm, 1.0 mm or more and less than 3.0 mm, or 3.0 mm or more to evaluate the state of the tunnel structure,
The tunnel structure irradiating device includes:
And evaluating the state of the tunnel structure by classifying whether the leaking area is an arch part corresponding to a ceiling of the tunnel structure or a sidewall or a road surface when it is judged that leaking occurs on the surface of the tunnel structure,
In the unmanned aerial vehicle,
Determining whether a distance between the tunnel structure and the tunnel structure is within a predetermined collision range based on the generated first distance information, and if it is determined that the distance from the tunnel structure is within a predetermined collision range, Conveying the device with a possibility of collision with the tunnel structure, flying to maintain the current position, or flying out of the predetermined collision range in the tunnel structure,
In the unmanned aerial vehicle,
A driver for allowing the user to fly along the flight path;
An image information collecting unit for infrared-photographing the surface of the tunnel structure in a flying state by the driving unit and collecting the image information;
A first distance information generation unit for measuring the distance from the tunnel structure to generate the first distance information;
A communication unit for transmitting the image information and the first distance information to the tunnel structure irradiating apparatus;
A control unit for controlling the driving unit, the image information collecting unit, the distance information generating unit, and the communication unit;
A battery unit for supplying the charged power to the driving unit, the image information collecting unit, the distance information generating unit, the communication unit, and the control unit; And
And a protective frame part provided so as to surround and protect the outer surface,
Wherein,
When the remaining amount of the power charged in the battery unit is less than a preset amount, changing the flight path to return to the start point of the flight path,
Wherein the first distance information generator comprises:
Wherein the first distance information is generated by measuring a distance from the tunnel structure to the tunnel structure while turning around the unmanned air vehicle along the protection frame part. delete delete delete delete delete delete delete delete delete

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