KR102012288B1 - Safety measurement system of structure using a drone - Google Patents

Abstract

The present invention relates to a structure safety inspection system using a drone. The structure safety inspection system comprises: a drone collecting surrounding information by using a mounted photographing means and a sensor and storing the same inside; a server receiving the information stored in the drone and conducting a safety check; and monitoring unit monitoring image information collected from the drone. The present invention relates to the structure safety inspection system using a drone further comprises: a drone storage device having the drone taking off and landing, having an accommodation space inside to store the landing drone, receiving and storing information stored in the drone to transmit the same to the server, and charging power of the drone stored inside; and a real-time moving position transmitter and receiver installed in a moving range of the drone to compensate a location error of the drone.

Description

SAFETY MEASUREMENT SYSTEM OF STRUCTURE USING A DRONE}

The present invention relates to a structure safety inspection system using a drone, and collects the surrounding information using a photographing means, a sensor mounted, a drone to store the inside, a server for receiving safety information received from the drone, collected from the drone In the structure safety inspection system including a monitoring unit for monitoring the image information, the drone is taken off and landed, the receiving space is formed in the interior to store the drone landed, receives the information stored in the drone and transmits to the server, the internal It relates to a drone storage device for charging the power of the drone stored in the structure safety check system using a drone, characterized in that it further comprises a real-time mobile positioning transceiver that is installed in the movement range of the drone to compensate for the position error of the drone.

The present invention relates to a structure safety check system using a drone.

According to the analysis of the industrial accident status of the Ministry of Employment and Labor in 2016, the construction industry accounted for 474 (47.3%) of the total 974 industrial accident mortality rates in 2016, and the domestic accident rate of construction sites in Korea increased by about 6% annually. .

Although there are robots and drones related to structural safety diagnosis, five facilities (openings, ladders, mobile scaffolding, safety railings, and scaffolding) for construction sites are absolutely necessary at construction sites. In addition, the existing safety inspection is limited to the overall construction-related inspection by one technician, one safety officer, and takes about 10 hours in the inspection time, causing time and economic losses.

Republic of Korea Patent No.: 10-1837557 Republic of Korea Patent Application Publication No. 10-2016-0034013

The present invention is to solve the problems of the prior art as described above, it is an object to provide a structure safety inspection system using a drone to reduce the safety inspection time and cost.

In addition, the purpose of the present invention is to provide a structure safety inspection system using a drone that creates a three-dimensional map by applying a high-precision sensor system to the drone, and checks for missing structures using the three-dimensional map.

Technical problems to be achieved by the present invention are not limited to the above-mentioned problems, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. There will be.

Structural safety inspection system using a drone according to the present invention for solving the above problems is a drone to collect the image information, including the photographing means, stored inside, a server for receiving, storing, and managing the information stored in the drone And a monitoring unit for monitoring the image information collected by the drone, wherein the drone is taken off and landed, and an accommodation space is formed therein to store the drone landing and receive the information stored in the drone. And a drone storage device for transmitting the stored information to the server and recharging the power of the drone stored therein, and a real-time mobile positioning transceiver configured to compensate for the positional error of the drone, which is installed in the moving range of the drone. It is characterized by including.

The drone for collecting image information including the photographing means includes a sensor unit including at least one of a transceiver, a LiDAR sensor, a GPS sensor, and an ultrasonic sensor for communicating with the outside, the photographing means, and the sensor. Memory for storing the data collected from the unit, the transmission and reception unit, the sensor unit, receiving information from the photographing means to control the flight of the drone, to control the photographing means, or stored in the memory in the transceiver And a controller for transmitting data to the drone storage device.

The drone storage device includes a main body portion in which the drone is accommodated and the top of which is opened, a bottom at which the drone is taken off and landed, and is formed inside the main body portion to move up and down and moves the drone inside the main body portion and the outside of the main body portion The landing and landing portion formed on the main body portion, and the upper and lower portion is formed when the landing and landing portion descends, the opening and closing portion opened when the landing and landing portion rises, the data stored in the drone accommodated in the body portion received from the drone and stored, The control unit for transmitting to the server, characterized in that it comprises a power supply for supplying power to the drone accommodated in the main body.

The photographing means may be any one or more of an infrared camera, a thermal imaging camera, a video camera, and a fisheye lens camera.

The server receives the stored information transmitted from the drone storage device, forms a three-dimensional map including temporary facilities by using a voxel technique, obtains three-dimensional point cloud data using the information collected by the lidar sensor, Extracting a structure object from the 3D point cloud data, comparing the structure object and the design model of the structure to check the member dimensions, the location, and performing eye inspection to detect the missing member.

The present invention is to solve the problems of the prior art as described above, the present invention is to solve the problems of the prior art as described above, providing a structure safety inspection system using a drone to reduce the safety inspection time and cost It is effective.

In addition, by applying a high-precision sensor system to the drone to create a three-dimensional map, it has the effect of providing a structure safety inspection system using a drone to check for missing structures using the three-dimensional map.

The technical effects of the present invention are not limited to the above-mentioned technical effects, and other technical effects not mentioned above may be clearly understood by those skilled in the art from the description of the claims. There will be.

1 is a view showing a structure safety check system using a drone according to an embodiment of the present invention.
2 is a view showing the role of configuration of the structure safety check system using a drone according to an embodiment of the present invention.
3 is a view showing the role of the drone storage device according to an embodiment of the present invention.
4 is a view showing a drone according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating the drone of FIG. 4 identifying an object in flight.
6 is a view showing a drone storage device according to an embodiment of the present invention.
7 is a diagram illustrating a real-time mobile positioning transceiver according to an embodiment of the present invention.
8 is a diagram illustrating a graph structure for fusion of position data in one embodiment of the present invention.
9 is a diagram illustrating a 3D map creation method according to an embodiment of the present invention.
10 is a view showing a construction area missing construction enhancement technology according to an embodiment of the present invention.
11 is a view showing a safety check method in an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. For reference, the size of the components, the thickness of the line, and the like shown in the drawings referred to for describing the present invention may be somewhat exaggerated for ease of understanding. In addition, terms used in the description of the present invention are defined in consideration of the functions in the present invention and may vary according to a user, an operator's intention, and a custom. Therefore, the definition of this term should be based on the contents throughout the specification.

In addition, while the purpose of the present invention will be specifically described with reference to the accompanying drawings, preferred embodiments of the present invention, which is intended for easier understanding of the present invention, the scope of the present invention is limited thereto It is not. In addition, while describing the embodiment of the present invention, the same name and the same reference numerals are used for the same configuration and additional description thereof will be omitted.

Prior to the detailed description of each construction step of the present invention, the terms or words used in the present specification and claims should not be construed as being limited to the ordinary or dictionary meanings, and the inventors should consider their own invention in the best way. For the purpose of explanation, the terms should be interpreted as meanings and concepts corresponding to the technical spirit of the present invention based on the principle that the concept of terms may be properly defined. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be substituted at the time of the present application It should be understood that there may be equivalents and variations.

When any part of the specification is to "include" any component, this means that it may further include other components, except to exclude other components unless otherwise stated. In addition, the terms "... unit", "module", etc. described in the specification mean a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software. .

Throughout the specification, when a part is "connected" with another part, this includes not only a "direct connection" but also an "electrical connection" between other elements in between.

1 is a view showing a structure safety check system using a drone according to an embodiment of the present invention.

Referring to FIG. 1, a structure safety checking system using a drone according to an embodiment of the present invention collects image information including a photographing means and receives information stored in the drone 100 and the drone 100 stored therein. In the monitoring unit for monitoring the image information collected by the server 400, the drone 100, storage, management, for example, in the structure safety inspection system including a smartphone, PC, tablet PC, display device,

The drone 100 takes off and lands, and has an accommodation space formed therein to store the drone 100 that has landed, receives and stores information stored in the drone, transmits the stored information to the server, and stores the drone 100 stored therein. The apparatus further includes a drone storage device 300 for charging power and a real-time mobile positioning transceiver 200 that is installed in a moving range of the drone 100 and compensates for a position error of the drone 100.

2 is a view showing the role of configuration of the structure safety check system using a drone according to an embodiment of the present invention.

Referring to FIG. 2, the drone 100 takes a picture while traveling around the construction site, returns to the drone storage device 300, and backs up the photograph taken, and transmits it to the server 400 at the construction site at the server 400. 3D shape.

In more detail, in one embodiment of the present invention, the drone storage device 300 is installed near a space where a user, a worker, a manager, or a user stays, and is installed throughout the construction site of the real-time mobile positioning transceiver 200. The location accuracy of the 100 is increased, and the drone 100 collects image information and 3D LiDAR sensor information based on location information with improved accuracy by using a GPS signal and real-time mobile positioning transceiver 200. After the flight, the drone 100 returned to the drone storage device 300 transfers data collected during the flight to the drone storage device 300, and the drone storage device 300 stores and backs up the collected data, and the server 400. To send.

3 is a view showing the role of the drone storage device 300 according to an embodiment of the present invention. Referring to FIG. 3, the drone storage device 300 stores the drone 100 and charges the power of the drone 100 stored therein. In addition, a data backup operation for receiving and storing data collected by the drone 100 is performed, and the backed up data is transmitted to a server.

Referring to the drone storage device 300 according to an embodiment of the present invention in more detail with reference to Figure 6 the drone storage device 300 is a landing and landing unit 310, opening and closing portion 320, the main body 330, the control It is composed of a portion 340.

The main body 330 has a space for accommodating the drone 100 and has an open top to accommodate the drone 100.

The takeoff and landing part 310 has a bottom on which the drone 100 takes off and lands, is formed in the main body 330 to move up and down, and the drone 100 moves to the inside and outside of the main body 330.

The opening and closing part 320 is formed on the main body 330 and is closed when the takeoff and landing part 310 descends, and is opened when the takeoff and landing part 310 rises. In addition, solar panels are formed on the surface to generate power.

The controller 340 receives and stores data stored in the drone 100 accommodated in the main body 330 from the drone 100, and transmits the stored data to the server 400 . In addition, the display unit may further include an input button such as power on / off and standby state formed on the surface of the main body 330 and a display unit to check whether the current drone is accommodated and the remaining battery. The drone storage device 300 is controlled.

In another embodiment, the control unit 340 further includes a notification means such as a speaker, an alarm sound module, an LED, a warning light, etc., any one of the drone 100, the real-time mobile positioning transceiver 200, the drone storage device 300 has failed. Notify you of faults in the vicinity. The method of notifying the fault is to check whether the drone 100 communicates during the flight by checking the fault, and transmits the fault information to the drone storage device 300, or notify, or the real-time mobile positioning transceiver 200 and the drone storage device 300 ) Is connected to the server 400 to check the failure state without the intervention of the drone 100.

Here, the control of the drone storage device 300 means that when the storage device is turned on or off, or when the drone approaches within a certain range, for example, within 1 m, the opening and closing portion 320 opens and the landing portion 310 rises. It is set to the active state, or it is set to the standby state for the user to manually operate the opening and closing of the opening and closing unit 320 and the lifting and landing portion 310.

The power supply unit 350 supplies power to the drone 100 accommodated in the main body unit 330. The power supply unit 350 includes a battery, and stores and supplies power using a solar panel installed outside the opening and closing unit 320, or receives 220V power from the outside, or receives 220V power from the outside to supply the drone 100. After charging and charging the battery with sunlight, the drone 100 is charged with the power stored in the battery in an emergency situation in which power supply is interrupted.

The drone storage device 300 is designed to be waterproof and dustproof to reduce the failure rate at construction sites that are easily exposed to dust or rainwater.

4 is a view showing a drone according to an embodiment of the present invention.

Drone 100 according to an embodiment of the present invention is composed of a transceiver 110, a sensor unit 120, a photographing means 130, a memory 140, a controller 150.

The transceiver 110 communicates with the outside and performs wireless communication, short-range wireless communication, and the like. The sensor unit 120 collects data including at least one of a LiDAR sensor, a GPS sensor, an ultrasonic sensor, a gyro sensor, and an acceleration sensor.

Light Detection And Ranging (LiDAR) is a radar system that measures the position coordinates of a reflector by measuring the time it takes a laser pulse to reflect and return. Originally developed for communication, it is used for various purposes other than communication, such as terrain surveying and speed guns.

The photographing means 130 becomes any one or more of an infrared camera, a thermal imaging camera, an imaging camera, and a fisheye lens camera to collect image information around the drone 100.

The memory 140 stores data collected from the sensor unit 120 and the photographing unit 130, and the controller 150 receives information from the transceiver unit 110, the sensor unit 120, and the photographing unit 130. By controlling the flight of the drone 100, or controlling the photographing means 130, or transmitting and receiving unit 110 to transmit the data stored in the memory 140 to the drone storage device (300). The drone 100 has a flight control unit including eight wings and a motor for driving the wing, the flight control unit receives a control signal from the controller 150 to control the flight.

FIG. 5 is a view illustrating a check of an object during flight by the drone of FIG. 4. When the obstacle is detected within 3 m using a sonar (rider) sensor attached to an upper part of the drone 100, the controller 150 detects a detected value. In consideration of the current movement path and the like to move the drone 100 up, down, left, right, or to stop in place to allow the drone 100 to operate safely without collision.

Controlling the photographing means 130 refers to controlling the photographing means 130 to rotate or zoom in and zoom out.

In addition, the controller 150 checks the landing and landing based on the communication value between the transceiver 110 of the drone 100 and the control unit 340 of the drone storage device 300, and when the landing is confirmed, the memory 140. ) To the drone storage device (300).

Based on the communication value between the transmission and reception unit 110 of the drone 100 and the control unit 340 of the drone storage device 300, the method for checking whether the landing and landing is carried out by the drone 100 communication of the drone storage device 300 When approaching the range, the drone storage device 300 transmits its position value and opens and closes the 320 and lifts up and takes off the landing part 310, and when the drone 100 lands on the landing and landing part 310, Check the landing using one or more of the electronic tag reader, short-range communication, and if it is determined that the landing is landing, the landing landing part 310 is lowered, the opening and closing part 320 is closed, and the drone 100 is accommodated inside the main body part 330. .

7 is a diagram illustrating a real-time mobile positioning transceiver according to an embodiment of the present invention.

The RTK transceiver serves as a position sensor for the drone's movement roadmap and compensates for GPS errors. It is powered by battery power and alerts you to alarms and warning lights around you when it falls or an internal error occurs.

Structure safety inspection system using a drone according to an embodiment of the present invention developed a strong localization technology in the outdoor environment based on the information collected from the sensor system, such as 3D LiDAR, camera, RTK-GPS attached to the drone 100 This is performed based on the graph structure for fusion of position data shown in FIG. 8.

Referring to FIG. 9, a 3D map is generated by synthesizing data collected by a 3D LiDAR sensor, an ultrasonic sensor, a photographing apparatus, etc., and accurate position recognition results based on GPS and RTK attached to an unmanned body. . Detecting facilities under construction using image processing techniques, and detecting missing areas by calculating augmented point group data based on measured point group data using sensor-to-sensor calibration techniques. In another example, a voxel technique is used to augment the missing facility area. A voxel is a hybrid word combining a volume and a pixel, and is a volume element when a stereoscopic body is decomposed into a lattice shape and data when the inside of the drawn one is embedded in the data. Since the internal state can be known from this, it is used for CT scan, oil exploration, CAD. In particular, the ray tracing method is advantageous for improving the algorithm.

11 is a diagram illustrating a method for checking safety in a server according to an embodiment of the present invention.

Referring to FIG. 11, when the drone 100 acquires 3D point cloud data using a LiDAR sensor attached thereto, an object of a hypothetical structure is extracted from the 3D point cloud data, and extracted. Compare and analyze structural objects and BIM (Building Information Modeling) models to check member dimensions and locations, and perform automated safety checks to check for missing parts.

BIM is a multi-dimensional virtual space that virtually models all processes from planning, design, engineering (e.g., structures, facilities, electricity, etc.) to construction, as well as maintenance and disposal, to provide cutting-edge design and optimal construction. Refers to a process that enables the construction, BIM information in the present invention is a variety of coordinates, bearings, slopes, general structures (such as walls, columns, beams, slabs, windows, doors, stairs, etc.) for the building It means information of building. In addition, BIM information can be used as evidence in various fields such as design, construction, and maintenance, as well as security, firefighting, and environmental protection.

In other words, the server 400 receives the stored information transmitted from the drone storage device 300, forms a three-dimensional map including temporary facilities by using a voxel technique, and uses the information collected by the lidar sensor to three-dimensional point cloud. Acquire data, extract the structure object from the 3D point cloud data, compare the structure object and the design model of the structure, check the member dimensions and positions, and perform eye inspection for detecting the missing member.

Although described above with reference to the drawings in accordance with an embodiment of the present invention, those skilled in the art to which the present invention pertains to various applications, modifications and adaptations within the scope of the present invention based on the above contents. will be. Accordingly, the true scope of protection of the invention should be defined only by the appended claims.

100: drone
200: transceiver
300: drone storage device
310: takeoff and landing
320: opening and closing part
330: main body
400: server

Claims (5)

Structure safety inspection system including a drone for collecting the image information, including the photographing means, stored therein, a server for receiving, storing, and managing the information stored in the drone, and a monitoring unit for monitoring the image information collected by the drone To
A sensor unit including at least one of a transceiver and a LiDAR sensor, a GPS sensor, and an ultrasonic sensor for communicating with the outside, a memory for storing the data collected from the photographing means, the sensor unit, and the transceiver unit; And a control unit for receiving information from the sensor unit and the photographing unit, controlling the flight of the drone, controlling the photographing unit, or transmitting data stored in the memory to the drone storage device by the transceiver unit.
When 3D point cloud data is acquired using a self-attached Lidar sensor, the object of the hypothetical structure is extracted from the point cloud data, and the member index and the location are checked by comparing and analyzing the extracted structural object with the BIM model, A drone for performing an automatic safety inspection to check whether there is a missing member; And
The drone is accommodated, the body portion is opened and the top is formed, the bottom is formed to take off and landing the drone, is formed inside the body portion to move up and down, the landing and landing portion to move the drone inside the body portion, outside the body portion And formed on the main body and closed when the takeoff and landing portion descends, and open and close the opening and closing portion when the takeoff and landing portion rises from the drone received and stored in the drone accommodated in the main body portion, and transmit the stored data to the server. Consists of a control unit and a power supply for supplying power to the drone accommodated in the main body,
It is installed near the space where the user is staying, and is installed throughout the construction site of the real-time mobile positioning transceiver to improve the location accuracy of the drone. The drone collecting the video information and 3D LiDAR sensor information based on the data collected during the flight,
The drone takes off and lands, and has an accommodation space formed therein to store the drone that has landed, receives and stores the information stored in the drone, transmits the stored information to the server, and charges the power of the drone stored therein. Drone storage; And
Installed in the movement range of the drone structure safety check system using a drone, characterized in that it comprises a real-time mobile positioning transceiver to compensate for the position error of the drone.
delete delete The method of claim 1
The photographing means is a structure safety inspection system using a drone, characterized in that any one or more of the infrared camera, thermal imaging camera, video camera, fisheye lens camera. The method of claim 1
The server receives the stored information transmitted from the drone storage device, forms a three-dimensional map including temporary facilities by using a voxel technique, obtains three-dimensional point cloud data using the information collected by the lidar sensor, A structure using a drone for extracting a structure object from the 3D point cloud data, comparing the structure object with a design model of the structure, checking a member dimension and a position, and performing an eye inspection for detecting a missing member Safety inspection system

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