KR102074637B1 - Flight Apparatus for Checking Structure - Google Patents

Abstract

The present invention provides a structure check flight device that enables to smoothly check the structure of the power structure and power transmission, power distribution facilities, insulators and the like in the air by using the position recognition and object recognition functions of the flying vehicle autonomously. .
To this end, the present invention obtains an image of a designated target of the structure according to the air position control unit for performing navigation control for unmanned mobile flight based on the position coordinate information, the moving flight to the inspection target structure, and obtains the acquired image information Image acquisition and processing unit to recognize the abnormality by processing the image, for moving the flight to the inspection target structure, the aircraft driving unit for driving to fly along the designated path of the structure while maintaining a horizontal state, and the inspection target structure Basic information about a flight path of the vehicle; and controlling the vehicle driving unit to be driven with reference to the basic information based on the position coordinate information from the aeronautical position control unit and the navigation control signal, and designating a target in the image acquisition and processing unit. And a flight control device for controlling to acquire an image of the It shall be.

Description

Flight Apparatus for Checking Structure

The present invention relates to a flying device for checking the structure, and more particularly to a flying device for checking the structure to check the state of the structure while moving flight by the automatic adjustment method of the unmanned aerial vehicle.

In general, in order to photograph insulators, metal fittings, and the like of power lines, structures, and transmission towers installed at a high position above the ground, an inspector takes photographs using photographing equipment while riding on power lines, structures, and transmission towers in a high voltage state. However, there is a problem that the risk of safety accidents caused by the lift tower and the range that can be taken is limited, and in recent years, shooting by using a flying vehicle can prevent safety accidents and shorten the inspection time due to the lift tower.

There are two methods of using a vehicle, a method of using an aerial photographing helicopter, and a method of using an unmanned aerial vehicle.

Related technologies include Korean Patent Publication No. 2000-0059630 (Short alarm and remote monitoring device such as steel tower aviation security) (2000.10.05).

On the other hand, in the case of the aerial photographing helicopter, the weight of the aircraft is several tens of kilograms, and at least 20m to maintain a safe distance from the steel tower in order to prevent damage to the power equipment in the event of a collision with the structure and power equipment, it is difficult to close close-up shooting, 20m High-performance telephoto lens of more than tens of thousands of won is required for accurate shooting at a long distance, and thus, a lot of costs are required for flight operation, and there are many problems to be used for proximity inspection of power lines, structures, and transmission towers.

In addition, the conventional unmanned aerial vehicle is not intended for intensive shooting of small objects while flying in the air, but is intended for shooting a wide range at high altitude, and thus is highly affected by external influences. The aircraft that can change the position, azimuth, etc. can not continuously photograph small objects within 30cm, it is necessary to solve the problem.

Accordingly, the present invention has been made to improve the above-mentioned conventional problems, and smoothly perform structures such as power structures, power transmission, power distribution facilities, insulators, and the like in the air by using the position recognition and object recognition functions of autonomous flying vehicles. It is an object of the present invention to provide a flying device for inspecting a structure that can be checked easily.

According to an aspect of the present invention, there is provided an apparatus for checking a structure according to an embodiment of the present invention, wherein the aerial position control unit performs navigation control for unmanned moving flight based on the position coordinate information, and moves the moving object to the inspection target structure. And an image acquisition and processing unit for recognizing an abnormality by processing the acquired image information, and driving to fly along a designated path of the structure while maintaining a horizontal state for a moving flight to a structure to be inspected. It is equipped with basic information on the flight operation unit and the flight path of the inspection target structure, and controls the vehicle operation unit to be driven with reference to the basic information based on the position coordinate information and the navigation control signal from the air position control unit, And a flying agent controlling the image acquisition and processing unit to acquire an image of a designated target. It characterized in that it comprises a device.

In the present invention, the air position control unit is equipped with a PID controller to enable a close flight to a desired target by reducing the flight error through automatic flight control, altitude change, angular velocity change, acceleration change detection using a fuzzy model. Navigation device, GPS module for calculating a position coordinate signal of the current position from the GPS signal received from the GPS satellites.

The image acquisition and processing unit may further include a photographing module for capturing a moving image and a still image for recognizing a flight movement position and collecting image information on a check target of a structure, and a servo control from the flight control device. Servo driving mechanism for changing the position and angle of the photographing module by performing the servo drive and image processing of moving image or still image data photographed from the photographing module to perform position recognition according to image pattern recognition, And an image processing device for performing image recognition on a target subject of the apparatus.

In addition, the photographing module is equipped with an infrared photographing function for photographing the structure at night, characterized in that for mounting the front and rear LED lamps for recognition of the flight position at night, respectively.

In the present invention, the vehicle driving unit, a leveling device for performing a leveling correction for performing a pitch and roll axis control to ensure that the flying body is always horizontal, the drive from the flight control device A transmission for performing a driving according to a control signal and a correction signal for maintaining the horizontal level from the horizontal holding device, and performing a shift of a motor drive during a flight according to the up, down, left, and right flight of the vehicle; It characterized in that it comprises a motor for performing a motor rotation for, a rotational drive of the motor, and a propeller for performing a high speed rotation for providing flight drag according to the transmission function of the transmission.

In addition, the flight control device, X-gyro, Y-gyro, Z- to check the geomagnetic state in the X-axis, Y-axis, Z-axis direction and generate the X-axis, Y-axis, Z-axis gyro signals, respectively A gyro sensor, a barometer that checks the air pressure of the structure installation area and outputs a pressure detection signal, a pressure gauge that checks the pressure applied according to the weather of the structure installation area and outputs a pressure detection signal, the barometer, and an analog form from the pressure gauge. An analog-to-digital converter that digitally converts the pressure detection signal and the pressure detection signal and outputs the digital signal, and the image data processed by the image acquisition and processing unit as data for inducing flight of the structure target. The image decoder to decode and receive initial information about the shooting target of the structure from the outside, and store the received information, the X-gyro, Y-gyro, Based on the Z-gyro sensor, the barometer, the respective detection signals from the pressure gauge, and the navigation control signal from the air position control unit, based on the initial information on the target and the image pattern recognition information from the image acquisition and processing unit. And a central processing unit which controls driving of the vehicle driving unit and controls photographing operations of the image acquisition and processing unit.

According to the present invention, by processing the status information related to the decoding process of the image decoder and the position coordinate signal of the aerial position control unit as an OSD (On Screen Display) signal, performs a function of a black box for recording the flight history, The apparatus may further include an OSD processor configured to display a flight history screen through the monitor.

In addition, in the present invention, receiving the flight control-related data transmitted from a remote location to provide to the flight control device, wirelessly transmits the flight control-related data from the flight control device to a remote location, and obtains from the image acquisition and processing unit And a wireless communication device for wirelessly transmitting the captured image data to a remote location.

The central processing unit of the flight control device may drive and control the image acquisition and processing unit when a command to enlarge / reduce a captured image and a photographing angle adjustment command is received from a remote location by bidirectional communication by the wireless communication device. It is characterized in that the zoom drive for, to adjust the shooting angle.

According to the present invention made as described above, it is possible to reduce the safety accidents and ride time through the existing manpower tower for failure or inspection of power lines, structures and transmission facilities, and the approaching distance of the conventional aerial photographing aircraft or medium-class unmanned aerial vehicle By eliminating the impossible shooting due to the limitation, by using a vehicle having automatic moving flight and strong autonomous stop flight, a precise shooting quality can be achieved by using a general small camera.

In addition, the present invention is capable of automatic flight and autonomous stop flight so that even inexperienced remote vehicle operation can easily perform the task without the burden on the transmission line access of the aircraft, in addition to the power transmission facilities utilized for close-up photography when checking the power equipment such as power distribution facilities It can be used for photographing subjects or approaching tasks in places where people are difficult to access.

In addition, the flying device of the present invention can be moved automatically along the track and the aircraft is small in size so that it is possible to fly between tracks, so close-up inspection of the brackets such as spacer dampers is possible.

1 is a view showing the overall configuration for a structure check flight device according to an embodiment of the present invention.
2A to 2F are diagrams illustrating a membership function of each input variable for calculating a control target amount in a structure checking flight device according to an embodiment of the present invention.
Figure 3 is a view showing a specific configuration of the flight control device in the structure check flight device according to an embodiment of the present invention.
4 is a flowchart illustrating an exemplary operation of a structure checking flight device according to an embodiment of the present invention.

Hereinafter, the present invention configured as described above will be described in detail with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary depending on the intention or convention of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout the specification.

First, the flying device for checking the structure according to the present invention is an unmanned flying vehicle having a small and light weight structure having a diameter of less than 1 m and a weight of about 3 kg, and is vertically lifted by a driving power of a small motor of about 150 g and a rotational force of a small propeller of about 13 inches. It is capable of stationary flight, can fly instantaneously according to the direction of transmission line using GPS and image recognition technology, and it is an unmanned aerial vehicle that can accurately photograph the crack state of insulators and metal fittings installed in transmission tower.

1 is a view showing the overall configuration for a structure check flight device according to an embodiment of the present invention.

As shown in FIG. 1, the structure checking flight device includes a navigation device 10, a GPS module 20, a photographing module 30, a servo drive mechanism 35, a flight control device 40, and a horizontal plane. The holding device 50, the vehicle driver 60, the image processing device 70, the wireless communication device 80, and the battery module 90 are included.

The navigation device 10 uses a fuzzy model to reduce flight error through automatic flight control, altitude change, angular velocity change, and acceleration change detection, so that a close flight to a desired target is possible. PID controller 12 is provided.

The PID controller 12 is a combination of a servo controller of an elevator and an aileron for longitudinal and lateral control of a vehicle, and a bank angle and pitch calculated according to the law of induction. Fuzzy inference and PID control are integrated to perform tracking control over the target value of the pitch angle.

2A to 2F are diagrams illustrating a membership function of each input variable for calculating a control target amount in a structure checking flight device according to an embodiment of the present invention.

Here, the PID controller 12 to match the tracking azimuth angle (Ψ _corn) calculates the body azimuth (Ψ) of the aircraft, and the derivation of air vehicle flight trajectory, wherein the Ψ _corn - the Ψ is induced errors in viewing angle do. According to the magnitude and direction of the viewing angle, the turning and equilibrium is maintained by the control law, and the turning direction is determined based on the viewing angle.

On the other hand, the linguistic fuzzy set of the input variables roll (φ), pitch (θ), line of sight (Ψ), altitude (h), path point residual distance (d), aircraft speed (V _s ) and four output variables In accordance with this, the membership function of each input variable for calculating the control target amount is determined as shown in Figs. 2A to 2F.

FIG. 2A shows a function of the roll angle with respect to the roll φ as an input variable, and FIG. 2B shows a function of the pitch angle with respect to the pitch θ as an input variable, FIG. 2C Shows a function of line of sight with respect to the input angle of view (Ψ).

In addition, FIG. 2D illustrates a function of altitude with respect to an altitude h as an input variable, and FIG. 2E illustrates a function of a distance of waypoint relative to a path point remaining distance d as an input variable. In FIG. 2F, the air speed dml function with respect to the aircraft speed V _s as an input variable is shown.

In FIG. 1, the GPS module 20 receives a GPS signal from a GPS satellite, calculates a position coordinate signal for a current position of a corresponding aircraft, and provides the same to the flight control device 40.

Here, the navigation device 10 and the GPS module 20 are for aviation control according to the flight position of the vehicle, which may be collectively referred to as an aviation position control unit.

The photographing module 30 captures a moving image and a still image, respectively, for recognizing a moving position of a corresponding aircraft and collecting image information about a target of inspection of a structure, and has an image size of at least 1920 × 1280 and 12 million pixels. It is preferable to apply a full HD low weight camera having a resolution of.

Here, the photographing module 30 is equipped with an infrared photographing function capable of photographing the structure even at night, and can be additionally equipped with an auxiliary light for night photographing, the front and LED lamps for night flight position recognition It is desirable to be able to mount each on the back.

The servo drive mechanism 35 performs mechanical servo drive according to the servo control from the flight control device 40 to change the position and angle of the photographing module 30 to accurately capture the target. To be able.

The flight control device 40 receives the navigation signal from the navigation device 10 and the position coordinate signal by the GPS signal from the GPS module 20 to drive and control the vehicle driver 60. The flying vehicle is configured to hold a flight movement path to enable the photographing of a desired subject of the structure, and the servo driving mechanism 35 is servo-controlled so that the photographing module 30 accurately captures a desired target subject.

The leveling device 50 performs pitch and roll axis control so that the flying fuselage is always horizontal without being affected by wind, which is changed according to external weather conditions while the corresponding aircraft is flying. By generating a horizontal maintenance correction signal for maintaining the position correction can be made when the vehicle driver 60 is driven.

The vehicle driver 60 performs a drive for flying the vehicle according to the drive control from the flight control device 40, and drives the flight according to a correction signal for horizontal maintenance from the leveling device 50. Performing a horizontal flight by performing the correction of, which is a transmission 66 for performing a shift function for the motor drive during the flight in accordance with the flight of the upper, lower, left, right and from the battery module 90 Providing drag to the vehicle according to the rotational drive of the motor 62, the motor 62, and the transmission function of the transmission 66 to be driven by receiving the operating power to perform a motor rotation for the flight of the vehicle. It includes a propeller 64 for performing a high speed rotation for.

Here, the motor 62 receives 9-15V as an input voltage and 20A as a load current, and applies a low-weight, high-performance motor having a rotational force of 770 rpm at no load according to a 350W power supply. 64, it is preferable to apply an insulating coated aluminum frame having a low weight and high strength.

Preferably, the propeller 64 is mounted to at least four or more for free flight in the up, down, left, and right directions of the corresponding vehicle, and the number of installation of the motor 62 is also the plurality of propellers 64. It is also possible to install at least two so that a sufficient torque can be generated.

Here, the horizontal holding device 50 and the vehicle drive unit 60 is to enable the vehicle to perform the flight movement in the desired flight trajectory while maintaining the horizontal state, may be referred to collectively as a vehicle driving unit.

The image processing device 70 performs image processing on a moving image or still image data captured by the photographing module 30, performs position recognition according to image pattern recognition, and performs image recognition on a target subject of the structure, The image recognition data value is provided to the navigation device 10 to be used for navigation control, and the image processed moving picture data or the still picture data is transmitted to the remote place through the wireless communication device 80.

Here, the photographing module 30, the servo drive mechanism 35, and the image processing device 70 are for obtaining a photographed image of a desired target of a structure and recognizing the obtained image. Can be collectively

The wireless communication device 80 receives the flight control-related data transmitted from a remote location and provides the flight control device 40 to wirelessly transmit the relevant data on the flight control from the flight control device 40 to the remote location. And wirelessly transmit moving image data or still image data from the image processing device 70 to a remote location.

The battery module 90 supplies operating power necessary for flying and photographing the structure of the vehicle.

Next, Figure 3 is a view showing a specific configuration of the flight control device in the structure inspection flight device according to an embodiment of the present invention.

As shown in FIG. 3, the flight control device 40 includes an X-gyro sensor 100, a Y-gyro sensor 102, a Z-gyro sensor 104, a barometer 106, and a pressure gauge 108. ), An analog-to-digital converter 110, an image decoder 112, an OSD processing unit 114, a central processing unit 116, a servo control output unit 118, a drive output unit 120, and a memory 122. do.

The X-gyro sensor 100 checks the geomagnetic state in the X-axis direction to generate an X-axis gyro signal, and the Y-gyro sensor 102 checks the geomagnetic state in the Y-axis direction to the Y-axis gyro signal. The Z-gyro sensor 104 generates a Z-axis gyro signal by checking a geomagnetic state in the Z-axis direction.

The barometer 106 checks the air pressure of the structure installation area in which the aircraft is flying and outputs a pressure detection signal, and the pressure gauge 108 is applied by the influence of wind or the like according to the weather of the structure installation area in which the aircraft is flying. Check the pressure and output the pressure sensing signal.

The analog-to-digital converter 110 digitally converts and outputs an analog pressure detection signal from the barometer 106 and an analog pressure detection signal from the pressure gauge 108.

The image decoder 112 performs image decoding processing to utilize the image data processed from the image processing device 70 as data for inducing flight of a shooting target of a structure, and uses the image decoding data in the central processing unit. Provided at 116.

The OSD processing unit 114 records the flight history by processing the status information related to the decoding processing of the image decoder 112 and the position coordinate signal from the GPS module 20 as an On Screen Display (OSD) signal. It can be used as a box or to connect a separate monitor on the ground to display flight history.

The central processing unit 116 receives initial information about a target to be photographed of a structure to be photographed (for example, a transmission line, a transmission tower, a power distribution facility, etc.) from the outside, and stores the initial information in the memory 122 and stores the X- The respective sensing signals from the gyro sensor 100, the Y-gyro sensor 102, the Z-gyro sensor 104, the barometer 106, the pressure gauge 108, and the navigation control provided from the navigation device 10. In response to the signal, the vehicle driving unit 60 is driven to control flight of the structure to a desired target, initial information about the target, position recognition from the image processing device 70 and image recognition processing. Drive control of the servo driving mechanism 35 based on the image pattern recognition information according to the result, so that the imaging module 30 can accurately capture the desired target. .

In addition, the central processing unit 116 controls to transmit the flight control information of the corresponding vehicle and the control information for the shooting of the target to the remote place through the wireless communication device (80).

On the other hand, the central processing unit 116 receives the enlargement / reduction of the photographed image and the photographing angle adjustment command from a predetermined adjustment and monitoring device located on the ground by bidirectional communication through the wireless communication device 80, the servo. The driving mechanism 35 may be driven to control the capturing module 30 to adjust the zoom angle or the zoom driving of the captured image on the ground.

The servo control output unit 118 outputs a servo drive control signal from the central processing unit 116 to a component configured in the servo drive mechanism 35 to control the left / right servo drive of the imaging module 30. Up / down servo drive can be done.

The drive output unit 120 outputs a flight control signal from the central processing unit 116 to the motor 62 and the transmission 66 of the vehicle drive unit 60 so that the vehicle faces the desired position of the structure. Allow the flight to be carried out.

The memory 122 receives and stores initial information about a target, such as flight path information for photographing a target of a structure and location information of a target to be photographed, from the outside.

On the other hand, in the present invention, for the structural stabilization for smooth flight of the flight device, the battery module 90 is mounted on the center of the aircraft, the top end so that the GPS antenna including the GPS module 30 can be mounted In addition, the photographing module 30 and the image processing DeVix 70 is disposed at the bottom of the fuselage, and in consideration of the center of gravity of the aircraft and horizontal maintenance during flight, the navigation device 10 and the flight control device ( It is desirable to be able to mount 40) on top of the body.

In addition, in the present invention, it is preferable that a diaphragm made of a copper plate be provided between the circuit component and the GPS module 20 to improve the reception rate of the signal and to block signal interference between the component circuits.

In the present invention described above, according to the GPS position coordinates provided from the GPS module 20 and the image pattern recognition of the image processing device 70, the movement path error during the moving flight may be reduced, but additionally, the ultrasonic distance sensor Alternatively, it is possible to further equip the field meter to maintain a safe distance from the structure's power line and further minimize travel path errors.

Next, the operation of the structure checking flight device according to the present invention made as described above will be described in detail with reference to the flowchart of FIG. 4.

FIG. 4 is a flowchart illustrating an operation of a structure checking flight device according to an embodiment of the present invention. In an embodiment of the present invention, a transmission line among structures to be checked will be described as an example. .

First, while initial information about the target of the transmission line to be checked is stored in the memory 122 of the flight control device 40 (S10), the center point of the pylon which is the initial position of the transmission line according to the initial information. Maintain GPS position coordinates, distance calculation and proper distance from the vehicle, and maintain the azimuth angle of the transmission line and the vehicle's heading direction at 90 ° to match the peak altitude of the pylon with the altitude of the aircraft. After completion, the aircraft driving unit 60 is driven in accordance with the navigation control of the navigation device 10 and the flight control of the flight control device 40 to fly to the pylon which is the initial connection point of the transmission line set as the inspection target. (S11).

In this state, the flight apparatus of the present invention maintains the stationary flight near the interruption arm track of the pylon, which is the initial connection point of the transmission line to be inspected (S12), and the imaging module according to the servo drive of the servo drive mechanism 35. In accordance with the photographing position of 30, the photographing module 30 starts photographing the sections of A, B, and C phases of the power transmission line, which is the target object, to determine the position of the image recognition device 70. 72 and based on the image pattern recognition through the image recognition unit 74 performs a check on the abnormality of the transmission line (S13).

In this state, the image processing device 70 determines whether an abnormality (for example, overheating, shape deformation, corona phenomenon, etc.) is detected on a specific line as a result of image pattern recognition of each transmission line section (S14). If it is determined that an abnormality is detected on a specific track, the image processing device 70 provides the flight control device 40 with abnormality detection information of the track and then, through the wireless communication device 80, The image information is transmitted to a remote location, and the flight control device 40 transmits GPS position coordinate information, distance information, and abnormality notification control information provided from the GPS module 20 to the remote location through the wireless communication device 80. It sends (S15).

Next, the flight control device 40 sequentially checks the track from the middle point to the upper end along the transmission line of the inspection target according to the flight drive of the flying agent drive unit 60 and the servo drive of the servo drive mechanism 35. It proceeds (S16), by performing a moving flight to the pylon arranged at the end of the transmission line to be checked to determine whether the inspection of the inspection target section is completed (S17).

As a result of the determination, when the flight control device 40 determines that the inspection of the section of the transmission target track to be checked is completed based on the initial information of the target stored in the memory 122, the initial information of the target is transmitted to the corresponding transmission. It is determined whether the final inspection of the transmission line is completed as the information to be inspected only in the section of the line (S18).

As a result of the determination, when it is determined that the final inspection of the transmission line is not completed, the flight control device 40 performs a moving flight to the steel tower of the next transmission line section (S19), and from step S12 to step S18. Repeat the operation for.

On the other hand, when it is determined that the final inspection of the transmission line is completed according to the determination result of S18, the flight is terminated by automatically returning to the initial starting position through the GPS position coordinate information through the GPS module 20. (S20).

In the present invention made as described above, only the transmission line is to be inspected, but not limited to this, it is possible to check the abnormality of the transmission tower structure itself, and various dangerous structures for the power distribution facilities.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art to which the art belongs can make various modifications and other equivalent embodiments therefrom. I will understand. Therefore, the technical protection scope of the present invention will be defined by the claims below.

10: navigation device 20: GPS module
30: Recording module 35: Servo drive mechanism
40: flight control device 50: horizontal hold device
60: airplane driving unit 70: image processing device
80: wireless communication device 90: battery module

Claims (9)

An air position control unit performing navigation control for an unmanned mobile flight based on the position coordinate information;
An image acquisition and processing unit for acquiring an image of a designated target of the structure according to a moving flight to the inspection target structure and recognizing an abnormality by image processing the acquired image information;
For moving flight to the inspection target structure, the vehicle driving unit for driving to fly along the designated path of the structure while maintaining a horizontal state; And
It is provided with basic information on the flight path of the inspection target structure, and controls the vehicle driving unit to be driven with reference to the basic information on the basis of the position coordinate information and the navigation control signal from the air position control, the image acquisition and Including a flight control device for controlling the processor to acquire the image of the designated target,
The image acquisition and processing unit,
Image processing is performed on the acquired image information to recognize an image pattern, and to check whether the designated target is abnormal based on an image pattern recognition result, and when an abnormality is detected in the designated target, Provide abnormality detection information to the flight control device to be transmitted to a remote site,
The air position control unit is a navigation device equipped with a PID controller to enable a close flight to a desired target by reducing the flight error through automatic flight control, altitude change, angular velocity change, acceleration change detection using a fuzzy model, and
It includes a GPS module for calculating the position coordinate signal of the current position from the GPS signal received from the GPS satellites,
The aircraft driving unit may include a horizontal holding device configured to perform horizontal holding correction to perform a pitch and roll axis control so that the flying fuselage is always kept horizontal, and
Drives for the flight according to the drive control from the flight control device and the correction signal for maintaining the level from the leveling device, and shifting the motor drive during the flight according to the up, down, left, right flight of the aircraft And a vehicle driving unit including a transmission for performing a motor, a motor for performing a motor rotation for a flight, a rotational drive of the motor, and a propeller for performing a high speed rotation for providing a flight drag according to the transmission function of the transmission.
The flight control device may include: an image decoder for performing image decoding processing to utilize image data processed by the image acquisition and processing unit as data for inducing flight of a photographing target of a structure;
Decode processing-related state information of the image decoder and the position coordinate signal of the aerial position control unit by processing the OSD (On Screen Display) signal, performs the function of a black box to record the flight history, and fly through the monitor on the ground It includes an OSD processing unit for displaying the history screen,
The battery module is mounted at the center of the aircraft, the GPS antenna including the GPS module is mounted at the top of the vehicle, the photographing module and the image processing device are disposed at the bottom of the flying fuselage, and the center of gravity of the aircraft and leveling during flight are maintained. Taking into account the navigation device and the flight control device on top of the flying fuselage ,
At least four propellers are installed, and at least two motors are installed.
And a diaphragm formed of a copper plate between the circuit component and the GPS module to improve signal reception and block signal interference between circuit components.
delete The method of claim 1,
The image acquisition and processing unit may include a photographing module for capturing a moving image and a still image, respectively, for recognizing a flight movement position and collecting image information on an inspection target of a structure;
A servo drive mechanism for performing a mechanical servo drive in accordance with servo control from the flight control device to change the position and angle at which the imaging module captures;
And an image processing device configured to image-process moving images or still image data photographed from the photographing module, perform position recognition according to image pattern recognition, and perform image recognition on a target subject of the structure. Dragon flight device. The method of claim 3, wherein
The photographing module is equipped with an infrared photographing function for photographing the structure at night, the structure check flight device, characterized in that for mounting the front and rear LED lamp for recognition of the flight position at night. delete The method of claim 1,
The flight control device, X-gyro, Y-gyro, Z-gyro sensor to check the geomagnetic state in the X-axis, Y-axis, Z-axis direction to generate the X-axis, Y-axis, Z-axis gyro signals respectively ,
Barometer to check the barometric pressure in the installation area of the structure and output a barometric pressure detection signal,
Pressure gauge that checks the pressure applied according to the weather in the installation area and outputs a pressure detection signal,
An analog-to-digital converter for digitally converting the barometer, an analog pressure detection signal from the pressure gauge, and a pressure detection signal, respectively;
Initial information about the shooting target of the structure is received from the outside and stored, and the X-gyro, Y-gyro, Z-gyro sensors, respective detection signals from the barometer, the pressure gauge, and the navigation control signal from the air position control unit. And a central processing unit configured to control driving of the vehicle driving unit based on initial information of the target and image pattern recognition information from the image acquisition and processing unit, and to control photographing operation of the image acquisition and processing unit. Flight device for structure check, comprising the.
delete The method of claim 1,
Receives flight control-related data transmitted from a remote location and provides the flight control device to the remote control device, wirelessly transmits flight control-related data from the flight control device to the remote location, and transmits the image data obtained from the image acquisition and processing unit to the remote location. And a wireless communication device for wireless transmission. The method of claim 8,
The central processing unit of the flight control device may drive and control the image acquisition and processing unit to control the photographed image when an enlarged / reduced image of a captured image and a photographing angle adjustment command are received from a remote location by bidirectional communication by the wireless communication device. A zoom device for checking a structure, characterized in that the zoom drive and the shooting angle can be adjusted.

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