KR102685180B1 - System capable of safety diagnosis of a smart drone-based concrete structure, marking abnormal or crack parts accordingly, and detecting harmful gases at a repair site - Google Patents

Abstract

In the present invention, marking of cracks and deteriorated areas is accurately analyzed by combining the distance between the drone and the structure, the extent to which the wind speed and wind volume at the site affects the drone, and the spraying speed of the marking material sprayed from the marking material spraying unit. This allows the site to be quickly and accurately located during repair work. When abnormal conditions such as cracks and deterioration are detected, the overall condition of the structure is inspected by approaching the structure marked by the drone at a certain distance. , a smart drone that detects abnormal conditions such as cracks and deterioration, marks the relevant area, and detects harmful gases at the repair site during repair work to determine whether repair is possible; By networking with the smart drone wired and wirelessly, information on abnormal conditions such as cracks and deterioration of structures detected by the smart drone, marking information, and information on the status of harmful gases in the field detected during maintenance work are transmitted, and if worker recognition is deemed necessary, A remote control server that alerts and displays this to the outside and shares abnormal structure status information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information with workers; And a worker smartphone that is wired and wirelessly networked with the control server to share structure abnormal state information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information, and perform on-site maintenance work. A system that enables safety diagnosis of concrete structures based on smart drones, marking of abnormal or cracked areas, and detection of harmful gases at repair sites is disclosed.

Description

System capable of safety diagnosis of a smart drone-based concrete structure, marking abnormal or crack parts accordingly, and detecting harmful gases at repair sites {System capable of safety diagnosis of a smart drone-based concrete structure, marking abnormal or crack parts accordingly, and detecting harmful gases at a repair site}

The present invention relates to a system that enables safety diagnosis of concrete structures based on smart drones, marking abnormal or cracked areas accordingly, and detecting harmful gases at repair sites.

A drone is a general term for an airplane or helicopter-shaped unmanned aerial vehicle (UAV, Uninhabited aerial vehicle) that can fly and be controlled by the guidance of radio waves without a pilot.

Recently, in addition to military uses such as reconnaissance and attack, drones have been increasingly used in various civil and commercial fields such as video recording, unmanned delivery services, and disaster observation.

Additionally, in general, drones equipped with general cameras and infrared cameras are often used as a method to diagnose in real time the safety of structures installed in terrain that is difficult for humans to access or structures installed over a wide area.

In general, in bridges, the deformation of the piers cannot be known in advance unless a special device is installed to prevent cracks due to deformation of the piers. If the twisting or tilting of the piers is not known in advance, the deformation can progress seriously. there is.

Therefore, there is an urgent need to develop technology that can safely inspect and take action on damage to structures such as bridges, upper and lower bridges, and cisterns, and drones can be used appropriately as such technology.

Republic of Korea Patent Registration No. 10-2012288 relates to a structural safety inspection system using a drone, including a drone that collects image information and stores it internally, and a drone that receives, stores, and manages the information stored in the drone. A structure safety inspection system including a server and a monitoring unit that monitors the image information collected from the drone, including a transmitter and receiver for communicating with the outside and at least one of a LiDAR sensor, a GPS sensor, and an ultrasonic sensor. Control the flight of the drone or control the photographing means by receiving information from the sensor unit and the photographing means, a memory for storing data collected from the sensor unit, and the transceiver unit, the sensor unit, and the photographing means. Alternatively, it consists of a control unit that causes the transceiver unit to transmit the data stored in the memory to the drone storage device, and when 3D point cloud data is acquired using the self-attached Lidar sensor, the object of the temporary structure is detected from the point cloud data. A drone that extracts and compares and analyzes the extracted structural object with the BIM model to check the member index and location, and performs an automatic safety inspection to check for missing members; and a main body part in which the drone is accommodated and the top of which is open, and a floor on which the drone takes off and lands is formed, which is formed inside the main body part and moves up and down, and takes off and lands to move the drone inside and outside the main body part. It is formed on the upper part of the main body and closes when the take-off and landing part descends, and opens when the take-off and landing part rises, and receives and stores data stored in the drone accommodated in the main body from the drone, and stores the stored data on the server. It consists of a control unit that transmits power and a power unit that supplies power to the drone housed in the main body, and is installed near the space where the user stays. Real-time mobile positioning transceivers are installed throughout the construction site to improve the location accuracy of the drone and The drone collects video information and 3D LiDAR sensor information based on location information with improved accuracy using GPS signals and communication with the real-time mobile positioning transceiver. The drone receives data collected during flight, and the drone takes off and lands. A drone storage device that stores the landed drone with an accommodating space formed inside, receives and stores information stored in the drone, transmits the stored information to the server, and charges the power of the drone stored inside. ; And a real-time mobile positioning transceiver installed in the moving range of the drone and compensating for the position error of the drone, applies a high-precision sensor system to the drone to create a 3D map, and uses the 3D map to check if there are any missing structures. We are having it checked.

Republic of Korea Patent Registration No. 10-1866781 relates to a structure safety diagnosis system using a drone, which is set to fly in a preset area outside the structure. On one side, pressure-sensitive material is sprayed and applied to the outer wall of the structure, and on the other side, A diagnostic drone equipped to irradiate ultraviolet rays to the outer wall of a structure coated with pressure-sensitive material and simultaneously photograph the outer wall of the structure irradiated with ultraviolet rays and transmit or store the captured image information; an administrator terminal configured to transmit a control command to the diagnostic drone and receive the image information from the diagnostic drone; a display unit connected to the manager terminal and provided to output crack detection data on the outer wall of the structure to the outside; And it is provided inside the manager terminal and detects the light-emitting part of the pressure-sensitive material applied to the outer wall of the structure based on the image information acquired from the diagnostic drone, detects cracks in the structure, and continuously observes changes in the visible stress field. and a management control unit that records and controls the display unit to output the information when a crack grows, wherein the diagnostic drone includes a pressure-sensitive material injection unit provided on one side of the lower part to spray the pressure-sensitive material on the outer wall of the structure, and a pressure-sensitive material spraying unit on the other side of the lower side. It includes a UV irradiation unit provided in the UV irradiation unit for irradiating ultraviolet rays with a pressure-sensitive material applied to the outer wall of the structure, and an image capture unit provided to photograph the outer wall of the structure irradiated with ultraviolet rays from one side of the UV irradiation unit, wherein the pressure-sensitive material injection unit includes the UV irradiation unit. It is provided inside the diagnostic drone and connected to a pressure-sensitive material storage unit for receiving and storing the pressure-sensitive material, and further includes a pressure-sensitive material storage tank capable of storing a large amount of pressure-sensitive material from the outside, and the pressure-sensitive material storage unit can be extended downward. A suction nozzle is connected to the suction nozzle for sucking in the pressure-sensitive material stored in the pressure-sensitive material storage tank. The diagnostic drone approaches the upper part of the pressure-sensitive material storage tank and the suction nozzle is extended to add additional pressure-sensitive material. A connection connector is provided so that the suction nozzle can be connected when receiving supply, so that the presence of cracks in the structure and the degree of growth of the cracks can be diagnosed in real time in a non-destructive manner in an easy and convenient way, enabling efficient safety diagnosis of the structure at low cost. In addition, instead of various measurement and diagnosis methods that require the use of expensive and complex machinery, monitoring for safety diagnosis of structures is possible at low cost, allowing abnormal defects in structures to be diagnosed early and appropriate measures to be taken accordingly. .

Republic of Korea Patent Registration No. 10-2261323 relates to a method for safety diagnosis of structures through artificial intelligence analysis of drone images. The images of structures are captured using a drone equipped with a camera, and the captured images are binarized. Detect crack candidate pixels, remove noise areas such as independent points, connect crack candidate areas, classify crack candidate areas into cracks and non-cracks to detect cracks, and measure the properties of the detected crack area to ensure crack safety. It includes a process of diagnosing whether or not the captured image is binarized after removing distortion of the image by image matching the overlapping images, and image matching of the images taken with a high degree of redundancy is performed on multiple images obtained for the same scene. It expresses various types of images on a unified coordinate system, detects feature points of the image, and quickly processes and obtains registration using these feature points, and binarization processing of the captured image is performed using a convolutional encoder- A decoder network (convolutional encoder-decoder network) is used, and in the process of detecting cracks by classifying them into cracks and non-cracks, a neural network is used to classify, and the process of using the neural network uses captured image data. Steps to collect and classify images with and without cracks, steps to select the architecture of the artificial neural network, steps to determine the scale of the artificial neural network and design it in detail, and steps to determine whether the target accuracy can be reached. Including the step of learning an artificial neural network while changing hyper parameters until is detected and the specifications (length, width, area, etc.) of these defects are automatically measured and analyzed to improve the efficiency of safety diagnosis.

However, although the above conventional technologies are technologies for diagnosing the safety of structures such as bridges using drones, the drone is inevitably affected by wind speed and wind volume, and as a result, the balance of the drone is lost, making it difficult to capture or detect areas. It does not solve the problem of difficult aiming accurately.

Republic of Korea Patent Registration No. 10-2012288 (registered on August 13, 2019, name: Structure safety inspection system using drones) Republic of Korea Patent Registration No. 10-1866781 (registered on June 5, 2018, name: Structure safety diagnosis system using drones) Republic of Korea Patent Registration No. 10-2261323 (registered on June 1, 2021, name: Structure safety diagnosis method through artificial intelligence analysis of drone footage)

The purpose of the present invention is to find cracks and deteriorated areas in concrete structures, enable accurate marking of the relevant areas, and easily detect harmful gases at the work site during repair work on the relevant areas. The goal is to provide a system that enables safety diagnosis of concrete structures based on smart drones, marking of abnormal or cracked areas, and detection of harmful gases at repair sites.

Another purpose of the present invention is to enable accurate marking of abnormal parts of the structure by linking the distance between the drone and the structure and the wind speed and direction that affect the structure site with the angle adjustment value of the marking material sprayer. The goal is to provide a system that enables drone-based concrete structure safety diagnosis and marking of abnormal or cracked areas, as well as detection of harmful gases at repair sites.

Another purpose of the present invention is to enable smart drone-based concrete structure safety diagnosis and marking of abnormal or cracked areas by linking wind speed and direction with harmful gases to determine whether repairs are possible, and to detect harmful gases at the repair site. The goal is to provide a system capable of detection.

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

In order to achieve the above purpose, the system of the present invention is capable of safety diagnosis of concrete structures based on smart drones and marking of abnormal or cracked areas accordingly, and is capable of detecting harmful gases at repair sites.

When abnormal conditions such as cracks and deterioration are detected, the drone approaches the marked structure at a certain distance and inspects the overall condition of the structure. Abnormal conditions such as cracks and deterioration are detected, the relevant area is marked, and repair work is carried out. A smart drone that detects harmful gases at city repair sites and determines whether repairs are possible;

By networking with the smart drone wired and wirelessly, information on abnormal conditions such as cracks and deterioration of structures detected by the smart drone, marking information, and information on the status of harmful gases in the field detected during maintenance work are transmitted, and if worker recognition is deemed necessary, A remote control server that alerts and displays this to the outside and shares abnormal structure status information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information with workers; and

It is characterized by being composed of a worker smartphone that is wired and wirelessly networked with the control server to share structure abnormal state information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information, and perform on-site repair work.

In the present invention, the drone

Abnormal state information of the structure, marking information on abnormal parts, and hazardous gas information are linked and processed with the relevant structure information stored in the DB and information acquired by sensors and cameras configured on the drone, and are used to measure the distance between the drone and the structure and the site. A control unit that processes wind speed, wind volume, marking re-spray speed, etc. to enable accurate marking, analyzes it when harmful gas is detected, determines whether on-site repair work is possible, and controls it to be shared with the control server;

A crack sensor that detects the state of deformation according to the stress distribution and fatigue life of the structure;

A temperature/humidity sensor that detects the temperature and humidity of the site to determine whether structural repair work can be performed accurately and whether the temperature and humidity will not interfere with repair work by workers;

A gas sensor that detects harmful gases remaining at the repair site to determine whether the repair site situation does not interfere with the repair work by workers;

Distance sensor that detects the distance between the drone and the structure;

Wind speed/wind direction sensor that detects wind speed and direction that affects the location of the structure;

A position correction unit that provides position correction values for the drone so that the drone can assume an attitude that allows accurate marking of abnormal parts of the structure;

a marking material spraying unit that sprays marking material on the abnormal part of the drone structure while the position of the drone is corrected by the position correction unit;

A DB storing detection values detected from the sensor, a program for correcting the position of the drone, and a program for adjusting the marking re-spray unit so that the marking material can be accurately sprayed on abnormal areas; and

It is characterized by consisting of a camera unit that takes images of the structure and the abnormal area.

In the present invention, the position correction unit

The distance sensor, wind speed/wind direction sensor, direction of the marking material spraying part, and marking material spraying speed are linked and processed, and the distance between the drone and the abnormal part is corrected so that the drone can accurately spray the marking material on the abnormal part of the structure. Do it as

In the present invention, the marking material injection unit

The marking material spray angle is configured to vary depending on the size of the abnormal part of the structure.

Marking material storage for storing marking material; and

The front of the marking material reservoir is provided with two marking material discharge ports whose angles are adjustable, and all or any one of them operates selectively according to the size of the abnormal area, thereby adjusting the marking material discharge angle.

In the present invention, the wind speed and direction detected by the wind speed/wind direction sensor are processed in conjunction with the amount of harmful gas detected by the gas sensor, and are provided as information for determining whether repair work is possible at a work site requiring repair work. .

In the present invention, the control server is

control unit;

A receiver that communicates with the drone and receives information from the drone;

A transmitter that provides information about the drone;

As a result of processing the information provided from the drone, if it is determined that it is necessary to notify the operator (manager), it is characterized by consisting of an alarm unit and a display unit that generate an alarm sound.

According to the present invention, safety diagnosis of concrete structures and follow-up work according to the safety diagnosis results are safely performed by a smart drone equipped with a sensor and camera unit, and marking of cracks and deteriorated areas is performed between the drone and the structure. Since the distance, wind speed and volume of the site, the degree to which the wind volume affects the drone, and the spraying speed of the paint sprayed from the marking spray unit are combined and analyzed accurately, it is possible to quickly and accurately find the site requiring repair work.

In addition, accurate marking of abnormal parts of the structure is possible by linking the distance between the drone and the structure and the wind speed and direction that affect the structure site with the angle adjustment value of the marking material sprayer.

In addition, the safety of workers is guaranteed by linking wind speed and direction with harmful gases to determine whether repairs are possible.

Other effects will be readily apparent to those skilled in the art from the description below.

Figure 1 is a network configuration diagram of a system capable of safety diagnosis of concrete structures based on smart drones and marking of abnormal or cracked areas accordingly, and detection of harmful gases at repair sites according to an embodiment of the present invention.
Figure 2 is a configuration diagram of the drone of Figure 1.
Figure 3 is a control configuration diagram of the remote management server of Figure 1.
Figure 4 is a diagram to explain the marking operation of the drone.
Figure 5 is a structural diagram of the marking material injection unit of the drone.
Figure 6 is an operation flow chart for marking according to the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains.

Hereinafter, a smart drone according to an embodiment of the present invention will be described in detail with reference to the drawings.

Figure 1 is a network configuration diagram of a system capable of safety diagnosis of concrete structures based on smart drones and marking of abnormal or cracked areas accordingly, and detection of harmful gases at repair sites according to an embodiment of the present invention. Figure 2 is a configuration diagram of the drone of Figure 1. Figure 3 is a control configuration diagram of the remote management server of Figure 1. Figure 4 is a diagram to explain the marking operation of the drone. Figure 5 is a structural diagram of the marking injection unit of the drone. Figure 6 is an operation flow chart for marking according to the present invention.

As shown in Figure 1, the system is capable of safety diagnosis of concrete structures based on smart drones according to an embodiment of the present invention and marking of abnormal or cracked areas accordingly, and is capable of detecting harmful gases at repair sites, cracks, deterioration, etc. When an abnormal state is detected, the structure (1) is marked by a drone, and the overall state of the structure is inspected by approaching the structure (1) at a certain distance. Abnormal states such as cracks and deterioration are detected and the relevant area is inspected. A smart drone (100) that detects harmful gases at the repair site during repair work and takes appropriate action, such as whether repairs are possible, and is networked with the smart drone (100) wired and wirelessly to detect harmful gases in the repair site (100). Abnormal state information such as cracks and deterioration of the structure (1), marking information, and on-site harmful gas status information detected during repair work are transmitted, and if worker recognition is deemed necessary, this is alerted and displayed externally, and the abnormality of the structure is reported. A remote control server 200 that shares status information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information with workers, and is networked wired and wirelessly with the control server 200 to provide structure abnormal state information and marking information. , it may be composed of a worker smartphone 300 that shares temperature and humidity information, wind speed and direction information, and harmful gas information, and performs on-site maintenance work.

The wings of the drone 100 are composed of carbon fiber-reinforced plastic safety propellers.

The smartphone 300 is a smart terminal, and there are no restrictions on its type as long as it is a smart device that can be wired or wirelessly networked with the control server 200. It is also possible to use a dedicated mobile wireless transceiver.

Meanwhile, in FIG. 1, the smartphone 300 transmits the structure abnormal state information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information processed by the drone 100 to the drone without going through the control server 200. It may be networked with the drone 100 to receive information directly from 100.

As shown in Figure 2, the control configuration of the drone 100 includes a control unit 111, a crack sensor 112, a temperature/humidity sensor 113, a gas sensor 114, and a distance sensor ( 115), a wind speed/wind direction sensor 116, a position correction unit 117, a marking re-injection unit 118, and a camera unit 120.

The control unit 111 combines the abnormal state information of the structure 1, marking information about abnormal parts, and harmful gas information with the relevant structure information stored in the DB 119, for example, information such as the relevant structure drawing, and the drone ( Information acquired by the sensors and cameras configured in 100) is linked and processed to enable accurate marking by linking it with the distance between the drone 100 and the structure 1, on-site wind speed and volume, marking re-spray speed, etc. When harmful gas is detected, it is analyzed and the overall operation is controlled to determine whether on-site repair work is possible and share it with the control server (200).

The crack sensor 112 is a sensor that detects cracks and deterioration of the structure 1. For example, the crack sensor 112 may be arranged to detect a deformation state according to the stress distribution and fatigue life of the structure 1.

A plurality of crack sensors 112 are installed in the structure 1, and a plurality of crack sensors 112 are placed in areas where cracks and deterioration, such as cracks, are likely to occur, or cracks and deterioration, such as cracks, are detected by referring to the history of the structure. Referring to the area where cracks occurred and the history of the structure in question, a plurality of them can be placed in the area adjacent to the area where cracks and deterioration have occurred.

The crack detection signal transmitted from the crack sensor 112 is received and processed by the drone 100. That is, when the drone 100 approaches the area, the detection signal transmitted from the crack sensor 112 is processed to determine whether there is a crack or deterioration.

The temperature/humidity sensor 113 is a sensor that detects the temperature and humidity of the site and is a means of providing information necessary to determine whether repair work can be performed accurately and whether the temperature and humidity will not interfere with the repair work. The temperature and humidity can be provided as information for quality control.

The gas sensor 114 is a sensor that detects harmful gases remaining at a site requiring repair work, and is a means of providing information necessary to determine whether the site situation does not interfere with the repair work by workers.

The detection value of the gas sensor 114 may be processed in connection with the detection value of the wind speed/wind direction sensor 116. In other words, it is determined whether repair work is possible by linking the concentration of harmful gases with the wind speed and direction that affects the repair site.

The distance sensor 115 is a sensor that detects the distance between the drone 100 and the structure. The detection value is processed in connection with the wind speed/wind direction sensor 116 and the marking re-spray unit 118, so that the marking material (e.g. paint) is It is a means of providing distance information so that abnormal areas can be accurately sprayed and marked.

The wind speed/wind direction sensor 116 is a means for providing the information necessary for the drone 100 to detect the wind speed and direction affecting the location of the concrete structure 1 for detecting abnormal conditions, and the distance sensor 115 The distance between the drone 100 and the structure 1 and the marking material spraying speed and direction of the marking material spraying unit 118 are processed in conjunction with each other to provide location information on the amount of movement of the drone 100 under the influence of wind speed and wind direction. Wind speed and direction information is provided for correction by the government (117).

The position correction unit 117 is a component that corrects the position of the drone 100 with respect to the structure 1, so that the drone 100 can accurately mark the structure 1, more specifically, the abnormal area C as much as possible. The current position of the drone 100 is corrected to assume this possible posture.

The position correction unit 117 processes the direction and marking material injection speed of the distance sensor 114, wind speed/wind direction sensor 116, and marking material injection unit 118, and the drone 100 detects abnormalities in the structure (1). It is a means of maintaining the distance between the drone 100 and the abnormal area (C) so as to accurately spray marking material such as paint on the area (C), and also correcting the posture of the drone (100).

The marking re-spray unit 118 sprays marking material such as paint on the abnormal part C of the drone 100 in a state where the position of the drone 100 with respect to the abnormal part C of the structure is corrected by the position correction part 117. It is a means.

The camera unit 120 is configured in the drone 100 and is a means of taking images of the concrete structure 1 and abnormal areas C, that is, abnormal states such as cracks and deterioration.

DB 190 includes detection values detected from the sensor, a program for correcting the position of the drone 100, a program for adjusting the marking re-spray unit 118 so that the marking material can be most accurately sprayed on the abnormal area (C), etc. It is saved.

As shown in FIG. 3, the remote control server 200 includes a control unit 210, a receiver 220 that communicates with the drone 100 and receives information from the drone 100, and A transmission unit 230 that provides information, and an alarm unit 240 and a display unit 250 that generate an alarm sound when it is determined that it is necessary to notify workers (managers), etc. as a result of processing the information provided from the drone 100. It is configured to include.

In principle, the information that the control server 200 receives from the drone 100 can be basically all detection values detected from various sensors configured in the drone 100, but in particular, situations in the field that require repair The temperature/humidity detection value of the temperature/humidity sensor 113, the harmful gas detection value of the gas sensor 114, and the wind speed/wind direction detection value of the wind speed/wind direction sensor 116, which are information that can determine the This ensures that repair work can be carried out on site without a hitch.

That is, since the control server 200 is networked to provide the relevant information to the manager's smartphone 300, the manager can check the information through the smartphone 300 and reflect it in determining whether or not to perform maintenance work.

As information provided to the drone 100 from the control server 200, the detection values of the distance sensor 115 and the wind speed/wind direction sensor 116 and the marking spraying speed of the marking re-spraying unit 118 are processed in conjunction with each other to process the drone. When the control server 200 generates a control value for correcting the position of the drone 100, there may be information for correcting the position of the drone 100.

Referring to FIG. 4, the marking material injection speed of the distance sensor 115, wind speed/wind direction sensor 116, and marking material injection unit 118 is linked and processed to ensure the most accurate marking of the abnormal area (C) of the structure (1). Describes the technology that allows this.

The DB (190) of the drone (100) processes the marking material injection speed and the distance between the drone (100) and the structure (1), and considers the marking material injection speed to a certain extent in front of the abnormal part (C) of the structure. Data on whether the drone 100 should be located at a distance of is stored. This distance is indicated as L1 in Figure 4.

The DB 190 of the drone 100 also stores the power data of the drone 100, and the drone 100 must exert a certain amount of power depending on the wind speed and direction to maintain the structure without being affected by the wind speed and direction. Data is stored on whether it can be moved to the right in the drawing to reach the front of the abnormal area (C) and whether it can remain stationary for a certain period of time for marking spraying while moving. This distance is indicated as L2 in Figure 4.

That is, the distance L1 is the distance at which the drone 100 can be positioned in front of the abnormal area (C) and stop for a certain period of time to spray the marking material most effectively, considering the marking spraying speed of the marking spraying unit 118, Distance L2 is the distance that the drone 100 can maintain for a certain period of time after moving to the front of the abnormal part (C) of the structure without being affected by wind speed and direction.

Based on this data, the control unit 111 detects the wind speed and direction, analyzes the movement force and distance to the right of the drone 100 to offset them, and detects the distance between the drone and the front of the structure to determine the movement force to the front. And after analyzing the distance, the position correction unit 117 is controlled to correct the position of the drone 100.

Meanwhile, the wind speed and direction detected by the wind speed/wind direction sensor 116 are processed in conjunction with the amount of harmful gas detected by the gas sensor 114 to provide information for determining whether repair work is possible at a work site requiring repair work. You can.

For example, if the wind speed is strong, but the wind direction is in a direction other than the structure (1) and the amount of harmful gas is below the standard value, it is judged that repair work is possible and repair work is performed. Even though the wind speed is weak, repair work is performed. The wind volume is directed toward the structure (1), and if the amount of harmful gas exceeds the standard value, it is judged as a condition in which repair work is impossible and repair work is not performed.

Meanwhile, the distance sensor 115 can serve as a replacement for the crack sensor 112. For example, when the abnormal part (C) of the structure 1 is photographed by the camera unit 120, the control unit 111 links the wind speed and wind direction detection values and the power of the drone 100 to process the drone 100. ) moves to the front of the abnormal area (C) and maintains a stationary state for a certain period of time, the signal fired several times toward the structure from the distance sensor 115 is reflected and the returned signal is processed to process the camera unit ( The condition of the abnormal part (C) of the structure photographed by 120) can be analyzed.

That is, the abnormal part (C) is a crack or deteriorated part. If this part is partially formed in the structure, the distance from the drone 100 to the abnormal part (C) and the abnormal part (C) from the drone 100 ), the distance to the structure excluding the area surrounding the abnormal area will be different.

Therefore, the control unit 111 corrects the position of the drone 100 through the position correction unit 117, causes the distance sensor 115 to emit a signal to a certain area of the structure, and analyzes the returning signal to ensure that the distance is not uniform. If not, it is determined that an abnormal area (C) has occurred in the structure in the same manner as the projection information captured by the camera unit 120.

On the other hand, it can play a role in a complementary configuration with the crack sensor 112 and the distance sensor 115, the crack sensor 112 and the camera unit 120, and the distance sensor 115 and the camera unit 120. .

For example, when the crack sensor 112, the distance sensor 115, and the camera unit 120 all operate normally, the information obtained from them is compared with each other to determine the abnormal part (C) of the structure (1). Certain information can be obtained, and if any of the crack sensor 112, distance sensor 115, or camera unit 120 is broken, other means can be used to ensure that the safety diagnosis activity of the structure (1) of the drone (100) is normal. can be performed.

The structure of the marking material injection unit of the drone will be described with reference to FIG. 5.

The marking material spraying unit according to the present invention can change the marking material spraying angle depending on the size of the abnormal area (C), so it can flexibly respond to the size of the abnormal area, and even if the abnormal area has an irregular shape, the marking material is sprayed smoothly and stably. As this happens, domarting can occur.

In the front of the marking material storage area (T) of the marking material spraying unit 118 of the present invention, marking material discharge ports (118a) and (118b) are configured to allow angle adjustment, and these marking material discharge ports (118a) and (118b) are each equipped with a gear body. (G1, G2) (G3, G4) are combined to enable marking re-discharge ports 118a and 118b to be adjusted simultaneously or selectively one by one.

At the rear end of the marking material reservoir (T), there is a pressurizing part located at the rear end inside the marking material reservoir (T) to apply pressure to the marking material and push it forward, an operating rod for operating the pressing part, and the operating rod. For example, a solenoid valve may be configured to operate the device. In this configuration, the solenoid is driven under the control of the control unit 111 to operate the operating rod, so that the pressing part moves forward and the marking material is discharged forward through the discharge port. If the pressurizing part is disposed across the upper and lower sides of the marking material reservoir (T), it will be able to spray the marking material while moving forward.

The marking re-discharge ports (118a) (118b) are all coupled to the elastic hinges (H1, H2) in the marking material storage (T) and are connected to the marking re-discharge port (118a) according to the driving rotation of the gears (G1, G2, G3, G4). and the marking material discharge port (118b) adjust the spacing to effectively spray the marking material on the abnormal area (C) of the structure (1). When injection is completed, the gears are rotated again by the operation of the motor and returned to their original positions.

The gear (G1) and gear (G2) are meshed with each other and rotated forward and backward to adjust the gap between the marking re-discharge port (118a) and the marking re-discharge port (118b), and the gear (G3) and gear (G4) are meshed with each other and rotated forward and reverse. By rotating, the distance between the marking re-discharging port 118b and the marking re-discharging port 118a is adjusted.

The axis of the gear may be configured to be rotatable inside the body (B) of the marking material injection unit 118.

The gear G1 and gear G2 rotate in opposite directions.

At this time, the flow angle of the marking re-discharge port 118a is determined by the rotation amount of the motor, and the gear G1 and the gear G2 are rotated according to the rotation amount of the motor determined in this way, so that the marking re-discharge port 118a is kept constant. It flows at an angle.

Likewise, the gear G3 and G4 rotate in opposite directions.

Even at this time, the flow angle of the marking re-discharge port 118b is determined by the rotation amount of the motor, and the gear G3 and G4 are rotated according to the rotation amount of the motor determined in this way, and the marking re-discharge port 118b is rotated. It flows at a certain angle.

For example, if the position of the drone 100 is stopped for a certain period of time at a position where marking of the abnormal part (C) of the structure 1 can be performed under the control of the control unit 111, the control unit 111 ) analyzes the size of the abnormal area (C) using the image by the camera unit 120 and the values detected through the crack sensor 112 and the distance sensor 115, and determines the abnormal area (C) at the stationary position. ), the size of the spacing between the marking re-discharge ports (118a) (118b) must be large enough to accurately mark the abnormal area (C), and the motor is driven according to the analysis results to drive the gears (G1, G2, G3). , G4) is rotated to ensure accurate spraying of marking material to the abnormal area (C).

That is, under the control of the control unit 111, the rotation of (G1, G2) and the gears (G3, G4) are made in opposite directions, and the marking material discharge ports (118a) (118b) flow at the same angle so that the marking material is sprayed. It is done. At this time, under the control of the control unit 111, the drone 100 is positioned at the left and right center front of the abnormal area C and stopped, and the marking material is sprayed while the marking material discharge ports 118a and 118b flow at the same angle. Ensure that the entire abnormal area (C) is accurately marked.

The marking operation flow of the present invention will be described with reference to FIG. 6.

First, a safety inspection is performed on the structure (1) of the drone (100) approaching a specific structure (1), and it is determined whether an abnormal part (C) is detected (S10).

As described above, the detection of the abnormal area includes inspection of cracks and deterioration by the crack sensor 112, comparison of distances to the normal and abnormal parts of the structure by the distance sensor 115, and image capture by the camera unit 120. It can be done.

Next, the control unit 111 obtains location information by comparing the sensor detection value and the camera capture value (S20).

The location information is stored in the DB 119 together with an ID that can identify the location of the structure, for example, when the crack sensor 112 is installed in a specific part of the structure. It is managed so you can use it.

Alternatively, if the drone 100 is set to perform a safety inspection by designating a specific structure, and an abnormal part is detected while the safety inspection is performed based on this, the location can be confirmed based on the set information.

Next, the current location of the drone 100 with respect to the structure 1 and the power of the drone, the distance between the drone 100 and the structure 1, and wind speed and wind direction are processed to calculate the position of the drone 100 as correction data. Obtain (S30) This operation is performed so that the drone 100 is positioned in front of the abnormal part (C) of the structure as described above, so that the marking material is sprayed accurately.

Next, the drone 100 moves according to the position correction data (S40).

Next, the angle adjustment value of the marking material discharge port is obtained by linking the sizes of the marking material discharge ports 118a and 118b of the marking material spraying unit 118 and the abnormal portion C (S50).

Next, the angles of the marking material discharge ports 118a and 118b are adjusted according to the obtained angle adjustment value (S60).

Next, the abnormal area (C) is sprayed and marked with a marking material (S70).

As described above, in the detailed description of the present invention, preferred embodiments of the present invention have been described, but this is an illustrative description of the best embodiment of the present invention and does not limit the present invention. In addition, it goes without saying that anyone skilled in the art of the present invention can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

Accordingly, the scope of the present invention is not limited to the above-described embodiments, but may be implemented in various forms of embodiments within the scope of the appended claims. In addition, it is considered to be within the scope of the claims of the present invention to the extent that anyone skilled in the art can make changes without departing from the gist of the invention claimed in the claims.

1: Structure 100: Drone
110: sensor module 111: control unit
112: Crack sensor 113: Temperature/humidity sensor
114: gas sensor 115: distance sensor
116: Wind speed/wind direction sensor 117: Position correction unit
118: marking re-injection section 118a, 118b: marking re-emission port
119, 260: DB 120: Camera unit
200: control server 210: control unit
220: Receiving unit 230: Transmitting unit
240: alarm unit 250: display unit
B: Macan material spraying part body C: Abnormal part of structure
G1, G2, G3, G4: Gear T: Marking material storage

Claims (6)

When abnormal conditions, including cracks and deterioration, are detected, the drone approaches the marked structure at a certain distance and inspects the overall condition of the structure. Abnormal conditions, including cracks and deterioration, are detected and the relevant area is marked. A smart drone that detects harmful gases at the repair site during repair work and determines whether repair is possible;
By networking with the smart drone wired and wirelessly, abnormal state information including cracks and deterioration of structures detected by the smart drone, marking information, and on-site hazardous gas status information detected during repair work are transmitted, and worker recognition is determined to be necessary. A remote control server that alerts and displays this to the outside and shares abnormal structure information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information with workers; and
Smart, characterized by consisting of a worker smartphone that is wired and wirelessly networked with the control server to share structure abnormal state information, marking information, temperature and humidity information, wind speed and direction information, and harmful gas information, and perform on-site maintenance work. It is a system that enables drone-based safety diagnosis of concrete structures and marking of abnormal areas accordingly, as well as detection of harmful gases at repair sites.
The drone is
Abnormal state information of the structure, marking information on abnormal parts, and hazardous gas information are linked and processed with the relevant structure information stored in the DB and information acquired by sensors and cameras configured on the drone, and are used to measure the distance between the drone and the structure and the site. A control unit that processes wind speed, air volume, and marking re-spray speed to enable accurate marking, and analyzes it when harmful gases are detected to determine whether on-site repair work is possible and shares the control with the control server;
A crack sensor that detects the state of deformation according to the stress distribution and fatigue life of the structure;
A temperature/humidity sensor that detects the temperature and humidity of the site to determine whether structural repair work can be performed accurately and whether the temperature and humidity will not interfere with repair work by workers;
A gas sensor that detects harmful gases remaining at the repair site to determine whether the repair site situation does not interfere with the repair work by workers;
Distance sensor that detects the distance between the drone and the structure;
Wind speed/wind direction sensor that detects wind speed and direction that affects the location of the structure;
A position correction unit that provides position correction values for the drone so that the drone can assume an attitude that allows accurate marking of abnormal parts of the structure;
A marking material spraying unit that sprays marking material on the abnormal part of the drone structure while the position of the abnormal part of the structure is corrected by the position correction unit;
A DB storing detection values detected from the sensor, a program for correcting the position of the drone, and a program for adjusting the marking re-spray unit so that the marking material can be accurately sprayed on abnormal areas; and
Characterized in that it consists of a camera unit that takes images of the structure and the abnormal area,
The marking material injection unit
The marking material spray angle is configured to vary depending on the size of the abnormal part of the structure.
Marking material storage for storing marking material; and
The front of the marking material reservoir is provided with two marking re-discharge ports with adjustable angles,
Smart drone-based concrete structure safety diagnosis and marking of abnormal areas are possible, and detection of harmful gases at repair sites is possible, with all or any one operating selectively and adjusting the marking material release angle depending on the size of the abnormal area. A possible system.
delete In claim 1,
The position correction unit is
The distance sensor, wind speed/wind direction sensor, direction of the marking material spraying part, and marking material spraying speed are linked and processed, and the distance between the drone and the abnormal part is corrected so that the drone can accurately spray the marking material on the abnormal part of the structure. A system that enables safety diagnosis of concrete structures based on smart drones, marking of abnormal areas accordingly, and detection of harmful gases at repair sites.
delete In claim 1,
The wind speed and direction detected by the wind speed/wind direction sensor are processed in conjunction with the amount of harmful gas detected by the gas sensor and are provided as information to determine whether repair work is possible at a work site requiring repair work. Smart drone-based A system that enables safety diagnosis of concrete structures and marking of abnormal areas accordingly, as well as detection of harmful gases at repair sites.
In claim 1,
The control server is
control unit;
A receiver that communicates with the drone and receives information from the drone;
A transmitter that provides information about the drone;
As a result of processing the information provided from the drone, if it is determined that it is necessary to notify the worker (manager), an alarm unit and a display unit that generate an alarm sound; safety diagnosis of a concrete structure based on a smart drone and abnormal parts accordingly A system that enables marking and detection of harmful gases at repair sites.

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