KR20170030214A - Method for Setting Flight Path of Unmanned Shooting Aircraft, Media Being Recorded with the Method - Google Patents
Method for Setting Flight Path of Unmanned Shooting Aircraft, Media Being Recorded with the Method Download PDFInfo
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- KR20170030214A KR20170030214A KR1020150127472A KR20150127472A KR20170030214A KR 20170030214 A KR20170030214 A KR 20170030214A KR 1020150127472 A KR1020150127472 A KR 1020150127472A KR 20150127472 A KR20150127472 A KR 20150127472A KR 20170030214 A KR20170030214 A KR 20170030214A
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- photographing
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- movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B64C2201/127—
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- B64C2201/141—
Abstract
A recording medium on which a program for executing a moving path setting method of an unmanned aerial photographing vehicle and a moving path setting method of an unmanned aerial photographing vehicle is described. The present invention is characterized in that the moving route setting device of the unmanned aerial photographing vehicle receives the three-dimensional modeling data of the object structure to be imaged, receives the photographing condition information including the photographing distance to the object structure, And setting the movement path of the unmanned aerial photographing object based on the condition information. According to the present invention, it is possible to generate a movement path for taking an outer surface of a reactor containment structure of an unmanned aerial vehicle such as a drone on the basis of three-dimensional modeling data of a nuclear reactor containment structure.
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a recording medium on which a program for executing a moving path setting method of an unmanned aerial photographing vehicle and a moving path setting method of an unmanned aerial photographing vehicle is recorded, In order to make it possible to check and manage the condition such as cracking on the external surface through image processing, movement for photographing the outer surface of the reactor containment structure of the unmanned aerial vehicle such as a drone is carried out based on the three-dimensional modeling data of the nuclear reactor containment structure The present invention relates to a recording medium on which a program for executing a moving path setting method of an unmanned aerial photographing vehicle and a moving path setting method of an unmanned aerial photographing vehicle for generating a path is recorded.
As can be seen from the cases of the former Chernobyl nuclear power plant accident in the former Soviet Union and the recent Fukushima nuclear power plant accident in Japan, nuclear power plant accidents cause serious problems in the scope of damage, degree of damage, and damage period.
Therefore, safety inspection in nuclear facility management is not overemphasized, and relevant laws are also being strengthened around the world. Therefore, nuclear power plants are required to monitor and diagnose the structural safety of nuclear plant structures .
On the other hand, most of the structural stability monitoring system for nuclear plant structures according to the prior art relies on a sensor system for measuring the occurrence of cracks, the size of displacement, and the like.
However, the surveillance system depending on the electromagnetic sensor has various problems such as a high maintenance cost, and a risk that the operator is exposed to high-level radiation in the maintenance process of the sensor system.
SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a nuclear reactor structure capable of performing three-dimensional modeling of a nuclear reactor containment structure in order to enable state inspection and management such as occurrence of cracks on the outer surface through image processing of an image taken with respect to the outer surface of the reactor containment structure. A method of setting a travel route of an unmanned aerial photographing vehicle that generates a travel route for photographing an outer surface of a reactor containment structure of an unmanned aerial photographing vehicle such as a drone, Media.
According to another aspect of the present invention, there is provided a moving route setting method for an unmanned aerial photographing vehicle, the moving route setting method comprising the steps of: (a) Receiving modeling data; (b) receiving, by the setting apparatus, photographing condition information including a photographing distance to the photographing target structure; And (c) the setting device setting a moving path of the unmanned aerial photographing object based on the three-dimensional modeling data and the photographing condition information.
Preferably, in the step (c), when the object-to-be-photographed portion of the object structure is the
In the step (c), when the shooting target structure is a dome-shaped wall surface, the unmanned aerial vehicle moves in the vertical direction by a predetermined distance, Is set.
Further, the photographing condition information may further include at least one of a photographing angle, a photographing area ratio, and a photographing start height.
Meanwhile, the recording medium according to the present invention is characterized in that a program for executing the moving route setting method of the unmanned aerial photographing vehicle is recorded.
According to the present invention, it is possible to generate a movement path for taking an outer surface of a reactor containment structure of an unmanned aerial vehicle such as a drone on the basis of three-dimensional modeling data of a nuclear reactor containment structure.
In addition, according to the present invention, it is possible to check and manage the condition such as occurrence of cracks on the outer surface through image processing of the image captured by the unmanned flying against the outer surface of the nuclear reactor containment structure.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a movement path of an unmanned aerial photographing body on a cylindrical wall surface of a photographing target structure according to the present invention,
2 is a view showing a structure of a dome-shaped wall surface in a photographing target structure according to the present invention,
3 is a view showing an image taken according to a shooting distance in an unmanned aerial vehicle according to the present invention,
4 is a view for explaining the concept of moving in the horizontal direction of the unmanned aerial vehicle according to the present invention,
FIG. 5 is a view for explaining the concept of movement in the vertical direction of the unmanned aerial vehicle according to the present invention,
6 is a view for explaining a movement constraint situation in the vertical direction or the horizontal direction of the unmanned aerial photographing body according to the present invention,
FIG. 7 is a flowchart illustrating a method of determining a next position in a case where a constraint is imposed on the movement of the unmanned aerial vehicle according to the present invention in the horizontal direction.
FIG. 8 is a flowchart illustrating a method of determining a next location in a case where a constraint is imposed on the movement of the unmanned aerial vehicle according to the present invention in the vertical direction, and
9 is a diagram illustrating a user interface in a route path generation program for an unmanned aerial photographing vehicle according to the present invention.
Hereinafter, the present invention will be described in detail with reference to the drawings. It is to be noted that the same elements among the drawings are denoted by the same reference numerals whenever possible. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.
In the present invention, an outer surface of a structure such as a nuclear power plant is continuously photographed by using an imaging tool provided in a drone such as a drone or the like, and image processing for a continuously photographed image is carried out, We propose a method to detect damage.
On the other hand, it is essential to maintain a certain distance between the drone and the outer surface of the nuclear reactor structure in order to ensure the uniformity of the acquired image when continuously photographing the outer surface of the nuclear reactor structure such as the reactor containment structure through the drone.
In relation to this, the drone flight can be largely divided into a direct maneuvering method and a method of setting the travel path coordinates of the drone in advance, so that the maneuvering method maintains a constant distance from the flying body and the circular building It is practically impossible to adjust.
That is, in the present invention, since the size of the damage generated on the outer surface of the nuclear reactor structure, such as cracks, must be determined through image processing, the image of the surface of the nuclear reactor structure must be acquired while maintaining a certain distance. And a method of setting the travel path coordinates in advance is applied.
Conventionally, a conventional commercial drones coordinate input method is a method of acquiring two-dimensional coordinates in cooperation with a Google map and inputting a flight altitude. However, since the coordinates obtained from the existing GIS-based map such as Google Map have a partial GPS coordinate error as well as the position of the object image in which the dron must maintain a certain distance, It is difficult to obtain the flight position coordinates of the accuracy required by the present invention.
In addition, the method of inputting the coordinates of the position one by one by the user in order to secure the accuracy of the flight position coordinate is also inefficient in practice.
Accordingly, in the present invention, a three-dimensional model is used in order to obtain the coordinates of the movement path of the drone more accurately and efficiently, thereby achieving the following technical advantages.
[Technical Advantage 1]
It is possible to acquire accurate three-dimensional coordinates of the outskirts of the building rather than obtain coordinates from an image map such as a Google map.
[Technical Advantage 2]
In creating the flight coordinates of the drones, it is possible to consider the collision safety with surrounding buildings together.
[Technical Advantage 3]
It is possible to generate a flight path that efficiently reflects various shooting conditions such as characteristics of a camera lens used for image acquisition through programming.
[Technical Advantage 4]
It is possible to measure a flight distance necessary for acquiring an image, thereby calculating a flight demand time, and accordingly, a capacity of a battery necessary for flying a target photographing area can be predicted in advance.
That is, in order to achieve the above technical merits, the moving route setting apparatus of the unmanned aerial photographing vehicle according to the present invention includes a spatial coordinate value of the photographing target structure to set a moving route on the photographing target structure of the unmanned aerial photographing vehicle Dimensional modeling data.
On the other hand, the movement route setting device includes a user terminal such as a PC having a communication module for transmitting movement route information to an unmanned aerial photographing body and performing a function of receiving image image information taken by a photographing device provided in an unmanned aerial photographing vehicle In the embodiment of the present invention, the movement path setting device may be integrated into the unmanned aerial vehicle such as a drone.
-nuclear pile Storage Three-dimensional model of structure -
As described above, in the present invention, a three-dimensional model built for a reactor containment structure is utilized to develop a flight path creation algorithm for a drone using a three-dimensional model.
Further, in carrying out the present invention, it is desirable to further utilize a three-dimensional model constructed for a structure around a nuclear reactor containment building for consideration of surrounding buildings.
Specifically, the three-dimensional model can be manufactured using Bentley's MicroStation commercial software, which is widely applied to nuclear power plants and plants both at home and abroad.
- Drones Determine the default route -
The movement route setting apparatus according to the present invention executes an operation of attaching photographed images obtained by a plurality of pieces in one process in an image processing process for detecting damage to the exterior of a concrete structure such as a nuclear reactor containment structure.
More specifically, the task of attaching an image is performed by a predetermined computer program installed in the route setting apparatus. In implementing the present invention, rather than searching for a continuous image by examining an arbitrary photograph, It would be more efficient for the program to be able to perform the task of connecting images directly without analyzing unnecessary images.
In addition, in order to shorten the flight time of the drones, which are restricted by the capacity of the battery due to the capacity of the battery, it is desirable to implement the present invention through shooting during as short a flight time as possible within a target area.
In relation to this, the moving direction of the drone for continuous shooting can be basically divided into two. The first is to acquire images continuously while moving on the basis of the horizontal direction, and the second is to acquire images while moving on the basis of the vertical direction.
On the other hand, in the case of a reactor containment structure, an effective travel path can be determined differently depending on the structure of the
First, when the
However, in the case where the dron is moved based on the vertical direction to acquire an image, continuous image acquisition is possible in the target area as in Fig.
Accordingly, in the present invention, it is preferable to set the vertical direction as the movement direction reference when generating the path for acquiring the image of the
That is, when the setting apparatus determines that the shooting target structure of the shooting target structure is the
On the other hand, in the case of the upper dome (200) zone of the nuclear containment structure, there is no obstacle to performing the flight, so there is no need to consider a method for detouring while moving.
However, when the vertical direction is set as a fixed reference as shown in FIG. 2 due to the nature of the structure of the
That is, when the setting apparatus sets the moving path of the drones based on the three-dimensional modeling data, when the shooting target site of the shooting target structure is the dome-shaped
- Estimation of image acquisition scope of appearance survey -
In order to set the detailed coordinates of the movement of the drone, the movement path setting device needs to analyze the degree of the image acquired from the drone position outside the actual structure. On the other hand, this depends on the characteristics of the camera and the lens mounted on the drone, and varies depending on the distance between the drone and the structure.
Specifically, in the case of a camera, the characteristics of the ratio of the length to the length that generate light as the effective image are influenced, and the characteristic of the lens determines the range of the image, which is geometrically expressed. .
In this way, the mobile routing device is a an image obtained through the drone in position size in the vertical direction share of the actual structure (S v) and the equation for the size (S h) in the horizontal direction 1) and (2 Can be calculated accordingly.
In Equation (1), d is the distance between the end of the camera lens and the subject,? Is an angle of view that is one of the characteristic values of the lens, and r is a ratio .
- Drones How to calculate the basic movement angle -
FIG. 4 is a view showing a position where the dron should move in the horizontal direction when the center axis of the nuclear reactor containment structure is taken as an origin, FIG. 5 is a view showing a position where the dron should move in the vertical direction when the center axis of the nuclear reactor containment structure is taken as an origin to be.
Accordingly, the movement route setting apparatus can obtain the rotation angle for moving the drone from the arbitrary position to the next position with reference to the origin by referring to the photographing area in the horizontal direction obtained by the above-mentioned equation (2) The rotation angle? H can be calculated according to the following equation (3).
Here, r is a ratio for considering the overlap area required by the program for creating a continuous image, and has a value of 0.7 when the minimum overlap ratio required is 30%, and the outer edge of the cylindrical enclosure And is a value that varies according to the following equation (4).
Here, R denotes a radius of a containment building as a constant, and? Denotes a vertical movement angle (
On the other hand, when defining the Z axis in the vertical direction in the three-dimensional space orthogonal coordinate system, the movement route setting apparatus calculates the moving distance (d v ) with respect to the Z axis in the case of vertical movement in the wall area, Is calculated in accordance with the following equation (6) with reference to a vertical photographing area.
- Drones Next Positioning Based on Movement Constraints -
In the case of a wall of a nuclear reactor containment structure, there may be a case where the drone can not fly due to the
Considering the drone path for the wall set as described above, two failure situations may occur as shown in FIG. 6, where a first constraint occurs in the horizontal direction movement, and a second constraint occurs in the vertical movement to be.
In the case where such an obstacle is detected, the present invention proposes a method of determining the next position to be moved at the corresponding position according to the procedure of FIGS.
FIG. 7 is a flowchart illustrating a next positioning method when a constraint is imposed on movement of the drones in the horizontal direction. Referring to Fig. 7, the next positioning method in the case where the movement of the dron in the horizontal direction is restricted will be described. As a result of analyzing based on the three-dimensional modeling data of the object structure, The maximum Z value (altitude) of the past paths is extracted from the plane coordinates (S710).
Next, the maximum Z value (altitude) is determined as the next movement position of the drone at the same horizontal position (S720), and the next horizontal (x, y) movement position according to the rotation angle h calculated through the above- (S730).
Then the mobile routing device is calculating the next position coordinates according to the vertical direction (d v) according to Equation (6), and determines whether or not (S740), whether the movement in the vertical direction constraints is generated (S750) .
In the case where a constraint of movement in the vertical direction occurs, the route setting apparatus generates a photographing point at the corresponding position, executes the above-described steps S730 to S750 again, The routine returns to the normal routine.
8 is a flowchart illustrating a next positioning method in a case where a constraint is imposed on movement of the drones in the vertical direction. Referring to Fig. 8, the next positioning method in the case where the movement of the dron in the vertical direction is restricted will be described. As a result of analysis based on the three-dimensional modeling data of the object structure, (X, y) movement position according to the rotation angle h calculated according to Equation (3) is determined (S810) when it is determined that the movement in the vertical direction is restricted (Step S820).
When the movement path setting device analyzes the object based on the three-dimensional modeling data of the object to be shot, if the constraint of the movement in the horizontal direction occurs, the execution starts from the step S710 in FIG. 7 described above, The flow returns to the normal routine.
- Program implementation -
In addition, the inventor of the present invention developed a drone path generation program module based on the above-described method of positioning a drone, and in order to calculate a drone path, the user implements an
The program module developed in this manner is installed in the travel route setting device. As shown in FIG. 9, the user can view the shooting distance, the safety distance, the shooting angle, the shooting area ratio, And a basic condition such as a level selection can be inputted.
Specifically, when the user inputs the photographing distance information for the photographing target structure via the
In addition, the inventor of the present invention has also developed a program for visualizing the movement path of the dron generated on the three-dimensional model in accordance with the basic conditions inputted by the user.
Specifically, the program is implemented in the form of add-in that can be run on MicroStation that created the 3D model.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention.
100: cylindrical wall surface, 150: interference structure,
200: domed wall surface, 300: user interface.
Claims (5)
(a) the setting apparatus receives three-dimensional modeling data of a structure to be photographed;
(b) receiving, by the setting apparatus, photographing condition information including a photographing distance to the photographing target structure; And
(c) setting the moving path of the unmanned aerial photographing object based on the three-dimensional modeling data and the photographing condition information
Wherein the moving route setting method of the unmanned aerial vehicle includes the steps of:
The step (c)
In which the unmanned aerial photographing body is moved in the horizontal direction by a predetermined distance and the travel path is set so as to reciprocate in the vertical direction of the wall surface when the shooting target structure of the shooting target structure is the cylindrical wall surface 100, A method of setting a moving route of a photographed body.
The step (c)
Wherein the unmanned aerial photographing vehicle sets the moving route so that the unmanned aerial photographing body moves in a vertical direction by a predetermined distance and reciprocates in a horizontal direction of the wall surface when the shooting target structure of the shooting target structure is a dome- How to set up a route.
Wherein the photographing condition information further includes at least one of a photographing angle, a photographing area ratio, and a photographing start height.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190050575A (en) | 2017-11-03 | 2019-05-13 | 주식회사 베이리스 | Flying path searching method for unmanned aerial vehicle |
| KR20190086081A (en) * | 2018-01-12 | 2019-07-22 | 한국과학기술원 | Multilayerbased coverage path planning algorithm method of unmanned aerial vehicle for three dimensional structural inspection and the system thereof |
| KR20200065316A (en) * | 2018-11-30 | 2020-06-09 | 재단법인 경북아이티융합 산업기술원 | System and method for replying disaster situation using smart drone |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102458270B1 (en) | 2021-11-24 | 2022-10-25 | 한국건설기술연구원 | VR-based monitoring apparatus and method for non-visible flight drones for autonomous flight of drones |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1371999A1 (en) * | 2002-06-12 | 2003-12-17 | Oerlikon Contraves Ag | Method and system for tracking a target |
| KR101223242B1 (en) * | 2012-06-29 | 2013-01-17 | 삼부기술 주식회사 | Apparatus for drawing digital map |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190050575A (en) | 2017-11-03 | 2019-05-13 | 주식회사 베이리스 | Flying path searching method for unmanned aerial vehicle |
| KR20190086081A (en) * | 2018-01-12 | 2019-07-22 | 한국과학기술원 | Multilayerbased coverage path planning algorithm method of unmanned aerial vehicle for three dimensional structural inspection and the system thereof |
| KR20200065316A (en) * | 2018-11-30 | 2020-06-09 | 재단법인 경북아이티융합 산업기술원 | System and method for replying disaster situation using smart drone |
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