KR20190027997A - Apparatus and method for deterioration diagnosis of structure surface using unmanned aerial vehicle and sensor interface - Google Patents

Abstract

The present invention relates to a structure surface deterioration diagnosis method using an unmanned aerial vehicle. The structure surface deterioration diagnosis method includes (a) obtaining a deterioration-related sensing value from a first deterioration measurement sensor unit when an unmanned aerial vehicle approaches within a preset distance among distances allowing wireless communication with respect to the first deterioration measurement sensor unit among a plurality of deterioration measurement sensor units provided on an inspection target structure; (b) determining that detailed diagnosis is necessary for the surface of the region corresponding to the first deterioration measurement sensor unit in the inspection target structure in a case where the deterioration-related sensing value deviates from a reference range and obtaining an image with respect to the surface of the region corresponding to the first deterioration measurement sensor unit through the unmanned aerial vehicle; and (c) determining that detailed diagnosis is unnecessary for the surface of the region corresponding to the first deterioration measurement sensor unit in the inspection target structure in a case where the deterioration-related sensing value is within the reference range.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for diagnosing surface deterioration of a structure using an unmanned aerial vehicle and a sensor interface,

The present invention relates to an apparatus and method for diagnosing deterioration of a surface of a structure such as a coating surface of a steel bridge using a sensor interface installed on an unmanned aerial vehicle and a structure.

Conventionally, as a method of diagnosing a deterioration state of a bridge, a dedicated inspection facility composed of a ladder, a pedestal, a railing support, and a vehicle for bridge inspection is installed on the lower side of a bridge overhead structure, There is a method in which an inspection is performed with the naked eye or a photograph (picture) is photographed, and then the operator or another inspector examines the photographed picture and performs an indirect examination with the naked eye.

However, in the case of such a conventional diagnostic method, there is a disadvantage in that a considerable amount of time is required as the deterioration state of the bridge is diagnosed by the naked eye of the inspector (operator) over a wide area such as the coating surface of the bridge.

In the case of such a conventional diagnosis method, a dedicated inspection facility is installed in accordance with the bridge to be inspected, or a pre-installed inspection facility is used. In the case of a long-span bridge crossing a river or sea, In the case of structures with limited image (image) acquisition, it was difficult to acquire images for diagnosis.

The background technology of the present application is disclosed in Korean Patent Registration No. 10-1194412.

The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to solve the above-described problems of the conventional art in which a large area of bridges is widely used, The method and apparatus for diagnosing surface deterioration of a structure by the unmanned aerial vehicle which can acquire an image for diagnosing the deterioration state of a bridge more easily even for a structure having limitation on the acquisition of images (images) The purpose is to provide.

The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide a method and an apparatus for effectively reducing the monitoring time and analysis time required in the deterioration diagnosis for the entire structure to be inspected, And to provide a diagnostic method and apparatus.

It is to be understood, however, that the technical scope of the embodiments of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to an aspect of the present invention, there is provided a method for diagnosing surface deterioration of a structure according to an embodiment of the present invention. The method includes the steps of: (a) Acquiring a deterioration-related sensing value from the first deterioration measurement sensor unit when approaching within a preset distance of a distance capable of wireless communication with the first deterioration measurement sensor unit; (b) determining that a detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor unit is necessary for the structure to be irradiated when the deterioration-related sensing value is out of a reference range, Obtaining an image of a surface of a region corresponding to the measurement sensor portion; And (c) if the deterioration-related sensing value is within the reference range, determining that the detailed diagnosis of the surface of the region corresponding to the first deterioration measurement sensor unit is unnecessary.

The method of diagnosing surface deterioration according to one embodiment of the present invention may further include the steps of (d) after the step (b) or (c) And controlling the unmanned aerial vehicle to approach the other second deterioration measurement sensor unit within a predetermined distance of the distance that can be wirelessly communicated.

The region corresponding to the second deterioration measurement sensor unit may be adjacent to the region corresponding to the first deterioration measurement sensor unit.

The predetermined distance may be a distance covering at least a part of the region corresponding to the first deterioration measurement sensor unit.

Also, the step (c) may include: skipping the image acquisition on the surface of the area corresponding to the first deterioration measurement sensor unit, or zooming out to cover a wider area in comparison with the image acquired in step (b) The unmanned aerial vehicle can be controlled so as to acquire an image of the unmanned aerial vehicle.

According to another aspect of the present invention, there is provided a method of diagnosing surface deterioration of a structure, comprising the steps of: (e) deriving a correlation between a deterioration diagnosis result based on an image obtained in the step (b) And (f) based on the correlation derived in the step (e), predictive degradation corresponding to the degradation diagnosis result based on the image obtained in the step (b) from the degradation related sensing value obtained in the step (a) And deriving a diagnosis result, wherein the deterioration diagnosis result may include a diagnosis result relating to a remaining life of the structure to be searched or maintenance of the structure to be searched.

Further, the reference range in the step (b) or (c) may be set or updated based on the correlation.

In addition, the acquisition time interval of the deterioration related sensing value in the plurality of deterioration measurement sensor units may be set to be longer than a time interval for sensing whether the unmanned air vehicle approaches or not.

In the step (a), the plurality of deterioration measurement sensor units may acquire a deterioration-related sensing value including a surface degradation sensing value of the structure to be irradiated and a deterioration-inducing environmental factor sensing value in the atmosphere.

Further, the method for diagnosing surface deterioration of structures according to an embodiment of the present invention may further include obtaining and analyzing a reflection intensity by laser scanning on a surface of the structure to be irradiated before the step (b) The step of acquiring and analyzing the strength may include determining a deterioration region on the surface corresponding to the reflection intensity when the reflection intensity is out of the allowable range, To obtain an image for the corresponding surface.

According to another aspect of the present invention, there is provided an apparatus for diagnosing surface deterioration of a structure, the apparatus comprising: a plurality of deterioration measurement sensors provided in a structure to be irradiated, A deterioration related sensing value obtaining unit for obtaining a deterioration related sensing value from the first deterioration measuring sensor unit; Determining that a detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor unit is necessary for the structure to be irradiated when the deterioration related sensing value is out of a reference range, A determination unit for determining that detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor unit is unnecessary; And an image acquiring unit for acquiring an image of a surface of the area corresponding to the first deterioration measurement sensor unit through the unmanned aerial vehicle when the determination unit determines that the detailed diagnosis is required.

In addition, the apparatus for diagnosing surface deterioration according to an embodiment of the present invention may further include a plurality of deterioration measurement sensors for detecting the surface deterioration of the structure, after the detailed diagnosis is determined to be unnecessary, And a second deterioration measurement sensor unit, which is different from the first deterioration measurement sensor unit, of the distance between the first deterioration measurement sensor unit and the second deterioration measurement sensor unit.

The region corresponding to the second deterioration measurement sensor unit may be adjacent to the region corresponding to the first deterioration measurement sensor unit.

The predetermined distance may be a distance covering at least a part of the region corresponding to the first deterioration measurement sensor unit.

The determining unit may skip image acquisition on the surface of the area corresponding to the first deterioration measurement sensor unit when the detailed diagnosis is determined to be unnecessary, It is possible to obtain the zoomed-out image so as to cover a large area.

The apparatus for diagnosing surface deterioration according to an exemplary embodiment of the present invention may further include a correlation derivation unit for deriving a correlation between the deterioration diagnosis result based on the image acquired by the image acquisition unit and the deterioration related sensing value; And a predictive deterioration diagnosis unit for deriving a predictive deterioration diagnosis result corresponding to a deterioration diagnosis result based on the image acquired by the image acquisition unit from the deterioration related sensed value acquired by the deterioration related sensed value acquisition unit based on the derived correlation, And the diagnosis result may include a diagnosis result related to the remaining life of the structure to be searched or the maintenance of the structure to be searched.

In addition, the reference range in the determination unit may be set or updated based on the correlation.

In addition, the time interval at which the deterioration related sensing value is acquired may be set to be longer than a time interval for detecting whether or not the unmanned air vehicle is approaching.

In addition, the plurality of deterioration measurement sensor units may acquire deterioration-related sensing values including a surface deterioration sensing value of the structure to be irradiated and a deterioration-inducing environmental factor sensing value in the atmosphere.

The apparatus for diagnosing surface deterioration according to an embodiment of the present invention further includes a reflection intensity analyzing unit for obtaining and analyzing the reflection intensity of the surface of the structure to be surveyed by laser scanning, Wherein the reflection intensity analyzer determines that a deteriorated region exists on the surface corresponding to the reflection intensity when the reflection intensity is out of tolerance as compared with a reference intensity on a surface on which degradation has not occurred, It is possible to acquire the image of the user.

The above-described task solution is merely exemplary and should not be construed as limiting the present disclosure. In addition to the exemplary embodiments described above, there may be additional embodiments in the drawings and the detailed description of the invention.

According to the above-mentioned problem solving means of the present invention, the deterioration of the surface of a structure is diagnosed based on an image acquired using an unmanned aerial vehicle, And it is easier to acquire images for diagnosing the deterioration state of bridges even for structures with limited acquisition of images (images) on the upper and lower sides of bridges such as long-span bridges crossing rivers or sea. can do.

According to the above-mentioned problem solving means of the present invention, when the deterioration-related sensing value is within the reference range, the acquisition of the detailed image on the surface is skipped, It is possible to effectively reduce the monitoring time and analysis time required in the deterioration diagnosis for the entire structure to be irradiated.

However, the effects obtainable here are not limited to the effects as described above, and other effects may exist.

FIG. 1 is a schematic view of an apparatus for diagnosing surface deterioration of a structure by an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG.
FIG. 2 is a view for explaining an unmanned aerial vehicle controlled by a structure surface deterioration diagnosis apparatus according to an embodiment of the present invention; FIG.
3A to 3C are views for explaining an example of a control path of a unmanned aerial vehicle controlled by an unmanned aerial vehicle controller in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating an example of three-dimensional visualization of an image acquired through an unmanned aerial vehicle in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.
5 is a flowchart schematically illustrating a process of acquiring and analyzing the reflection intensity in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.
6 is a view for explaining an example of operation according to control of an unmanned aerial vehicle in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.
7 is a flowchart illustrating a method for diagnosing surface deterioration of a structure using an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when an element is referred to as being "connected" to another element, it is intended to be understood that it is not only "directly connected" but also "electrically connected" or "indirectly connected" "Is included.

It will be appreciated that throughout the specification it will be understood that when a member is located on another member "top", "top", "under", "bottom" But also the case where there is another member between the two members as well as the case where they are in contact with each other.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise.

FIG. 1 is a view showing a schematic configuration of an apparatus 10 for diagnosing surface deterioration of a structure by an unmanned aerial vehicle according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating a structure deterioration diagnosis apparatus 10 according to an embodiment of the present invention The unmanned aerial vehicle 5 according to the present invention. Hereinafter, an apparatus 10 for diagnosing surface deterioration of structures by an unmanned aerial vehicle according to an embodiment of the present invention will be referred to as a diagnostic apparatus 10 for convenience of explanation.

1 and 2, the diagnostic apparatus 10 may include a deterioration related sensing value acquiring unit 11, a determining unit 12, and an image acquiring unit 13. In addition, the diagnostic apparatus 10 may include an unmanned aerial vehicle control unit 14.

The diagnostic apparatus 10 can acquire deterioration diagnosis related data for diagnosing deterioration (deteriorated state) of the irradiation target structure 1 from the unmanned air vehicle 5 through wireless communication.

Here, the structure to be surveyed 1 may mean various structures including bridges (steel bridge), buildings, and the like. Illustratively, the structure 1 to be irradiated may be a superstructure of the bridge. In addition, the surface of the structure to be irradiated 1 may be a painting surface (paint appearance). According to this, the diagnostic apparatus 10 can diagnose deterioration of the coating surface of a bridge (bridge superstructure) such as a steel bridge amount, preferably. In the present invention, deterioration can be understood as a broad concept including corrosion, peeling, checking, chalking, and the like.

The unmanned aerial vehicle (5) can be expressed as a drone, a UAV, or the like.

The deterioration diagnosis related data obtainable from the unmanned air vehicle 5 may include a deterioration related sensing value obtained from a deterioration measurement sensor unit provided in the structure to be examined. In addition, the deterioration diagnosis related data includes an image of the surface of the structure 1 photographed by the camera provided in the unmanned air vehicle 5, reflection intensity data obtained through laser scanning by the laser scanner, and spatial coordinate data . Illustratively, the laser scanner may be a device that performs laser scanning on the lower or upper side of the bridge. As another example, the laser scanner may be equipped with equipment of a size that can be mounted on a unmanned aerial vehicle such as a drone. As described above, the laser scanner can be provided in various scales, and can be disposed separately from the unmanned aerial vehicle, or can be mounted on the unmanned aerial vehicle if necessary. The description of each data will be described later in detail.

Examples of wireless communication between the diagnostic device 10 and the unmanned air vehicle 5 may include RF (Radio Frequency) communication, NFC (Near Field Communication) communication, Bluetooth communication, and beacon communication , But is not limited thereto. The diagnosis apparatus 10 may be a third generation partnership project (3GPP) network, a long term evolution (LTE) network, a world interoperability for microwave access (WIMAX) network, A wireless LAN, a WAN (Wide Area Network), a PAN (Personal Area Network), a Bluetooth network, an NFC (Near Field Communication) network, a satellite broadcasting network, an analog broadcasting network, a Digital Multimedia Broadcasting ) Network and the like, the deterioration diagnosis-related data can be acquired from the unmanned air vehicle 5.

The deterioration related sensing value acquisition unit 11 acquires the deterioration related sensing value of the first deterioration measurement sensor unit 21 among the plurality of deterioration measurement sensor units 21, 22, 23, ... provided in the irradiation target structure 1, The degradation-related sensing value can be obtained from the first deterioration measurement sensor unit 21 when approaching within a predetermined distance (r) of the distance capable of wireless communication with the first deterioration measurement sensor unit 21.

Specifically, the structure to be irradiated 1 includes a plurality of deterioration measurement sensor units (first deterioration measurement sensor unit) 21 including a first deterioration measurement sensor unit 21, a second deterioration measurement sensor unit 22, a third deterioration measurement sensor unit 23, 21, 22, 23, ... may be provided. The plurality of deterioration measurement sensor units 21, 22, 23, ... may be attached to the surface of the structure to be irradiated 1, for example. 2, the plurality of deterioration measurement sensor units 21, 22, 23, ... may be provided on a lower surface of the structure 1 to be irradiated. 3B, the plurality of deterioration measurement sensor units 24, 25, and 26 may be provided on at least one of a lower surface and a side surface of the structure to be irradiated. However, the positions (positions) of the plurality of deterioration measurement sensor units are not limited thereto. As another example, the plurality of deterioration measurement sensor units may be provided on the inner side of the structure to be irradiated (for example, the inner side close to the surface or the inner side adjacent to the surface).

The plurality of deterioration measurement sensor units 21, 22, 23, ... may be provided spaced apart from each other at a predetermined distance to the structure 1 to be irradiated. For example, the plurality of deterioration measurement sensor units may be spaced apart from each other at irregular intervals (unequal intervals) as the deterioration measurement sensor unit is provided at a position where deterioration diagnosis is to be performed in the structure to be irradiated have. Alternatively, the plurality of deterioration measurement sensor units may be spaced apart from each other at regular intervals (constant intervals).

Each of the plurality of deterioration measurement sensor units 21, 22, 23, ... can acquire a deterioration-related sensing value including a surface deterioration sensing value of the structure to be irradiated and a deterioration-inducing environmental factor sensing value in the atmosphere. Each of the plurality of deterioration measurement sensor units 21, 22, 23, ... is composed of a surface deterioration measurement sensor for measuring deterioration of the surface of the structure to be irradiated 1 and a deterioration inducing environmental factor for measuring an environmental factor And a measurement sensor. In other words, each of the plurality of deterioration measurement sensor units 21, 22, 23, ... measures the surface degradation sensing value of the structure to be irradiated through the surface deterioration measurement sensor and the deterioration induced environmental factor sensing value (Sensing) a deterioration-related sensing value including the deterioration-related sensing value.

The deterioration measurement sensor can store the deterioration related sensing value measured (sensed and acquired) in its own memory. When the detonation related sensing value stored in the memory is adjacent to the deterioration measurement sensor unit, And can be transmitted to the unmanned aerial vehicle when entering the wireless communication area between the unmanned aerial vehicle and the unmanned aerial vehicle.

In other words, the deterioration measurement sensor unit stores deterioration-related sensing values including a deterioration sensing value for the deterioration of the surface of the structure to be inspected and a deterioration-inducing environment factor sensing value I can do it. When the unmanned air vehicle 5 enters the communicable area with the degradation measurement sensor unit, the deterioration related sensing value stored in the memory can be transmitted to the unmanned air vehicle 5.

For example, the communicable area between the first deterioration measurement sensor unit 21 and the unmanned air vehicle 5 may be an area within a distance of a predetermined distance r from the first deterioration measurement sensor unit 21 . At this time, when the unmanned air vehicle 5 approaches (enters) an area within a distance of a predetermined distance r from the deterioration measurement sensor unit 21, the unmanned air vehicle 5 is moved to the first deterioration measurement sensor unit 21 ) From the first deterioration measurement sensor unit 21 and can transmit the deterioration related sensing value to the deterioration related sensing value acquisition unit 11. [ That is, the deterioration-related sensing value acquisition unit 11 can acquire the deterioration-related sensing value measured from the first deterioration measurement sensor unit 21 through the unmanned aerial vehicle 5.

In addition, the deterioration measurement sensor unit can receive power through a self-contained battery. Further, in order to minimize power consumption, the degradation measurement sensor can perform deterioration-related sensing at predetermined time intervals, for example, without performing deterioration-related sensing at all times.

Further, the acquisition time intervals of the deterioration-related sensing values in the plurality of deterioration measurement sensor units (i.e., the intervals of time for acquiring the deterioration-related sensing values in the plurality of deterioration measurement sensor units) Can be set longer than the time interval.

For example, the time-related settings for the plurality of deterioration measurement sensor units can be made by presetting based on user input. Here, the time-related setting may be a setting of an acquisition time interval of the deterioration-related sensing value and a setting of a time interval for detecting whether the unmanned aerial vehicle approaches or not. The time-related setting information for the plurality of deterioration measurement sensor units thus set may be updated (or adjusted) based on transmission / reception of information based on wireless communication between the unmanned air vehicle 5 and the deterioration measurement sensor unit, Related setting for the deterioration measurement sensor unit of the diagnostic device 10 can be updated by receiving the time-related setting information generated by the diagnostic device 10 via the deterioration measurement sensor unit unmanned aerial vehicle 5.

Here, the time-related setting information generated by the diagnostic apparatus 10 may be information generated in consideration of the analysis result of the deterioration-related sensing value obtained from the deterioration measurement sensor unit. Or the time-related setting information generated by the diagnostic apparatus 10 may be information generated considering the history of a plurality of deterioration-related sensing values obtained from the deterioration measurement sensor unit.

For example, it is assumed that the time interval at which the first deterioration measurement sensor unit 21 acquires the deterioration-related sensing value is preset to be 24 hours (one day). At this time, if it is determined that the degree of deterioration of the analysis result of the deterioration-related sensing value obtained at this time from the first deterioration measurement sensor unit 21 in the diagnostic apparatus 10 is at a severe level, the first deterioration measurement sensor unit The present diagnostic apparatus 10 judges that the deterioration state of the surface on which the first deterioration measurement sensor unit 21 is located should be carefully monitored so that the deterioration state of the surface on which the first deterioration measurement sensor unit 21 is placed is measured more frequently, Time-related setting information for shortening the acquisition time interval of 24 hours, for example, every 10 hours. At this time, the time-related setting information generated by the diagnostic apparatus 10 is transmitted to the first deterioration measurement sensor unit 21 through the unmanned flying body 5 that has entered the area capable of communicating with the first deterioration measurement sensor unit 21 Lt; / RTI > Accordingly, the first deterioration measurement sensor unit 21 can update the acquisition time interval of the deterioration-related sensing value, which has been set in advance, to the time-related setting information received from the unmanned aerial vehicle 5. Thus, the first deterioration measurement sensor unit 21 can measure the deterioration-related sensing value previously measured at the time interval of 24 hours at intervals of 10 hours.

For example, it is preset that the first deterioration measurement sensor unit 21 acquires the deterioration-related sensing value at a time interval of 24 hours (one day). In this diagnostic apparatus 10, Assume that a plurality of deterioration related sensing values (history of deterioration related sensing values obtained from the first deterioration measurement sensor unit in other words) previously acquired from the deterioration related sensor unit 21 are stored. At this time, the sensing history of the first deterioration measurement sensor unit 21 including the deterioration-related sensing value and the deterioration-related sensing value thus obtained from the first deterioration measurement sensor unit 21 in the diagnostic apparatus 10 When it is determined that the change in the sensing value is insignificant as a result of the analysis of the information, it is determined that it is unnecessary to monitor carefully because the deterioration of the surface on which the first deterioration measurement sensor unit 21 is located is hardly progressed, In order to measure the deterioration state of the surface on which the measurement sensor unit 21 is placed less than a predetermined time interval, the diagnostic apparatus 10 has a time interval of 24 hours, which is an acquisition time interval of preset deterioration related sensing values, Time-related setting information to be changed is generated. At this time, the time-related setting information generated by the diagnostic apparatus 10 is transmitted to the first deterioration measurement sensor unit 21 through the unmanned flying body 5 that has entered the area capable of communicating with the first deterioration measurement sensor unit 21 Lt; / RTI > Accordingly, the first deterioration measurement sensor unit 21 can update the acquisition time interval so that the acquisition time interval of the previously set deterioration-related sensing value is changed to the time-related setting information received from the unmanned aerial vehicle 5. Accordingly, the first deterioration measurement sensor unit 21 can measure the deterioration-related sensing value, which was previously measured at a time interval of 24 hours, at intervals of 40 hours.

As another example, when it is determined that the level of change of the deterioration-related sensing value obtained as a result of the analysis of the sensing history information of the first deterioration measurement sensor unit 21 is changed to a large extent, 1 deterioration measuring sensor unit 21 is deteriorated so that it is determined that the condition is to be monitored with caution so that the deterioration state of the surface on which the first deterioration measuring sensor unit 21 is placed can be measured more frequently Related setting information can be generated. The generated time-related setting information can be transmitted (transferred) to the first deterioration measurement sensor unit 21 via the automatic unmanned aerial vehicle 5, and accordingly, the first deterioration measurement sensor unit 21 acquires the deterioration- You can update the time interval.

According to the present invention, even if a plurality of deterioration measurement sensor units are provided in one same irradiation target structure 1, even if the deterioration measuring sensor unit is provided in the same irradiation target structure 1, By considering the difference, the time-related settings for each of the plurality of deterioration measurement sensor units can be set differently. For example, when the ambient conditions or the environment of the third deterioration measurement sensor unit 23 is in a windy environment, a humid environment, or a heavy rainfall environment in comparison with the surrounding conditions or the environment of the first deterioration measurement sensor unit 21, The surface of the structure to be irradiated provided with the third deterioration measurement sensor unit 23 can be more likely to deteriorate than the surface of the structure to be irradiated provided with the first deterioration measurement sensor unit 21. [ In this case, the deterioration-related sensing value acquisition time interval of the third deterioration measurement sensor unit 23 may be set shorter than the deterioration-related sensing value acquisition time interval of the first deterioration measurement sensor unit 21. [ This diagnostic apparatus 10 can be updated so that the deterioration related sensing value acquisition time interval is optimized in the plurality of deterioration measurement sensor units.

Although the updating process of the acquisition time interval of the deterioration related sensing value has been specifically described in the above example, the updating process of the time interval for detecting whether or not the unmanned air vehicle 5 is approaching is also performed, Can be understood to be the same or similar to the update process.

For example, the time interval for detecting whether the unmanned air vehicle 5 is approaching the first deterioration measurement sensor unit 21 may be preset at intervals of 10 seconds. In this case, when it is determined that the approach detection of the unmanned air vehicle 5 is not performed properly (the approach detection is missed) at intervals of 10 seconds, the diagnostic apparatus 10 may detect the approach detection time of the unmanned air vehicle 5 Time-related setting information that causes the interval to be shortened by an interval of 5 can be generated. When the first deterioration measurement sensor unit 21 receives the time-related setting information from the unmanned air vehicle 5, the first deterioration measurement sensor unit 21 detects the approach or non-approach of the unmanned air vehicle 5 at intervals of 5 seconds . ≪ / RTI > The present diagnostic apparatus 10 can update the plurality of deterioration measurement sensor units so as to optimize the time interval for detecting whether or not the unmanned air vehicle 5 is approaching.

In this embodiment, the unmanned aerial vehicle 5 can be interlocked with the deterioration measurement sensor unit provided in the structure to be researched. For example, when the deterioration measurement sensor unit and the unmanned aerial vehicle are not interlocked, the diagnostic apparatus 10 can receive the deterioration-related sensing value measured by the deterioration measurement sensor unit through a server or the like, There is a problem that it is impossible to receive the deterioration related sensing value. In contrast, in the present invention, the unmanned aerial vehicle receives the deterioration-related sensing value of the deterioration measuring sensor provided in the structure to be surveyed 1 from the deterioration measuring sensor through wireless communication such as Zigbee communication, Wi-Fi, RFID, The deterioration-related sensing value can be easily obtained irrespective of the abnormality of the server or the like. The unmanned aerial vehicle 5 may store the deterioration related sensing value obtained from the deterioration measurement sensor in its own memory or may transmit the deterioration related sensing value to the diagnostic device 10 upon acquisition of the deterioration related sensing value without storing it in its own memory.

Zigbee communication can be used as an example of wireless communication between the deterioration measurement sensor unit and the unmanned aerial vehicle for economical efficiency and efficiency. However, the present invention is not limited thereto, and wireless communication such as Wi-Fi, RFID, .

When the deterioration-related sensing value obtained by the deterioration-related sensing value acquiring unit 11 is out of the reference range (or the reference value), the determining unit 12 determines that the deterioration- It can be determined that detailed diagnosis of the surface of the corresponding area A1 is necessary. If the determination unit 12 determines that the detailed diagnosis is required, the image obtaining unit 13 detects the position of the first deterioration measurement sensor unit 21 on the surface of the area A1 corresponding to the first deterioration sensor unit 21 through the unmanned air vehicle 5 Can be obtained.

Specifically, when the deterioration-related sensing value obtained from the first deterioration measurement sensor unit 21 is out of the reference range (or the reference value), the determination unit 12 determines that the deterioration-related sensing value is out of the reference range, It can be determined that a deteriorated area exists on the surface of the area A1 corresponding to the measurement sensor unit 21 and accordingly the detailed diagnosis of the surface of the area A1 is necessary. If it is determined that detailed diagnosis is necessary, the image obtaining unit 13 obtains a detailed image of the surface of the area A1 corresponding to the first deterioration measurement sensor unit 21 through the unmanned air vehicle 5 . Here, the detailed image is an enlarged image obtained by enlarging and photographing the surface of the area A1 corresponding to the first deterioration measurement sensor section 21 by the unmanned air vehicle 5 controlled to approach the first deterioration measurement sensor section 21 . ≪ / RTI > However, the present invention is not limited thereto. The detailed image may be obtained by the zooming function of the camera provided in the unmanned air vehicle 5 without the unmanned air vehicle 5 approaching the first deterioration measurement sensor unit 21, May be an enlarged image obtained by enlarging and photographing the surface of the area (A1) corresponding to the part (21).

In other words, when the deterioration-related sensing value of the first deterioration measurement sensor unit 21 obtained by the deterioration-related sensing value acquisition unit 11 is out of the reference range (or the reference value), the determination unit 12 determines that the deterioration- It is possible to cause the unmanned air vehicle controller 14 to generate a control command for controlling the unmanned air vehicle 5 so that a detailed image of the surface of the area A1 corresponding to the sensor unit 21 is obtained. The unmanned air vehicle controller 14 can transmit the generated control command to the unmanned air vehicle 5. The movement of the unmanned air vehicle 5 is controlled in response to the control command so that the image acquiring unit 13 acquires the position of the unmanned object 5 on the surface of the area A1 corresponding to the first deterioration sensor unit 21 A detailed image can be obtained.

Here, the reference range (or reference value) may refer to a reference range set in advance for determining whether or not the deterioration related sensing value obtained previously from the deterioration measurement sensor is different from the deterioration related sensing value obtained this time. For example, when the difference in the deterioration-related sensing value obtained this time relative to the deterioration-related sensing value obtained previously from the deterioration measurement sensor is equal to or greater than a predetermined reference range, the determination unit 12 determines that the surface of the region corresponding to the deterioration measurement sensor unit The unmanned aerial vehicle 5 can be controlled so that a detailed image of the surface of the area corresponding to the deterioration measurement sensor unit is obtained based on the determination result.

Further, the reference range (or reference value) may refer to a preset reference value for determining whether or not the deterioration related sensing value obtained from the deterioration measurement sensor is deteriorated. For example, when the deterioration-related sensing value obtained this time from the deterioration measurement sensor is equal to or greater than a predetermined reference value, the determination unit 12 can determine that a deteriorated area exists on the surface of the region corresponding to the deterioration measurement sensor unit, The unmanned air vehicle 5 can be controlled so that a detailed image of the surface of the area corresponding to the deterioration measurement sensor unit is obtained based on the determination result.

On the other hand, when the deterioration-related sensing value acquired by the deterioration-related sensing value acquiring unit 11 is within the reference range, the determining unit 12 determines that the deterioration- It can be judged that the detailed diagnosis on the surface of the area to be examined is unnecessary.

The determination unit 12 may skip (skip) the detailed image acquisition on the surface of the area A1 corresponding to the first deterioration measurement sensor unit 21 when it is determined that the detailed diagnosis is unnecessary. That is, the determination unit 12 may cause the unmanned air vehicle controller 14 to generate a control command for the unmanned air vehicle 5 to skip the detailed image acquisition when it is determined that the detailed diagnosis is unnecessary. Detailed image acquisition can be skipped by controlling the unmanned air vehicle 5 according to the generated control command.

In addition, when it is determined that the detailed diagnosis is unnecessary, the determination unit 12 may obtain the zoomed-out image so as to cover a wider area than the detailed image obtained when it is determined that the detailed diagnosis is necessary. That is, when it is determined that the detailed diagnosis is unnecessary, the determination unit 12 instructs the unmanned air vehicle control unit 14 to control the unmanned air vehicle 5 to acquire a zoomed-out image covering a wider area than the detailed image Can be generated. And the unmanned air vehicle 5 is controlled according to the generated control command so that the zoomed-out image can be obtained. Here, the zoomed-out image can be obtained by being controlled so that the unmanned air vehicle 5 is far away from the subject structure 1, or can be obtained by using the zoom-out function of the camera provided in the unmanned air vehicle 5 have.

In other words, when it is determined that the deterioration-related sensing value obtained from the deterioration measurement sensor is included in the reference range in the determination unit 12, for example, the deterioration-related sensing value obtained this time is compared with the deterioration- When the deterioration-related sensing value obtained at this time is compared with the deterioration-related sensing value measured at the surface of a sound steady state (in other words, the surface which has not been deteriorated) or a sudden change (rise or fall) If there is no difference, the unmanned air vehicle 5 skips the acquisition of the detailed image on the surface of the area corresponding to the deterioration measurement sensor unit by the unmanned aerial vehicle controller 14 or acquires the zoomed-out image with respect to the detailed image Movement can be controlled.

The image obtaining unit 13 may obtain an image of the surface of the structure to be irradiated 1 through the unmanned air vehicle 5 controlled according to the determination result of the determination unit 12. [ The image obtaining unit 13 may obtain a detailed image of the surface when it is determined that detailed diagnosis is necessary. On the other hand, if it is determined that the detailed diagnosis is unnecessary, the image obtaining unit 13 obtains the captured image with respect to the survey target structure 1 based on the current position of the unmanned air vehicle 5, And the acquired image may be a photographed image such that a larger area is seen with respect to the surface than the detailed image.

The unmanned aerial vehicle controller 14 may generate a control command for controlling the movement of the unmanned aerial vehicle according to the determination result by the determination unit 12, and may transmit the generated control command to the unmanned air vehicle 5.

After the determination unit 12 determines that the detailed diagnosis is necessary and acquires a detailed image of the surface or after the determination unit 12 determines that detailed diagnosis is unnecessary, the unmanned air vehicle controller 14 performs a plurality of deterioration measurements The unmanned object 5 is moved so as to approach within a predetermined distance of a distance at which wireless communication with the second deterioration measurement sensor unit 22 different from the first deterioration measurement sensor unit 21 among the sensor units 21, 22, 23, A control command to control the operation of the vehicle. Alternatively, after the determination unit 12 determines that the detailed diagnosis is necessary and obtains the detailed image of the surface, or after the determination unit 12 determines that the detailed diagnosis is unnecessary, the unmanned aerial vehicle control unit 14 The distance between the second deterioration measurement sensor unit 22 and the second deterioration measurement sensor unit 22 which is different from the distance between the second deterioration measurement sensor unit 22 and the unmanned air unit 5, It is possible to generate a command for controlling the flying object 5 to approach.

Particularly, the unmanned air vehicle control unit 14 controls the operation of the unmannurized airplane control unit 14 such that, for example, the deterioration-related sensing value obtained from the first deterioration measurement sensor unit 21 is within the reference range, If it is determined that the detailed diagnosis of the surface is not necessary, the detailed image of the area A1 corresponding to the first deterioration measurement sensor unit 21, Out of the entire surface of the object 1 to be irradiated, by controlling the unmanned air vehicle 5 to approach within a predetermined distance of a distance enabling wireless communication with the second deterioration measurement sensor unit 22, It is possible to selectively monitor and analyze only the surface of the region where the object 1 is exposed, thereby effectively reducing the monitoring time and the analysis time required for the deterioration diagnosis of the entire structure 1 All.

When the unmanned air vehicle 5 approaches the second deterioration measurement sensor section 22 in a case where the unmanned air vehicle 5 approaches the first deterioration measurement sensor section 22 within a predetermined distance from the distance at which wireless communication is possible, The deterioration related sensing value acquisition unit 11 can acquire the deterioration related sensing value from the second deterioration measurement sensor unit 22 through the unmanned air vehicle 5 when entering the communication enabled area. When the deterioration-related sensing value obtained from the second deterioration measurement sensor unit 22 is out of the reference range, the determination unit 12 determines the details of the surface of the region A2 corresponding to the second deterioration measurement sensor unit 22 It can be judged that diagnosis is necessary. Thereafter, the image acquiring unit 13 acquires, via the unmanned air vehicle 5 controlled to approach the surface of the area A2 corresponding to the second deterioration measurement sensor unit 22 or via the second deterioration measurement sensor unit 22 A detailed image of the surface of the area A2 corresponding to the second deterioration measurement sensor section 22 can be obtained through the unmanned air vehicle 5 controlled to shoot by zooming the surface of the corresponding area A2 .

The region A2 corresponding to the second deterioration measurement sensor section 22 may mean a region adjacent to the region A1 corresponding to the first deterioration measurement sensor section 21. [

The diagnosis apparatus 10 is configured such that the surface of the structure to be irradiated 1 can be partitioned into regions A1, A2, A3, ... corresponding to the plurality of deterioration measurement sensor units 21, 22, 23, have. At this time, the size of the divided plurality of areas A1, A2, A3, ... may be variously set in consideration of the environmental conditions around the structure to be irradiated 1, and the like. Illustratively, the size of the segmented region can be set to a size that is thought to be based on the degradation-related sensing value obtained by the degradation measurement sensor portion corresponding to the region. As another example, the size of the partitioned area may be set sufficiently wide. When the size of the divided area is set sufficiently wide and then the deterioration related sensing value corresponding to the corresponding area is out of the reference range, the continuous image is acquired for the whole of the divided area which is set sufficiently wide, The device 10 is able to make more detailed and specific judgments and diagnoses with regard to deterioration in the compartmented area.

Specifically, for example, in a case where the environmental condition around the structure A to be surveyed is an environmental condition in which degradation is more likely to occur in comparison with the environmental conditions surrounding the structure to be surveyed (for example, When the deterioration occurs on the surface of the structure, it is determined that deterioration appears in a broader range in the structure to be irradiated with respect to the structure to be irradiated B compared to the structure to be irradiated, and the size of the region Can be set to be larger in the structure to be surveyed A than the structure to be surveyed B is.

As another example, even in the case of one structure to be irradiated, the size of the region partitioned corresponding to each of the plurality of deterioration measurement sensor portions considers the environmental conditions around the structure to be irradiated corresponding to the position of each of the plurality of deterioration measurement sensor portions And can be variously set. For example, in a case where the environmental condition around the third deterioration measurement sensor unit 23 is an environmental condition in which deterioration further appears in comparison with environmental conditions around the first deterioration measurement sensor unit 21, It is judged that deterioration appears in a wider range with respect to the surface corresponding to the third deterioration measurement sensor section 23 than the surface corresponding to the third deterioration measurement sensor section 23 and the area A3 Can be set to be larger than the size of the area A1 corresponding to the first deterioration measuring sensor unit 21. [

On the other hand, the preset distance r among the distances wirelessly communicable with the first deterioration measurement sensor section 21 is a distance covering at least a part of the area A1 corresponding to the first deterioration measurement sensor section 21 have. The area A1 corresponding to the first deterioration measurement sensor unit 21 means that the deterioration state can be diagnosed (judged) based on the deterioration-related sensing value measured through the first deterioration measurement sensor unit 21 (Judgment) of the deterioration state on the surface of the structure to be irradiated.

Meanwhile, the diagnostic apparatus 10 may include a correlation derivation unit (not shown) for deriving a correlation between the deterioration diagnosis result based on the image acquired by the image acquisition unit 13 and the deterioration related sensing value . Here, the deterioration diagnosis result may include the remaining life of the structure to be irradiated or a diagnosis result relating to maintenance of the structure to be researched. In addition, the deterioration diagnosis result can be derived, for example, by an operator (user or an examiner) who monitors an image derived or obtained by at least one of automatic image recognition and deterioration judgment based on deep running. However, the method of deriving the deterioration diagnosis result is not limited thereto, but may be implemented through application of various known methods or methods to be developed in the future.

The diagnostic apparatus 10 converts the deterioration related sensing value acquired from the deterioration measurement sensor into an image acquired through the unmanned aerial vehicle corresponding to the deterioration related sensing value, and the correlation deriving unit (not shown) The correlation between the related sensing value and the deterioration diagnosis result corresponding to the deteriorated state or deteriorated state in the image can be derived. The present diagnostic apparatus 10 quantifies the present state of the deteriorated area included in the image acquired from the unmanned aerial vehicle 5 based on the derived correlation and estimates the remaining life of the survey target structure corresponding to the acquired image .

In addition, the diagnostic apparatus 10 may be configured to detect, based on the correlation derived from the correlation derivation unit (not shown), the deterioration-related sensing value obtained by the deterioration-related sensing value acquisition unit 11 And a predictive deterioration diagnosis result deriving unit (not shown) for deriving a predictive deterioration diagnosis result corresponding to the deterioration diagnosis result based on the acquired image.

In brief, for example, in the present diagnostic apparatus 10, as a result of the deterioration diagnosis based on the acquired image, the remaining life of the structure to be investigated is within 10 years, between 10 and 20 years, ≪ / RTI > < RTI ID = 0.0 > and / or < / RTI > Also, as a result of the deterioration diagnosis based on the obtained image, it is possible to derive maintenance-related deterioration diagnosis results such as maintenance of the surface, 'unnecessary', and 'observation object'. Also, as a result of the maintenance deterioration diagnosis, it is possible to derive the rating information according to the degree of maintenance required. The correlation derivation unit (not shown) calculates the correlation between the deterioration diagnosis result and the deterioration related sensing value by considering the deterioration-related sensing value obtained corresponding to the image used in deriving the deterioration diagnosis result with respect to the deterioration diagnosis result . According to this, the predictive deterioration diagnosis result deriving unit (not shown), for example, when the deterioration-related sensing value obtained this time is the first value, calculates the predictive deterioration diagnosis result corresponding to the detailed image obtained through the image obtaining unit 13 from the first value The predicted deterioration diagnosis result for the surface can be derived.

On the other hand, the reference range considered in the determination unit 12 may be set or updated based on the correlation derived from the correlation derivation unit (not shown). At this time, the setting or updating of the reference range is performed based on the correlation that is derived based on the accumulated data, which is limited to the specific survey target structure, Customized customized reference ranges can be set or updated.

For example, when the deterioration-related sensing value obtained from the first deterioration measurement sensor unit 21 is out of the reference range and based on the detailed image acquisition on the surface of the region A1 corresponding to the first deterioration measurement sensor unit 21 However, if it is determined that maintenance is not required in the area A1 corresponding to the first deterioration measurement sensor unit 21 as a result of the detailed diagnosis, or that the remaining service life is long for a considerable period of time, such as 30 years or more (Corrected) so that the reference range previously set for the first deterioration measurement sensor unit 21 is increased. At this time, the update of the reference range may be performed, for example, for the entire structure to be investigated (i.e., for all of the plurality of deterioration measurement sensors included in the structure to be investigated). However, the present invention is not limited thereto, and the update of the reference range may be performed only for the deterioration measurement sensor corresponding to the corresponding area where the detailed diagnosis is performed.

In addition, the deterioration measuring sensor applied to the diagnostic apparatus 10 may include a capacitive wake-up function. Capacitive wake-up capability allows the degradation measurement sensor to consume less than 5μA in sleep mode to save battery life. In addition, the deterioration sensor can recognize the approach of the unmanned aerial vehicle while operating in a low power mode.

3A to 3C are views for explaining an example of a control path of the unmanned air vehicle 5 controlled by the unmanned air vehicle controller 14 in the apparatus 10 for diagnosing surface deterioration of a structure according to an embodiment of the present invention.

Referring to FIG. 3A, the y-axis direction may be a forward / backward direction, the x-axis direction may be a left / right direction, and the z-axis direction may be an up / down direction based on movement of the unmanned air vehicle 5. The y-axis direction may mean a direction corresponding to the longitudinal direction of the structure 1 to be irradiated.

For example, the unmanned air vehicle controller 14 can control the unmannurial vehicle 5 to move along with the first path r1 when acquiring images of the surface 2 corresponding to the lower surface of the structure 1 to be irradiated . In this case, the first path r1 may refer to a path in which the UAV 5 moves in a forward direction (that is, the y-axis direction) but zigzag in the left-right direction (i.e., the x-axis direction).

For example, the unmanned aerial vehicle controller 14 can control the unmanned air vehicle 5 to move along with the second path r2 when acquiring images of the surface 2a corresponding to the side surface of the structure 1 to be irradiated have. In this case, the second path r2 may refer to a path in which the unmanned air vehicle 5 linearly moves along the longitudinal direction of the side surface 2a in the forward direction (i.e., the y-axis direction).

Referring to FIG. 3B, the unmanned aerial vehicle controller 14 controls the unmanned aerial vehicle 5 to travel from the first side (for example, the right side) of the object 1 to be irradiated to the second side For example, the left side). Thereby, the image acquiring unit 13 acquires the image of the surface corresponding to the first side (for example, the right side) of the structure to be irradiated 1, the image of the surface corresponding to the lower surface of the irradiated structure 1 And the surface corresponding to the second side (e.g., the left side) of the structure 1 to be irradiated.

On the other hand, for example, the first deterioration measurement sensor unit 24 is provided on the first side of the structure 1 to be irradiated, the second deterioration measurement sensor unit 25 is provided on the lower surface of the structure to be irradiated 1, The third deterioration measurement sensor unit 24 may be provided on the second side surface of the structure to be irradiated 1. At this time, when the unmanned air vehicle 5 approaches the first deterioration measurement sensor unit 24 within a preset distance from the distance that can communicate wirelessly with the first deterioration measurement sensor unit 24, the deterioration-related sensing value is acquired from the first deterioration measurement sensor unit 24, To the device (10). Likewise, when the unmanned air vehicle 5 approaches within a predetermined distance of a distance capable of wireless communication with the second deterioration measurement sensor unit 25, the deterioration-related sensing value is acquired from the second deterioration measurement sensor unit 25, To the device (10). The description of the third deterioration measurement sensor section 26 can be understood to be the same as or similar to that described for the first deterioration measurement sensor section 24, and thus a description thereof will be omitted.

Referring to FIG. 3C, the diagnostic apparatus 10 includes an alternating bridge of the object 1 to be surveyed, an angle of the bridge portion to a reference coordinate point A, B, C, D, ...). The unmanned aerial vehicle 5 can photograph the side surface and the bottom surface of the survey target structure 1 along the set reference coordinate point. The image acquiring unit 13 can acquire images of the side surface and the bottom surface of the irradiation target structure 1 from the unmanned air vehicle 5 through the image acquiring unit 13. For example, the image of the bottom surface can be obtained by moving the unmanned air vehicle 5 in a zigzag manner. For example, the image of the first aspect may be obtained by linearly moving the UAV 5 from the reference coordinate point A to the reference coordinate point D. For example, the image of the second aspect can be obtained by linearly moving the UAV 5 from the reference coordinate point B to the reference coordinate point C.

For example, the diagnostic apparatus 10 can visualize an image obtained through the unmanned aerial vehicle 5 in three dimensions.

FIG. 4 is a diagram illustrating an example of three-dimensional visualization of an image acquired through an unmanned aerial vehicle in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.

Referring to FIG. 4, the diagnostic apparatus 10, for example, controls the unmanned aerial vehicle 5 as shown in FIGS. 3A to 3C, and projects the acquired image in three dimensions with reference to a reference coordinate point as shown in FIG. 4 Can visualize. If the structure to be surveyed (1) is a bridge, the visualized model can be constructed for each span of the bridge and can be modeled as a whole bridge. Through this, the user can intuitively easily confirm (grasp) the position and the distribution of the paint, which is the surface of the structure 1 to be irradiated. In addition, the diagnostic apparatus 10 can calculate the deterioration position and the distribution area of the coating, which is the surface of the irradiation target structure 1, using the reference coordinate point.

On the other hand, the diagnostic apparatus 10 includes a reflection intensity analyzing unit 10 for acquiring and analyzing the reflection intensity by laser scanning on the surface of the structure to be irradiated 1 before acquiring an image of the surface of the structure to be irradiated 1, (Not shown).

When the reflection intensity obtained with respect to the surface of the structure to be irradiated 1 is out of the allowable range, the reflection intensity analysis section (not shown) corresponds to the reflection intensity exceeding the allowable value It is possible to obtain a detailed image of the surface corresponding to the reflection intensity through the unmanned object 5 controlled to approach the deteriorated area. This can be more easily understood with reference to FIG.

5 is a flowchart schematically illustrating a process of acquiring and analyzing the reflection intensity in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.

Referring to FIG. 5, in step S11, the reflection intensity of the surface of the structure to be irradiated 1 can be obtained through laser scanning of the surface of the structure to be irradiated 1 using a laser scanner. In step S11, the diagnostic apparatus 10 performs an inspection (not shown) before acquiring an image in the image acquiring unit 13 (in other words, before acquiring an image through the unmanned aerial vehicle) The reflection intensity can be obtained and analyzed by laser scanning on the surface of the target structure.

The reflection intensity analyzer (not shown) can analyze the reflection intensity obtained by laser scanning. More specifically, in step S12, the reflection intensity analyzing unit (not shown) determines whether the reflection intensity of the surface of the structure to be irradiated 1, which is obtained through laser scanning, exceeds the allowable value Can be analyzed. In step S13, if the reflection intensity of the surface of the structure to be irradiated 1 obtained through laser scanning is out of tolerance, the image is acquired in the image acquisition section 13 according to the analysis result of the reflection intensity analysis section (not shown) can do. In other words, if it is determined in step S13 that the obtained reflection intensity deviates from the allowable value of the reference intensity, the reflection intensity analyzer (not shown) may determine that the deteriorated area is present on the surface of the structure to be irradiated So that the unmanned air vehicle control unit 14 is caused to generate a control command of the unmanned aerial vehicle that allows the unmanned air vehicle 5 to acquire detailed images of the surface of the subject structure 1 corresponding to the reflection intensity . The generated control command can be transmitted to the unmanned air vehicle 5 and the unmanned air vehicle 5 is controlled in response to the control command so that the image obtaining unit 13 can respond to the intensity of reflection obtained through the unmanned air vehicle 5 To obtain a detailed image of the surface to be imaged.

At this time, when the obtained reflection intensity (i.e., measurement intensity) satisfies the condition of "tolerance? | Measurement intensity-reference intensity | ", the reflection intensity analysis unit It is possible to determine that a deteriorated area (abnormal area) exists on the surface of the substrate.

When it is judged that the difference between the obtained reflection intensity and the reference intensity with respect to the surface on which the deterioration has not occurred greatly differs from the tolerance, the reflection intensity analyzing unit (not shown) , That is, it can be judged that the deteriorated surface exists. That is, the presence or absence of a deteriorated area can be determined on the surface of the structure to be irradiated using the reflection intensity. Thereafter, if it is determined that a deteriorated area exists, a detailed image of the deteriorated area can be obtained from the unmanned aerial vehicle 5.

In the above description, steps S11 to S13 may be further divided into further steps or combined into fewer steps, according to embodiments of the present application. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

6 is a view for explaining an example of operation according to control of an unmanned aerial vehicle in the apparatus for diagnosing surface deterioration of a structure according to an embodiment of the present invention.

Referring to FIG. 6, in step S21, a camera (high-performance camera) provided in the unmanned air vehicle 5 can be used to acquire an image of the surface of the structure to be irradiated (intensity scene to be irradiated). In step S22, when it is determined that an abnormal region exists in the acquired image, the unmanned air vehicle 5 can be controlled to photograph the abnormal region (anomaly detection unit) in detail, An image can be obtained. At this time, the determination as to whether or not an abnormal region exists in the acquired image may be performed by image recognition processing or user input, and a more specific example will be described later.

In step S23, the distribution area of the deteriorated area corresponding to the abnormal area (area damaged due to deterioration at the surface, deteriorated area) can be calculated. At this time, for example, the calculation (calculation) of the distribution area in step S23 can be calculated using the three-dimensional position information (spatial information) S25 obtained by the laser scanning S24 through the laser scanner.

Meanwhile, in step S24, it is possible to acquire the three-dimensional position information (spatial section) S25 and the reflection intensity S26 on the surface of the structure to be irradiated through laser scanning (scanning) through the laser scanner. Here, the laser scanner may be a laser scanner positioned above or below the bridge as described above, or may be a laser scanner provided in the unmanned aerial vehicle. In this case, when the laser scanner is a device located on the upper and lower sides of the bridge, not the equipment provided on the unmanned aerial vehicle, the diagnostic device 10 can detect the three-dimensional position information and the reflection intensity by using a laser scanner It can be acquired from the equipment and acquired, or it can be acquired via the unmanned aerial vehicle.

When the difference between the obtained reflection intensity and the reference intensity with respect to the surface on which no deterioration has occurred is out of tolerance (S27-Y), the reflection intensity analysis section (not shown) analyzes the deteriorated area (S28) can be detected. Thereafter, the detailed image corresponding to the deteriorated area can be acquired by performing the detailed photographing (S22) on the part corresponding to the deteriorated area (the damaged part and the abnormal detection part) through the unmanned aerial vehicle. On the other hand, if the difference between the obtained reflection intensity and the reference intensity for the surface on which no deterioration occurs has not exceeded the allowable value (S27-N), the unmanned aerial vehicle performs acquisition of the detailed image on the surface corresponding to the obtained reflection intensity (Skipped).

In this diagnostic apparatus 10, laser scanning and image acquisition can be performed in parallel.

For example, the diagnostic apparatus 10 can determine whether to obtain a detailed image of an ideal region based on the reflection intensity obtained through laser scanning. In addition, the diagnostic apparatus 10 can set the movement path (flight path) of the unmanned air vehicle 5 using the three-dimensional position information acquired through laser scanning, and judges that an abnormal region exists in the acquired image The movement of the unmanned air vehicle 5 can be controlled so that a detailed image of the abnormal region can be obtained.

Also, the diagnostic apparatus 10 can acquire an image of the surface as the unmanned air body 5 moves with a certain distance to the surface of the structure to be irradiated 1. At this time, the unmanned aerial vehicle may be controlled so as to photograph the abnormal region or abnormal region in detail when the abnormal region or abnormal region is detected in the obtained image. At this time, by considering the three-dimensional position information through the laser scan on the detailed image obtained from the unmanned aerial vehicle through the detailed photographing, the diagnostic apparatus 10 can calculate the area of the deteriorated area formed on the surface, , The deterioration level according to the shape of the deterioration distribution, and the like can be diagnosed and evaluated.

Hereinafter, the operation flow of the present invention will be briefly described based on the details described above.

7 is a flowchart illustrating a method for diagnosing surface deterioration of a structure using an unmanned aerial vehicle according to an embodiment of the present invention.

The method for diagnosing the surface deterioration of the structure shown in FIG. 7 can be performed by the structure surface deterioration diagnosis apparatus 10 described above. Therefore, even if omitted in the following description, the description of the structure surface deterioration diagnosis apparatus 10 can be equally applied to the description of the structure surface deterioration diagnosis method.

Referring to FIG. 7, in step S31, when the unmannurized air vehicle approaches within a preset distance among distances capable of wireless communication with the first deterioration measurement sensor unit among the plurality of deterioration measurement sensors provided in the structure to be irradiated, The deterioration-related sensing value can be obtained from the sensor unit. Here, the predetermined distance may be a distance covering at least a part of the region corresponding to the first deterioration measurement sensor unit.

At this time, the acquisition time interval of the deterioration related sensing value in the plurality of deterioration measurement sensor units may be set to be longer than the time interval for sensing whether the unmanned aerial vehicle approaches or not.

In addition, in step S31, the plurality of deterioration measurement sensor units may acquire a degradation-related sensing value including a surface degradation sensing value of the structure to be irradiated and a deterioration-inducing environmental factor sensing value in the atmosphere.

Next, in step S32, it can be determined whether the deterioration-related sensing value obtained in step S31 is out of the reference range.

When the deterioration-related sensing value obtained in step S31 deviates from the reference range (S32-Y), the determination unit 12 determines that the surface of the area corresponding to the first deterioration measurement sensor unit needs to be diagnosed in detail Then, the image obtaining unit 13 can obtain a detailed image of the surface of the region corresponding to the first deterioration measurement sensor unit through the unmanned air vehicle (S33).

On the other hand, when the deterioration-related sensing value obtained in step S31 is included within the reference range (S32-N), the determination unit 12 determines whether or not the deterioration- It can be judged that it is unnecessary (S34).

After the step S33 and after the step S34, the unmanned air vehicle controller 14 approaches the second deterioration measurement sensor unit different from the first deterioration measurement sensor unit among the plurality of deterioration measurement sensor units within a predetermined distance The unmanned aerial vehicle can be controlled (S35).

At this time, the region corresponding to the second deterioration measurement sensor unit may be adjacent to the region corresponding to the first deterioration measurement sensor unit.

In addition, in step S34, an unmanned aerial vehicle is skipped to skip the image acquisition on the surface of the area corresponding to the first deterioration sensor section, or to obtain a zoomed-out image so as to cover a wider area in comparison with the image obtained in step S33 Can be controlled.

The method for diagnosing surface deterioration of an unmanned aerial vehicle according to an embodiment of the present invention includes the steps of deriving a correlation between the deterioration diagnosis result based on the image obtained in step S33 and the deterioration related sensing value, And deriving a predictive deterioration diagnosis result corresponding to the deterioration diagnosis result based on the image obtained in step S33 from the deterioration related sensing value obtained in step S31 based on the correlation. Here, the deterioration diagnosis result may include the remaining life of the structure to be irradiated or a diagnosis result relating to maintenance of the structure to be researched.

Further, the reference range in step S33 or step S34 may be set or updated based on the derived correlation.

In addition, the method for diagnosing the surface deterioration of an unmanned aerial vehicle according to an embodiment of the present invention may include a step of acquiring and analyzing the reflection intensity by laser scanning on the surface of the structure to be irradiated before the step S32. The step of acquiring and analyzing the reflection intensity may include determining a deteriorated area on the surface corresponding to the reflection intensity when the reflection intensity is out of tolerance as compared with the reference intensity of the surface on which degradation has not occurred, It is possible to obtain a detailed image of the surface corresponding to the reflection intensity.

In the above description, steps S31 to S35 may be further divided into further steps, or combined in fewer steps, according to embodiments of the present disclosure. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

The method for diagnosing the surface deterioration of an unmanned aerial vehicle according to an embodiment of the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded on a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

In addition, the above-described method of diagnosing surface deterioration of a structure by the unmanned aerial vehicle may be realized in the form of a computer program or an application executed by a computer stored in a recording medium.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: Diagnosis system of structure surface deterioration by unmanned aerial vehicle
11: Deterioration related sensing value acquisition unit
12:
13: Image acquiring unit
14: Unmanned aerial vehicle control unit
5: unmanned aerial vehicle

Claims (12)

A method for diagnosing a structure surface deterioration,
(a) when the unmannurized air vehicle approaches within a predetermined distance of a distance capable of wireless communication with the first deterioration measurement sensor unit among the plurality of deterioration measurement sensor units provided in the structure to be irradiated, Obtaining a value;
(b) determining that a detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor unit is necessary for the structure to be irradiated when the deterioration-related sensing value is out of a reference range, Obtaining an image of a surface of a region corresponding to the measurement sensor portion; And
(c) determining that detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor section of the structure to be irradiated is unnecessary when the deterioration-related sensing value is within a reference range; and Way. The method according to claim 1,
(d) determining whether or not a distance between a plurality of deterioration measurement sensor units that are wirelessly communicable with the second deterioration measurement sensor unit, which is different from the first deterioration measurement sensor unit, And controlling the unmanned aerial vehicle to approach the unmanned aerial vehicle within a predetermined range. 3. The method of claim 2,
Wherein the area corresponding to the second deterioration measurement sensor section is adjacent to the area corresponding to the first deterioration measurement sensor section. The method according to claim 1,
Wherein the predetermined distance is a distance covering at least a part of a region corresponding to the first deterioration measurement sensor unit. The method according to claim 1,
Wherein the step (c) includes: skipping image acquisition for a surface of a region corresponding to the first deterioration measurement sensor unit, or for zooming out the image to cover a wider area in comparison with the image acquired in the step (b) Wherein the control unit controls the unmanned aerial vehicle so as to acquire the unmanned aerial vehicle. The method according to claim 1,
(e) deriving a correlation between the deterioration diagnosis result based on the image obtained in the step (b) and the deterioration related sensing value; And
(f) calculating a predictive deterioration diagnosis value corresponding to the deterioration diagnosis result based on the image obtained in the step (b) from the deterioration related sensing value obtained in the step (a), based on the correlation derived in the step (e) Further comprising deriving a result,
Wherein the degradation diagnosis result includes a diagnosis result relating to a remaining life of the structure to be irradiated or a maintenance of the structure to be researched. The method according to claim 6,
Wherein the reference range in step (b) or step (c) is set or updated based on the correlation. The method according to claim 1,
Wherein the acquisition time interval of the deterioration related sensing value in each of the plurality of deterioration measurement sensor units is set to be longer than a time interval for detecting whether the unmanned air vehicle approaches or not. The method according to claim 1,
Wherein the plurality of deterioration measurement sensor units acquire deterioration related sensing values including a surface deterioration sensing value of the structure to be irradiated and a deterioration inducing environmental factor sensing value in the air in the step (a) . The method according to claim 1,
Further comprising the step of acquiring and analyzing the reflection intensity by laser scanning on the surface of the structure to be irradiated before the step (b)
The step of acquiring and analyzing the reflection intensity may include determining a deteriorated area on the surface corresponding to the reflection intensity when the reflection intensity is out of the allowable range, Thereby obtaining an image for a surface corresponding to the strength. A structure deterioration diagnosis apparatus comprising:
When the unmannurized air vehicle approaches the first deterioration measurement sensor unit within a predetermined distance from a distance capable of wireless communication with the first deterioration measurement sensor unit, the deterioration-related sensor value is acquired from the first deterioration measurement sensor unit A deterioration related sensing value acquiring unit;
Determining that a detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor unit is necessary for the structure to be irradiated when the deterioration related sensing value is out of a reference range, A determination unit for determining that detailed diagnosis of a surface of a region corresponding to the first deterioration measurement sensor unit is unnecessary; And
And an image acquiring unit that acquires an image of a surface of a region corresponding to the first deterioration measurement sensor unit through the unmanned air vehicle when the determination unit determines that the detailed diagnosis is required. A computer-readable recording medium on which a program for executing the method of any one of claims 1 to 10 is recorded.

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