WO2019233701A1 - Procédé et dispositif pour la mesure de vibrations d'un objet par l'utilisation d'un drone - Google Patents

Procédé et dispositif pour la mesure de vibrations d'un objet par l'utilisation d'un drone Download PDF

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Publication number
WO2019233701A1
WO2019233701A1 PCT/EP2019/061945 EP2019061945W WO2019233701A1 WO 2019233701 A1 WO2019233701 A1 WO 2019233701A1 EP 2019061945 W EP2019061945 W EP 2019061945W WO 2019233701 A1 WO2019233701 A1 WO 2019233701A1
Authority
WO
WIPO (PCT)
Prior art keywords
measuring
base station
interrogation
deflecting unit
vibrations
Prior art date
Application number
PCT/EP2019/061945
Other languages
German (de)
English (en)
Inventor
Mohamed Alsayed Ahmed M. Ismail
Original Assignee
Deutsches Zentrum für Luft- und Raumfahrt e.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deutsches Zentrum für Luft- und Raumfahrt e.V. filed Critical Deutsches Zentrum für Luft- und Raumfahrt e.V.
Publication of WO2019233701A1 publication Critical patent/WO2019233701A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

Definitions

  • the invention relates to a method and a device for measuring vibrations of an object.
  • the invention relates to a method for measuring vibrations of an object having the features of the preamble of independent patent claim 1 and an apparatus for carrying out such a method having the features of the preamble of patent claim 14.
  • LSU laser scanning unit
  • EP 2 515 073 A2 discloses a method and apparatus for arranging a laser Doppler vibrometer during scanning.
  • a Strahlumschtechnik is arranged in a fixed arrangement to the object to be scanned.
  • This known method and apparatus, as well as other commercially available beam deflecting LDVs are less suitable for measuring vibrations of larger objects, such as structures, when scanning a large object in the direction of two solid angles from a solid Fixed point flat angles between the incident laser beam and the surface of the object result, which can be avoided only by a very large distance to the object.
  • the respective device remote surfaces of the object with the laser beam are often not accessible.
  • an LDV must be implemented more frequently with a beam redirecting unit that scans a surface of a large object in the direction of two solid angles from a fixed point.
  • US 2007/0175283 A1 discloses a system and a method for measuring vibrations of an object having the features of the preambles of the independent patent claims. At the respective object whose vibrations are to be measured, a reflective mark is attached. An optical module spaced from the object emits an electromagnetic beam toward the reflective marker and receives the reflected beam. The optics module demodulates the reflected beam to measure the oscillations of the object. The optics module can be pivoted about different axes in order to align the electromagnetic beam with the reflective marking.
  • the optical module can be mounted on rails to move it linearly. Furthermore, a separate beam deflector may be used to direct the electromagnetic beam and the reflected beam around an obstacle.
  • the beam deflector may comprise a vibration isolation unit and a remote-controlled rotation unit for changing its deflection angle.
  • a geodetic surveying system and a method for determining the new point are known.
  • a known absolute position of a reference point is defined by a reference component.
  • At least one new point determination component derives a relative new point position.
  • mutual relative reference information can be derived between the reference component and the at least one new point determination component, in particular for the purpose of referencing the reference point position.
  • the reference component is carried by an auto-mobile, unmanned, controllable aircraft, so that the at least one reference point is provided as a mobile reference point.
  • the aircraft is designed such that the reference component is spatially freely displaceable and in particular substantially positionally fixed positionable.
  • the invention has for its object to provide a method having the features of the preamble of independent claim 1 and an apparatus having the features of the preamble of claim 14, with which also oscillations of remote areas of very large objects, such as buildings, are measurable.
  • the Strahlumlenkaku is stored on an unmanned flying object and flowed when redirecting the directed from the ground-based base station on the Strahlum
  • the jet deflection unit can be positioned largely freely in space.
  • the beam deflection unit can be positioned so that vibrations of very large objects and of remote areas of such large objects, which would not be accessible by means of a supported on the ground Strahlumlenkmaschine, can be measured.
  • the beam deflection unit can be positioned such that the interrogation beam strikes the surface of the object in the respective area at an approximately right angle or in a specific direction in which the oscillations of the object are of interest, and by flying the beam deflection unit over the respective object, the object can be scanned over a large area with respect to vibrations of its surface.
  • An unmanned flying object here means, in particular, an unmanned flying object which is suitable for flight at very low speeds over ground and preferably also for hovering.
  • Such unmanned aerial vehicles often have multiple rotors with vertical rotor axes.
  • the unmanned flying objects suitable for carrying out the present invention are often referred to as drones or UAV (Unmanned Aerial Vehicle).
  • UAV Unmanned Aerial Vehicle
  • these generic terms also refer to unmanned flying objects which are not necessarily suitable for flying at very low speeds over ground or even to a hover.
  • the oscillations of the object are selectively detected in the measuring direction in which the interrogating beam strikes the object in the respective area, since the measuring signal in the form of the measuring beam only contains information about this component of the oscillations.
  • the unmanned flying object typically remotely controlled, with control commands transmitted wirelessly or by wire to the unmanned aerial object.
  • control commands transmitted wirelessly or by wire to the unmanned aerial object.
  • the beam deflection unit can be displaced by flying with the flying object in order to direct the interrogation beam successively to different areas of the object or also to different objects.
  • the beam deflection unit can be adjusted relative to the flying object in order to direct the interrogation beam successively to different areas of the object or to different objects.
  • This adjustment of the beam deflecting unit may comprise a change of direction of the measuring direction by one or two, in particular two orthogonal pivot axes.
  • a mirror of the beam deflecting unit can be pivoted relative to the flying object about the pivot axes.
  • two or more mirrors of the beam deflecting unit, which deflect the scanning beam one after the other can be mounted on the unmanned flying object, each being pivotable about a pivot axis in order to deflect the interrogating beam in different directions by respectively different angles.
  • the flying object can also be guided along the forward direction when flying the beam deflection unit with the interrogation beam or an additional guiding beam.
  • the guidance of flying objects with a guide beam is known in principle.
  • a guide in at least one other direction with the or another guide beam can be done to completely define the position of the flying object in the air with this guide in several directions.
  • the interrogation beam at the base station for example, about a vertical and about a horizontal pivot axis relative to the ground to be swiveled to him always flown on the unmanned flying object To direct beam deflection unit.
  • the portion of the interrogation beam reflected from the region of the object opposite to the measuring device can, in particular with regard to the wavelength of its radiation and / or the period length or the phase of a phase, frequency and impressed on the beam deflecting unit in the base station prior to directing to the interrogation beam. or amplitude modulation are analyzed.
  • the portion of the interrogation beam reflected counter to the direction of measurement can be superimposed with a reference component split off from the interrogation beam before being directed onto the beam deflection unit in the base station, and the resulting interference can be detected.
  • an interferometric analysis of the interrogation beam requires a coherent interrogation beam having a coherence length of at least the path from the base station to the object and back.
  • the interrogation beam will be a laser beam.
  • the method according to the invention is often one of scanning laser vibrometry or scanning laser Doppler vibrometry.
  • a beam deflection unit In scanning laser vibrometry, it is generally known that a beam deflection unit must be decoupled from the oscillating object whose vibrations are to be measured.
  • oscillations or other dynamic movements of the jet deflection unit flown with the unmanned flying object may possibly not be prevented.
  • the flow deflection unit flown is decoupled from the object whose vibrations are being measured. Influences of vibrations of the beam deflecting unit on the measuring signal in the form of the measuring beam are also separable. This separation can be carried out on the basis of characteristic frequencies of these influences or else by measuring the oscillations of the beam deflection unit in turn.
  • vibrations of the beam deflection unit can be taken into account when analyzing the measurement signal and measured by analyzing a reference component of the interrogation beam or a reference beam in the base station which is reflected in the backward direction by a reference object on the beam deflection unit.
  • the consideration of the vibrations of the beam deflection unit when analyzing the measurement signal is generally used to detect and separate changes or components of the measurement signal that result from the vibrations of the beam deflection unit and not from the vibrations of the object of interest.
  • the Strahlumschü is decoupled vibration technology of the flying object and in particular by the drives of the aircraft excited oscillations.
  • the beam deflecting unit can be elastically mounted in a suitable manner on the unmanned aerial object.
  • the object has a geometry measured by a conventional 3D measuring method, such as, for example, LIDAR (Light Detection And Ranging) or photography, in particular stereo photography.
  • a polling beam is directed from a base station in a forward direction to a beam deflecting unit which is supported via a vibration isolating mount on an unmanned aerial vehicle with rotors driven by motors.
  • the interrogation beam is deflected by the beam deflecting unit in a measuring direction so that it strikes a region of the object in the measuring direction.
  • a portion of the interrogation beam which is reflected by the region of the object in a measurement direction opposite to the measurement direction is deflected by the beam deflection unit in a reverse direction opposite to the forward direction, so that the measurement direction opposite from the region of the object in the measurement direction reflected portion of the interrogation beam as measuring beam returns to the base station.
  • the interrogation beam and the measuring beam are signal-processed in the base station to detect vibrations of the area of the object in the measuring direction. This may in particular serve the purpose of determining structural features of modal parameters, stiffness, wear and / or cracks of the area of the object. In signal processing, vibration noise caused by the motors and rotors of the unmanned flying object is suppressed.
  • the base station supported on the ground can be moved over the ground in order, for example, to be able to measure the vibrations of moving objects such as moving motor vehicles or aircraft rolling on the ground.
  • the object whose vibrations are measured by the method according to the invention may also be a natural object, such as a ground surface or a rock. Even such Objects can be scanned over a large area with the aid of the flown with the unmanned flying object Strahlumlenkmaschine with the interrogation beam emitted by the base station.
  • a device for carrying out the method according to the invention with a base station, which is designed to emit a query beam in a forward direction and a measurement beam in the form of a reverse direction of a forward direction in a forward direction, reflected by a portion of an object portion of the interrogation beam with respect to vibrations of the region of the object, and with a beam deflecting unit which is designed and arranged to deflect the interrogation beam from the forward direction into a measuring direction, wherein the portion of the interrogation beam reflected by the region of the object relative to the measuring direction differs from the beam deflecting unit is deflected in the forward direction, so that the portion of the interrogation beam reflected from the area of the object opposite to the measuring direction as the measuring beam passes back to the base station, has an unmanned flying object at which the S is mounted and is adapted to fly the Strahlumlenkmaschine directed at the deflecting the directed from the ground-based base station on the Strahlumlenkmaschinen.
  • At least one mirror of the beam deflecting unit can be pivoted by a motor relative to the flying object.
  • the flying object can be designed for guidance through the interrogation beam, through one or more guide beams and / or through one or more guide lines.
  • the base station can be designed to analyze the measurement beam with regard to the wavelength of its radiation and / or the period length or phase of a phase, frequency or amplitude modulation imposed on the interrogation beam prior to directing in the base station ,
  • the base station may comprise an interferometer, which is designed to superimpose the portion of the interrogation beam reflected counter to the measuring direction with a reference beam split off from the interrogation beam before directing to the beam deflecting unit in the base station.
  • the measuring principle used in carrying out the method according to the invention or the use of the device according to the invention can, in particular, be the laser Doppler vibrometry (LDV). In principle, however, a variation in the transit time of the interrogation beam from the base station via the beam deflection unit to the object and again via the beam deflection unit back to the base station can be continuously recorded and analyzed for changes.
  • LDV laser Doppler vibrometry
  • the device according to the invention may comprise a reference measuring arrangement which is designed to measure vibrations of the beam deflecting unit by analyzing a reference portion of the interrogation beam or of a reference beam in the base station which is reflected in the backward direction by a reference object on the beam deflecting unit. These vibrations can then be taken into account when analyzing the measuring signal in the form of the measuring beam.
  • the interrogation beam may be a laser beam provided by a laser in the base station.
  • the beam deflection unit mounted on the unmanned flying object is preferably decoupled from the flying object in terms of vibration, in order to minimize the vibrations of the beam deflection unit.
  • the measures of minimizing the vibrations of the beam deflecting unit may also include shielding the beam deflecting unit from transient air currents caused by drives of the unmanned flying object. It is understood that when the beam deflecting unit is positioned not only along a fixedly oriented interrogating beam with the unmanned flying object to scan the respective object with respect to its vibrations, the interrogating beam of the beam deflecting unit emitted by the base station is to be tracked.
  • the flying object If the flying object is guided with the interrogation beam, it can be guided to a new position by changing the orientation of the interrogation beam.
  • the base station supported on the ground of the device according to the invention may comprise a chassis to move it to the ground parallel to a moving object whose vibrations are to be measured.
  • FIG. 1 shows schematically a device according to the invention in carrying out the method according to the invention.
  • FIG. 2 shows the device according to the invention according to FIG. 1 in carrying out the method according to the invention for measuring vibrations of another object, specifically a moving motor vehicle.
  • FIG. 3 shows the device according to the invention according to FIGS. 1 and 2 during the implementation of the method according to the invention for measuring oscillations of yet another object, specifically a building in the form of a bridge.
  • FIGS. 1 and 2 shows the apparatus according to the invention according to FIGS. 1 and 2 in the implementation of the method according to the invention for measuring oscillations of yet another object, specifically an industrial plant;
  • FIG. 5 shows the device according to the invention according to FIGS. 1 and 2 in carrying out the method according to the invention for measuring oscillations of yet another object, specifically a ground section.
  • a device 1 shown in FIG. 1 is used for measuring oscillations of an object 2, specifically oscillations of a region 3 of a surface 4 of the object 2.
  • the beam deflection unit 9 redirects the interrogation beam 5 in a measuring direction 10 in which it strikes the surface 4 as vertically as possible in the region 3.
  • the measuring direction 10 also determines the direction in which the vibrations of the object 2 with the device 1 are measured.
  • a portion of the interrogation beam 5 reflected from the surface 4 into the region 3 counter to the measuring direction 10 is deflected by the beam deflecting unit 9 in a reverse direction 11 opposite the forward direction 8 and thus returns as the measuring beam 12 to the base station 7.
  • the measuring beam 12 with respect to the vibrations of the area 3 of the surface 4 analyzed.
  • a frequency shift of the measuring beam 12 relative to the interrogation beam 5 can be detected, which is based on a Doppler effect.
  • the interrogation beam 5 can also be directed directly from the base station 7 onto the object 2 in order to measure vibrations of the object 2.
  • Such a query beam 5 'directed directly from the base station 7 to the object 2 is shown in FIG.
  • the beam deflection unit 9 is flown with the aid of an unmanned aerial object 13 and thus arranged with respect to the floor 21 using the unmanned flying object 13 Base station 7 and also arranged on the bottom 21 object 2 posi- tioned.
  • the unmanned flying object 13 is one which is suitable for hovering and which is controlled by a communication link 14, which is formed wirelessly here, by a control 15 arranged at the base 21, just like the base station 7.
  • the controller 15 also communicates with the base station 7 so that the interrogating beam 5 emanating from the base station 7 always strikes the beam deflecting unit 9 at the unmanned aerial object 13.
  • the base station 7 may pivot the forward direction 8 about a horizontal axis 16 and a vertical axis 17 and may be configured to rotate with the one emitted in the forward direction 8
  • Interrogation beam 5 to track the beam deflecting unit 9 on the unmanned aerial object 13.
  • the forward direction in which the base station transmits the interrogation beam 5 can be pivoted about a horizontal and a vertical pivot axis in order to align the interrogation beam at arbitrary solid angles.
  • the unmanned flying object 13 may be configured to always arrange the beam deflecting unit 9 in the forward direction 8 from the base station 7. In other words, the unmanned flying object 13 may be designed such that it is guided by the interrogation beam 5.
  • a mirror 23 of the beam deflection unit 9 is mounted on the unmanned flying object 13 via a pivoting device 18, which allows a motorized pivoting of the mirror 23 by at least one pivot axis in order to direct the interrogation beam 5 in the measuring direction 10 to different areas 3 of the object 2 , Furthermore, a bearing 19 of the beam deflection unit 9 on the unmanned flying object 13 is designed such that it decouples the beam deflection unit 9 from the unmanned flying object 13 in terms of vibration technology.
  • the base station 7 may be designed such that it is detected by the interrogation signal 5 or a reference beam or by analysis of a portion of the interrogation beam 5 or of the reference beam which is reflected by a reference object on the beam deflection unit 9.
  • FIG. 1 shows an unspecified object 2 whose vibrations are measured with the device 1
  • FIG. 2 shows as object 2 a traveling motor vehicle 20.
  • the unmanned flying object 13 is also in a second position 13 ', which illustrates how, in this second position, another region 3' of the surface 4 of the object 2 can be measured with respect to its vibrations with the interrogation beam 5.
  • the pivoting device of the bearing 19 of the beam deflecting unit 9 is not explicitly shown on the unmanned flying object 13, although it is also present here.
  • the pivoting device 18 of the bearing 19 of the beam deflecting unit 9 is not shown separately on the unmanned flying object 13. Nevertheless, here too, the mirror 23 of the beam deflecting unit 9 can be pivoted by motor means relative to the unmanned flying object 13 in order to direct the measuring direction 10 to different areas 3, 3 'of the surface 3 of the object 2 whose oscillations are to be measured.
  • the object 2 is a building 22, specifically a bridge. In such a structure 22, measurements of the vibrations of many regions 3 with the interrogation beam 5 starting from a base station supported on the base 21 are not meaningfully possible even when using an additional beam deflection unit 9 supported on the base 21.
  • the beam deflection unit 9 mounted on the unmanned flying object 13 can be flown with the unmanned flying object 13 in virtually any desired positions relative to the object 2 and the base station 7.
  • the interrogation signal 5 can be aligned with the beam deflecting unit 9 to arbitrary areas 3, 3 'of the object 2, even in such a way that the interrogation beam 5 is at least approximately perpendicular or in a certain direction in the respective measuring direction 10, 10' in which the vibrations of the object 2 are of interest, on the surface 4 of the object 2 falls.
  • the embodiment of the device 1 according to the invention and the method according to the invention shown in FIG. 4 measures vibrations of surfaces 4 of an industrial plant 24 as object 2 in order to monitor the industrial plant 4, for example in terms of safety.
  • the monitored parts of the industrial plant can be 24 different pressure vessels or protective jackets, even of nuclear power plants.
  • the base station 7 is arranged together with the controller 15 on a chassis 27, and the base station 7 together with the controller 15 during the implementation of the method according to the invention Chassis 27 are moved over the bottom 21.
  • the chassis 27 can also be provided exclusively to position the base station 7 together with the controller 15 for carrying out the method according to the invention.
  • the method according to the invention is used for detecting vibrations of the surface 4 of an object 2 in the form of a grounding section 25.
  • the ground section 25 is along a scanning path 26 with the region 3 in which the interrogation beam 5 on the surface 4 occurs, scanned.
  • Measuring the vibrations of the surface 4 of the ground portion 25 may, for. B. in the context of seismological investigations to determine deposits of soil estimates or to check the safety of mountain slopes against avalanche or the like. Furthermore, the use for agricultural purposes for soil characterization and for the detection of insect populations, plant stands, which are characterized by different vibrations, or the like is possible.

Abstract

Pour la mesure de vibrations d'un objet (2), l'objet (2) présentant une géométrie mesurée au moyen d'un procédé de mesure 3D conventionnel, un faisceau d'interrogation (5) est dirigé d'une station de base (7) dans une direction avant (8) sur une unité de déviation de faisceau (9), qui est montée sur un objet volant sans pilote (13) au moyen d'un support isolant contre les vibrations (19). Le faisceau d'interrogation (5) est dévié par l'unité de déviation de faisceau (9) dans une direction de mesure (10), de telle façon qu'il aboutit dans la direction de mesure (10) sur une zone (3) de l'objet (2). Une partie du faisceau d'interrogation (5), qui est réfléchie par la zone (3) de l'objet (2) dans une direction de mesure opposée à la direction de mesure (10), est déviée par l'unité de déviation de faisceau (9) dans une direction arrière (10) opposée à la direction avant (8), de telle façon que la partie de faisceau d'interrogation (5) réfléchie de la zone (3) de l'objet (2) dans la direction de mesure opposée à la direction de mesure (10) retourne à la station de base (7) comme faisceau de mesure (12). Le faisceau d'interrogation (5) et le faisceau de mesure (12) sont soumis à un traitement de signal dans la station de base (7), pour évaluer les caractéristiques structurelles de paramètres modaux, la rigidité, l'usure et/ou des fissures de la zone (3) de l'objet (2). Lors du traitement de signal, le bruit de vibration causé par les moteurs et rotors de l'objet volant sans pilote (13) est atténué.
PCT/EP2019/061945 2018-06-04 2019-05-09 Procédé et dispositif pour la mesure de vibrations d'un objet par l'utilisation d'un drone WO2019233701A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018113244.1A DE102018113244B3 (de) 2018-06-04 2018-06-04 Verfahren und Vorrichtung zum Messen von Schwingungen eines Objekts unter Verwendung einer Drohne
DE102018113244.1 2018-06-04

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WO2019233701A1 true WO2019233701A1 (fr) 2019-12-12

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WO (1) WO2019233701A1 (fr)

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DE102020111207A1 (de) 2020-04-24 2021-10-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Vorrichtung zur Messung von Schwingungen eines Objekts mittels Lichtleiter-gestützter Laser-Doppler-Vibrometrie
CN111776248B (zh) * 2020-08-03 2022-02-18 广州极飞科技股份有限公司 震动测试方法、装置和飞行器
DE102020134868B3 (de) 2020-12-23 2022-04-07 Deutsches Zentrum für Luft- und Raumfahrt e.V. Drohnen-Laserreinigungseinrichtung und Verfahren zum Betrieb derselben

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US20030014199A1 (en) * 2001-07-12 2003-01-16 Patrick Toomey System and methods for detecting fault in structure
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EP2511656A1 (fr) * 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système de mesure pour la détermination de coordonnées 3D d'une surface d'objet
EP2511659A1 (fr) * 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système de marquage géodésique pour le marquage de points de mire
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US5070483A (en) * 1990-01-12 1991-12-03 Shell Oil Company Remote seismic sensing
US20030014199A1 (en) * 2001-07-12 2003-01-16 Patrick Toomey System and methods for detecting fault in structure
US20070175283A1 (en) 2006-02-01 2007-08-02 General Electric Company Systems and Methods for Remote Monitoring of Vibrations in Machines
EP2511658A1 (fr) 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système de mesure et procédé de détermination de nouveau point
EP2515073A2 (fr) 2011-04-20 2012-10-24 United Technologies Corporation Procédé et système permettant de localiser un vibromètre laser pendant un balayage sans contact
EP2887030A1 (fr) * 2013-12-20 2015-06-24 Fraunhofer Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif et procédé de mesure de vibrations d'un objet en mouvement
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