CN115755977A - Intelligent unmanned aerial vehicle inspection method and system in tunnel - Google Patents
Intelligent unmanned aerial vehicle inspection method and system in tunnel Download PDFInfo
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Abstract
The invention discloses an intelligent unmanned aerial vehicle inspection method in a tunnel, which is characterized in that space data in the tunnel is constructed through a distance detection module, then an image of a wall surface in the tunnel is acquired through an image acquisition module, and then the acquired image is transmitted to a user control terminal module. The invention also discloses an intelligent unmanned aerial vehicle inspection system in the tunnel, which comprises an unmanned aerial vehicle control module, an inspection module, a distance detection module and a GPS positioning module; through the distance detection module in the system, detect the unmanned aerial vehicle distance and wait to patrol and examine the distance of tunnel wall, guarantee that unmanned aerial vehicle patrols and examines the safety of in-process, carry out analysis, contrast with unusual image database to this image data through unusual image analysis module, supply with the maintainer and refer to, this system reduces the time that the maintainer handled the data, improves tunnel maintenance efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent inspection, in particular to an intelligent unmanned aerial vehicle inspection method in a tunnel and an intelligent unmanned aerial vehicle inspection system in the tunnel.
Background
With the development of economy, chinese towns in the infrastructure are gradually increased, the level of infrastructure is higher and higher, in order to promote economic communication among various cities in China and improve the economic speed per hour of highway transportation, in some areas where mountains obstruct the construction of highways, construction teams currently take the form of bridges and tunnels, and the traditional mode of repairing highways around mountains is abandoned. At present, along with the completion of a series of large-scale tunnel projects such as a sunken tube tunnel of a Hongku Australian bridge, a Changjiang river tunnel of the three Yang roads of Wuhan, and a Tibet railway corner-closing tunnel, the sunken tube tunnel becomes the country with the most complicated and fastest-developed tunnel project in the world. However, with the rapid development of the transportation industry and the lapse of time, a great part of tunnels in China gradually enter the aging period along with the lapse of time; meanwhile, along with the change of geology, some cracks appear in the mountain body, rainwater permeates through the concrete layer through the cracks, the condition of water seepage appears, and in the use process of the tunnel, some drivers do not follow the traffic rules and the limiting form in the tunnel, traffic accidents are caused, the factors such as collision, corrosion damage and insect damage to the wall of the tunnel cause the cracks to appear on the wall of the tunnel, and the serious influence can cause the deformation of the tunnel cavity and even the falling of the materials of the section cavity surface. Further, tunnel maintenance personnel are required to find the tunnel maintenance personnel in real time and perform effective maintenance to prevent damage, so tunnel inspection is an indispensable important link for prolonging the service life of the tunnel.
At present, for the above situation in the tunnel, each tunnel maintenance company still uses the conventional means to inspect the tunnel. This means of patrolling and examining is patrolled and examined through manual work or vehicle, and above patrol and examine the mode and be fit for with the tunnel that the tunnel length is shorter, to some tunnels that the length is longer, when carrying out the field inspection through workman and vehicle, it is long to patrol and examine a cycle cost, and heavier to patroller's health burden, and the inefficiency of patrolling and examining, and the cycle of patrolling and examining the interval is longer, is not convenient for carry out tens of controls to the abnormal conditions in the tunnel to the cost of patrolling and examining is great.
Therefore, the invention provides a method and a system for intelligent unmanned aerial vehicle inspection in a tunnel.
Disclosure of Invention
The invention mainly aims to provide a method and a system for polling an intelligent unmanned aerial vehicle in a tunnel, which solve the problems of long labor and vehicle periods and low polling efficiency when polling the abnormal condition of the existing tunnel with longer length.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention actually provides an intelligent unmanned aerial vehicle inspection method in a tunnel, which comprises the following steps:
acquiring a positioning coordinate of a tunnel to be patrolled;
the unmanned aerial vehicle enters the tunnel to be patrolled and begins to patrol and examine the tunnel to be patrolled and examined;
constructing the space data of the tunnel to be inspected, and controlling the distance between the unmanned aerial vehicle and the wall surface of the tunnel to be inspected and the distance between the unmanned aerial vehicle and equipment on the wall surface of the tunnel to be inspected;
acquiring an image of the inner wall surface of the tunnel, processing the image data, transmitting the image data to a user control end, and providing the image data for a user to determine the abnormal condition on the inner wall surface of the tunnel for subsequent maintenance;
collecting scene images of a traffic accident scene, transmitting the scene images to a user control end, and checking the damage of the traffic accident to the tunnel;
and (5) finishing inspection and controlling the unmanned aerial vehicle to land.
Furthermore, in the process of collecting the images of the inner wall surface of the tunnel, a light source is supplemented.
Furthermore, in the process of collecting the images of the traffic accident scene, the warning is carried out through light and voice broadcasting, and the images are suspended above the accident scene to wait for the processing and control instructions of the processing personnel.
Furthermore, in the process of acquiring the images of the inner wall surface of the tunnel, the acquired tunnel image data is compared with the tunnel image abnormal database, and abnormal images in the image data are found out.
Further, unmanned aerial vehicle patrols and examines the in-process, if the unexpected condition takes place, compels to land wait to examine in the tunnel, unmanned aerial vehicle sends the rescue signal, waits for the rescue.
In order to achieve the purpose, the invention also provides an intelligent unmanned aerial vehicle inspection system in the tunnel, which comprises an unmanned aerial vehicle control module, an inspection module, a distance detection module and a GPS positioning module; the signal of the unmanned aerial vehicle control module is respectively connected with the patrol module, the distance detection module and the GPS positioning module;
the inspection module is used for carrying out image acquisition on the wall surface of the tunnel to be inspected and carrying out image acquisition on traffic accidents occurring in the tunnel; the inspection module comprises a signal receiving module I, an inspection control module, an accident image collecting module, an abnormal image analyzing module, an evaluating module, a storage module and a signal sending module; the signal of the first signal receiving module is respectively connected with the signals of the unmanned aerial vehicle control module and the patrol inspection control module, the signal of the patrol inspection control module is respectively connected with the signals of the accident image collecting module and the image collecting module, the signal of the image collecting module is connected with the signal of the abnormal image analyzing module, the signal of the abnormal image analyzing module is connected with the signal of the evaluating module, the signal of the evaluating module is respectively connected with the signals of the storage module and the signal sending module, and the signal of the signal sending module is connected with the signal of the unmanned aerial vehicle control module; the signal of the accident image collecting module is respectively connected with the signals of the storage module and the signal sending module;
the distance detection module is used for detecting the distance between the unmanned aerial vehicle and the wall surface of the tunnel to be patrolled and examined; the distance detection module comprises a signal receiving module IV, a distance detection control module, a laser radar module and an ultrasonic module; the signal of the signal receiving module IV is connected with the signal of the distance detection control module, and the signal of the distance detection control module is connected with the signals of the laser radar module and the ultrasonic module;
the GPS module is used for positioning the unmanned aerial vehicle.
Furthermore, the signal of the unmanned aerial vehicle control module is connected with the signal of a warning module, and the warning module is used for prompting traffic accidents of vehicles running in the tunnel; the warning module comprises a signal receiving module III, a voice control module, a voice storage module, a voice broadcasting device and a warning lamp; the signal connection of signal receiving module three the speech control module and the signal of accident image collection module, the signal connection of speech control module the warning light and the signal of voice storage module, the signal connection of voice storage module the signal of voice broadcast device.
Furthermore, the signal of the unmanned aerial vehicle control module is connected with the signal of a light supplementing module, and the light supplementing module is used for supplementing a light source; the light supplementing module comprises a signal receiving module II, the light control module, a light adjusting module and a light emitting module; the signal of the second signal receiving module is connected with the signal of the light control module, the signal of the light control module is connected with the signal of the light adjusting module, and the signal of the light adjusting module is connected with the signal of the light emitting module.
Furthermore, the signal of the unmanned aerial vehicle control module is connected with the signal of a rescue signal transmitting module, and the rescue signal transmitting module is used for transmitting rescue signals after the unmanned aerial vehicle is in emergency forced landing.
Compared with the prior art, the invention has the following beneficial effects:
the intelligent unmanned aerial vehicle inspection method provided by the application measures the distance between the unmanned aerial vehicle and the wall surface of the tunnel through the laser radar module and the ultrasonic module in the distance detection module, avoids the unmanned aerial vehicle from colliding with the wall surface in the inspection process and causing damage to the unmanned aerial vehicle, so that the unmanned aerial vehicle keeps a certain distance from the wall surface of the tunnel, determines the inspection route of the unmanned aerial vehicle, ensures the safety of the unmanned aerial vehicle in the inspection process of the tunnel, provides a sufficient light source for an image collection device in a system through the light supplement module, and ensures that the collected image is clear and has high discrimination rate when the image collection module collects abnormal conditions on the wall surface of the tunnel, thereby facilitating subsequent analysis and comparison; meanwhile, a warning module is further arranged in the system, the warning module can warn through a warning lamp and a voice broadcasting module, vehicles in the warning tunnel are avoided in advance, meanwhile, personnel on the scene of a warning traffic accident are avoided, and the occurrence of major traffic accidents is avoided.
Drawings
FIG. 1 is a flow chart of a method for intelligent unmanned aerial vehicle inspection in a tunnel;
FIG. 2 is a diagram of a system for routing inspection of an intelligent unmanned aerial vehicle in a tunnel;
in the figure: 1. an unmanned aerial vehicle control module; 2. a warning module; 20. a third signal receiving module; 21. a voice control module; 22. a warning light; 23. a voice storage module; 24. a voice broadcasting device; 3. a routing inspection module; 30. a first signal receiving module; 31. a patrol control module; 32. an accident image collection module; 33. an image collection module; 34. an abnormal image analysis module; 35. an evaluation module; 36. a signal emitting module; 37. a storage module; 4. a light ray supplement module; 40. a second signal receiving module; 41. a light control module; 42. a light ray adjusting module; 43. a light emitting module; 5. a distance detection module; 50. a signal receiving module IV; 51. a distance detection control module; 52. a laser radar module; 53. an ultrasonic module; 6. a GPS positioning module; 7. a rescue signal transmitting module; 8. a wireless signal transceiving module; 9. the user controls the terminal.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the embodiment discloses an intelligent unmanned aerial vehicle inspection method in a tunnel, which includes the following steps:
the method comprises the following steps: firstly, a detector transports an intelligent inspection unmanned aerial vehicle to the position of a tunnel to be inspected, then the unmanned aerial vehicle is controlled by a user control terminal module 9 to obtain the positioning coordinates of the tunnel to be inspected through a GPS positioning module 6, the positioning coordinates of the tunnel to be inspected comprise a flying point Pa, a landing point Pb of the unmanned aerial vehicle and a GPS positioning coordinate point Pc and a point Pd of a port of the tunnel to be inspected, then the inspection direction of the unmanned aerial vehicle in the tunnel to be inspected is planned, the flying direction of the unmanned aerial vehicle starts from the point Pa, the unmanned aerial vehicle enters the tunnel to be inspected from the point Pc, then the wall surface of the tunnel to be inspected starts to be inspected, finally the unmanned aerial vehicle flies out of the tunnel from the point Pd, inspection is completed, finally the point Pb stops and lands, the flying coordinate point position of the unmanned aerial vehicle is compared with the actual built route direction in the tunnel to be inspected, the unmanned aerial vehicle is manually corrected by the operator, the correctness of the flying direction of the unmanned aerial vehicle is ensured, and the large error of the flying direction of the unmanned aerial vehicle is prevented from affecting the inspection of the inspection tunnel to be inspected;
step two: an operator sets the inspection speed and the initial inspection height of the unmanned aerial vehicle in the tunnel to be inspected through the user control terminal module 9, and then controls the unmanned aerial vehicle to start to inspect the tunnel to be inspected;
step three: during inspection, when the unmanned aerial vehicle passes through a GPS positioning coordinate point Pc of a tunnel port to be inspected, the unmanned aerial vehicle control module 1 records specific time when the unmanned aerial vehicle passes through the point position, then the unmanned aerial vehicle control module 1 stores and transmits information into the user control terminal module 9, and simultaneously gives instructions to the inspection module 3, the light supplementing module 4 and the distance detecting module 5, so that the inspection module 3, the light supplementing module 40 and the distance detecting module 5 are started simultaneously to start to inspect the tunnel to be inspected;
step four: after receiving the instruction, the distance detection module 5 transmits a signal to a laser radar module 52 and an ultrasonic module 53 in the distance detection module 5 to construct point cloud space data of the tunnel to be patrolled and detected, detect the distance between the wall surface of the tunnel to be patrolled and detected and equipment on the wall surface of the tunnel to be patrolled and detected and then adjust the flight height of the unmanned aerial vehicle and adjust the flight route of the unmanned aerial vehicle according to the constructed point cloud space data and the detected distance, and avoids the equipment installed on the wall surface of the tunnel in the patrolling process;
step five: after receiving the instruction, the light supplementing module 4 emits light to illuminate the wall surface of the tunnel to be detected;
step six: the patrol module 3 receives the instruction:
and (3) detection a: acquiring an image of a tunnel wall surface to be inspected by an image acquisition module 3, transmitting the image data to an abnormal image analysis module 34, comparing and analyzing the image data with an abnormal image database stored in the abnormal image analysis module 34, searching abnormal image data in the image data, analyzing and comparing the abnormal image data, determining that the abnormal image is the condition of the tunnel wall surface, wherein the condition comprises cracks, water seepage or wall surface material falling and the like on the wall surface, transmitting the analyzed data and the abnormal image data to an evaluation module 35, further processing and evaluating the data by the evaluation module 35, further determining that the abnormal image belongs to the type of cracks, water seepage or wall surface material falling and the like on the tunnel wall surface, storing and transmitting the processed data to a user control terminal module 9, after receiving the abnormal image data and the evaluation data, maintaining the abnormal image data at the abnormal position according to a corresponding tool carried by the analyzed data, and calculating the point position of the abnormal image by an unmanned aerial vehicle control module 1 by calculating the distance from a GPS positioning point Pc of the tunnel wall surface to be inspected to the image acquisition module 33 to be inspected to the abnormal image data (namely calculating the abnormal distance by a GPS positioning point V of the unmanned aerial vehicle), and then calculating the abnormal image data by combining the GPS positioning time (S) of the unmanned aerial vehicle) to be inspected by the unmanned aerial vehicle, and calculating the abnormal image data (the abnormal image data), and calculating the abnormal distance (the abnormal distance to be inspected by the GPS positioning distance to be inspected) to be inspected by the unmanned aerial vehicle) and calculating the GPS positioning time (S); the formula of the operation is as follows: s = V · T.
And b, detection: when the unmanned aerial vehicle patrols the wall surface in the tunnel, the traffic condition on the road surface in the tunnel is patrolled by the accident image collection module 3, if a traffic accident occurs in the tunnel, the scene image of the traffic accident is collected by the accident image collection module 3, the image comprises the damage of the wall surface in the tunnel, the field range of the traffic accident and barriers made by the traffic accident on the road surface, the data is stored and transmitted to the user control terminal module 9, so that a detector can determine the early damage of the traffic accident to the tunnel, the expense spent on the traffic accident is repaired after the traffic accident occurs, the patrol module 3 sends a signal to the warning module 2, the warning module 2 receives the signal, the warning is sent out by the warning lamp 22 and the voice broadcasting device 24 at the peripheral position far away from the traffic accident, the traffic accident occurs in the section of the vehicle in the tunnel, the vehicle is prompted to slow down and slow down, the vehicle distance is kept, the situation that other vehicles cannot be processed in the area due to the unknown state, further more serious traffic accident is avoided, the warning personnel on the vehicle also timely hovers on the scene of the vehicle and controls the warning, the unmanned aerial vehicle to wait for processing, the accident, and the unmanned aerial vehicle is hovered and the warning personnel is controlled in the process of waiting for processing;
step seven: when unmanned aerial vehicle flies out the tunnel from the GPS location coordinate point Pd of waiting to patrol and examine the tunnel port, then patrol and examine the tunnel and accomplish, the concrete time of this point location department is located to unmanned aerial vehicle control module 1 record, then unmanned aerial vehicle control module 1 is with information storage and transmit to in user control terminal module 9, and give simultaneously to patrolling and examining module 3, send out the instruction in light supplement module 4 and the distance detection module 5, make and patrol and examine module 3, light supplement module 40 and the distance detection module 5 stop work, then fix a position through GPS orientation module 6, descend to some Pb department.
Further, unmanned aerial vehicle patrols and examines the in-process, if the unexpected condition takes place, compels to land in waiting to examine the tunnel, and unmanned aerial vehicle control module 1 sends the instruction through giving rescue signal emission module 7, and rescue signal emission module 7 sends the rescue signal through signal transmitter, waits for the rescue to with unmanned aerial vehicle compel to land the distance of position department apart from waiting to patrol and examine the GPS location coordinate point Pc of tunnel port and send to user control terminal 9, wait for the rescue of measurement personnel.
Referring to fig. 2, in order to implement the method for polling the intelligent unmanned aerial vehicle in the tunnel, the embodiment further discloses a system for polling the intelligent unmanned aerial vehicle in the tunnel, which comprises an unmanned aerial vehicle control module 1, a polling module 3, a warning module 2, a light supplementing module 4, a wireless signal transceiving module 8, a user control terminal module 9, a distance detection module 5 and a GPS positioning module 6;
the signal of the user control terminal module 9 is connected with the signal of the wireless signal transceiver module 8, the signal of the wireless signal transceiver module 8 is connected with the signal of the unmanned aerial vehicle control module 1, the signal of the unmanned aerial vehicle control module 1 is respectively connected with the signals of the patrol module 3, the warning module 2, the light supplementing module 4, the distance detection module 5 and the GPS positioning module 6, and the user control terminal module 9 is used for controlling the unmanned aerial vehicle to take off and land, receiving the data transmitted by the unmanned aerial vehicle and supplying the data to the detection personnel for watching;
wireless signal transceiver module 8 is used for transmitting the instruction that user control terminal module 9 sent to unmanned aerial vehicle control module 1, and with data transmission in unmanned aerial vehicle control module 1 to user control terminal module 9, unmanned aerial vehicle control module 1 is used for patrolling and examining module 3, warning module 2, light supplement module 4, distance detection module 5 and GPS orientation module 6 give-out order, and then control unmanned aerial vehicle patrols and examines the tunnel, will patrol and examine the data transmission who obtains to in wireless signal transceiver module 8.
The inspection module 3 is used for collecting images of the wall surface of the tunnel to be inspected and collecting images of traffic accidents occurring in the tunnel; specifically, the inspection module 3 comprises a signal receiving module I30, an inspection control module 31, an accident image collecting module 32, an image collecting module 33, an abnormal image analyzing module 34, an evaluating module 35, a storage module 37 and a signal sending module 36;
the signal receiving module I30 is respectively connected with the signals of the unmanned aerial vehicle control module 1 and the patrol control module 31, and is used for receiving an instruction sent by the unmanned aerial vehicle control module 1 and transmitting the instruction to the patrol control module 31;
the signal of the inspection control module 31 is respectively connected with the signal of the accident image collection module 32 and the signal of the image collection module 33, and is used for controlling the accident image collection module 32 to collect accident images of the road surface in the tunnel, controlling the image collection module 33 to collect images of the wall surface in the tunnel, and processing abnormal images appearing on the wall surface of the tunnel;
the signal of the image collecting module 33 is connected with the signal of the abnormal image analyzing module 34, the abnormal image analyzing module 34 is used for comparing the image data processed by the image collecting module 33 with the data in the abnormal image database of the tunnel stored in the abnormal image analyzing module 34, analyzing, searching the abnormal image data in the image data, analyzing and comparing, and determining that the abnormal image is the condition on the wall surface of the tunnel, wherein the condition comprises cracks, water seepage or falling off of wall surface materials and the like on the wall surface; then, analyzing and processing are carried out, wherein a tunnel abnormal image database is stored in the abnormal image analysis module 34, and is obtained by arranging abnormal phenomenon images which appear in the tunnel in the past routing inspection process by a detection person, and then the abnormal image database is arranged and input into the abnormal image analysis module 34 through an external computer;
the signal of the abnormal image analysis module 34 is connected with the signal of the evaluation module 35, and the evaluation module 35 further analyzes and evaluates the data transmitted in the abnormal image analysis module 34; the evaluation module 35 is used for further processing and evaluating the data processed by the abnormal image analysis module 34, and further determining that the abnormal image belongs to the type of crack, water seepage or wall material falling of the tunnel wall surface.
The signal of evaluation module 35 connects the signal of memory module 37 and signal transmission module 36 respectively, the signal connection unmanned aerial vehicle control module 1 of signal transmission module 36, signal transmission module 36 is used for in will evaluation module 35 to the data transmission of unusual image processing in the tunnel to wireless signal transceiver module 8, memory module 37 is used for storing the data of unusual image processing in the evaluation module 35 in the tunnel, make things convenient for maintainer's further to carry out rechecking inspection to the unusual position of tunnel wall, avoid leading to because data transmission is wrong, maintainer is not in place to the maintenance of unusual position in the tunnel.
The signal of the accident image collection module 32 is respectively connected with the storage module 37, the signal sending module 36 and the signal of the warning module 2, the accident image collection module 32 is used for collecting the image of the place where the traffic accident occurs in the tunnel, the image comprises the damage of the wall surface in the tunnel, the range of the scene of the traffic accident and the barriers made by the traffic accident on the road surface, and the data is stored and transmitted to the user control terminal module 9, so that the detection personnel can determine the damage of the traffic accident to the early part in the tunnel, and further, the cost of the traffic accident extension is repaired after the traffic accident occurs.
The warning module 2 is used for prompting traffic accidents of vehicles running in the tunnel; specifically, the warning module 2 includes a third signal receiving module 20, a voice control module 21, a voice storage module 23, a voice broadcasting device 24, and a warning light 22;
the signal of the third signal receiving module 20 is connected with the signals of the voice control module 21 and the accident image collecting module 32, and is used for receiving the instruction sent by the unmanned aerial vehicle control module 1 and the signal sent by the accident image collecting module 32, and transmitting the instruction sent by the unmanned aerial vehicle control module 1 and the signal sent by the accident image collecting module 32 to the voice control module 21, the signal of the voice control module 21 is connected with the signals of the warning lamp 22 and the voice storage module 23, and is used for controlling the work of the warning lamp 22, and sending a control instruction to the voice storage module 23, the signal of the voice storage module 23 is connected with the signal of the voice broadcasting device 24, and the voice storage module 23 is used for controlling the work of the voice broadcasting device 24, and transmitting corresponding data pre-selected and stored in the voice storage module to the voice broadcasting device 24, so that the voice broadcasting device 24 can broadcast.
The light supplementing module 4 is used for supplementing a light source in the process of carrying out image collection on the inner wall surface of the tunnel by the image collecting module 33 in the inspection module 3; specifically, the light supplementing module 4 includes a second signal receiving module 40, a light controlling module 41, a light adjusting module 42 and a light emitting module 43; the signal of the second signal receiving module 40 is connected with the signal of the light control module 41 and the signal of the unmanned aerial vehicle control module 1, and the second signal receiving module 40 is used for receiving the instruction sent by the unmanned aerial vehicle control module 1 and transmitting the received instruction sent by the unmanned aerial vehicle control module 1 to the light control module 41;
The distance detection module 5 is used for constructing point cloud space data in the tunnel and detecting the distance between the unmanned aerial vehicle and the wall surface of the tunnel to be patrolled and examined; specifically, the distance detection module 5 includes a signal receiving module four 50, a distance detection control module 51, a laser radar module 52, and an ultrasonic module 53;
the signal of the signal receiving module four 50 is connected with the distance detection control module 51 and the signal of the unmanned aerial vehicle control module 1, the signal receiving module four 50 is used for receiving the instruction sent by the unmanned aerial vehicle control module 1, and the transmission for receiving the instruction sent by the unmanned aerial vehicle control module 1 is transmitted to the distance detection control module 51, the signal of the distance detection control module 51 is connected with the signals of the laser radar module 52 and the ultrasonic wave module 53, the laser radar module 52 collects the condition of the tunnel wall surface through the sampling rate of the triangulation radar, then point cloud space data is constructed, then more accurate point cloud space data in the tunnel is constructed through the ultrasonic wave module 53, the distance between the unmanned aerial vehicle and the tunnel wall surface and the distance between the unmanned aerial vehicle and the mounting equipment on the tunnel wall surface are detected and controlled, so that the unmanned aerial vehicle can keep safe distance with the tunnel wall surface and the mounting equipment on the tunnel wall surface, further, the unmanned aerial vehicle can adjust the flying route in real time according to the condition in the tunnel, collision in the process is avoided, meanwhile, the unmanned aerial vehicle can keep stable distance with the tunnel wall surface in the tunnel, and the image of the wall surface in the tunnel can be collected better by the image collecting module 33.
The GPS module 1 is used for positioning the unmanned aerial vehicle by the detection personnel and determining the position of the unmanned aerial vehicle; the rescue signal transmitting module 7 is used for transmitting rescue signals after the unmanned aerial vehicle is in emergency forced landing, the rescue signal transmitting module 7 is given to send instructions, the rescue signal transmitting module 7 sends rescue signals through a signal transmitter to wait for rescue, and the distance between the forced landing point of the unmanned aerial vehicle and a GPS positioning coordinate point Pc of a tunnel port to be patrolled and examined is sent to the user control terminal 9 to wait for rescue of detection personnel.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The intelligent unmanned aerial vehicle inspection method in the tunnel is characterized by comprising the following steps:
acquiring a positioning coordinate of a tunnel to be patrolled;
the unmanned aerial vehicle enters the tunnel to be patrolled and begins to patrol the tunnel to be patrolled;
constructing the space data of the tunnel to be patrolled and examined, and controlling the distance between the unmanned aerial vehicle and the wall surface of the tunnel to be patrolled and examined and the distance between the unmanned aerial vehicle and equipment on the wall surface of the tunnel to be patrolled and examined;
acquiring an image of the inner wall surface of the tunnel, processing the image data, transmitting the image data to a user control end, and providing the image data for a user to determine the abnormal condition on the inner wall surface of the tunnel for subsequent maintenance;
collecting scene images of a traffic accident scene, transmitting the scene images to a user control end, and checking the damage of the traffic accident to the tunnel;
and (5) finishing inspection and controlling the unmanned aerial vehicle to land.
2. The intelligent unmanned aerial vehicle inspection method according to claim 1, wherein a light source is used for supplementary lighting in the process of collecting the image of the inner wall surface of the tunnel.
3. The intelligent unmanned aerial vehicle inspection method according to claim 1, wherein in the process of collecting images of a traffic accident site, warning is performed through light and voice broadcasting, the unmanned aerial vehicle is hovered above the accident site, and processing and control instructions of processing personnel are waited.
4. The intelligent unmanned aerial vehicle inspection method according to claim 1, wherein in the process of acquiring images of the inner wall surface of the tunnel, the acquired tunnel image data is compared with a tunnel image anomaly database to find out an anomaly image in the image data.
5. The intelligent unmanned aerial vehicle inspection method according to claim 1, wherein in the process of unmanned aerial vehicle inspection, if an accident occurs and the unmanned aerial vehicle is forced to land in the tunnel to be inspected, the unmanned aerial vehicle sends out a rescue signal to wait for rescue.
6. The method according to claim 1, wherein the positioning coordinates of the tunnel to be inspected include a takeoff point Pa and a landing point Pb of the unmanned aerial vehicle, and a GPS positioning coordinate point Pc and a point Pd of the tunnel port to be inspected, and the flight direction of the unmanned aerial vehicle starts from the point Pa, passes through the point Pc and the point Pd in sequence, and stops at the point Pb.
7. An intelligent unmanned aerial vehicle inspection system in a tunnel is characterized by comprising an unmanned aerial vehicle control module (1), an inspection module (3), a distance detection module (5) and a GPS positioning module (6); the signal of the unmanned aerial vehicle control module (1) is respectively connected with the patrol inspection module (3), the distance detection module (5) and the GPS positioning module (6);
the inspection module (3) is used for collecting images of the wall surface of the tunnel to be inspected and collecting images of traffic accidents occurring in the tunnel; the inspection module (3) comprises a signal receiving module I (30), an inspection control module (31), an accident image collecting module (32), an image collecting module (33), an abnormal image analyzing module (34), an evaluating module (35), a storage module (37) and a signal sending module (36); the signal of the signal receiving module I (30) is respectively connected with the signals of the unmanned aerial vehicle control module (1) and the inspection control module (31), the signal of the inspection control module (31) is respectively connected with the signals of the accident image collecting module (32) and the image collecting module (33), the signal of the image collecting module (33) is connected with the signal of the abnormal image analyzing module (34), the signal of the abnormal image analyzing module (34) is connected with the signal of the evaluating module (35), the signal of the evaluating module (35) is respectively connected with the signals of the storage module (37) and the signal sending module (36), and the signal of the signal sending module (36) is connected with the signal of the unmanned aerial vehicle control module (1); the signal of the accident image collecting module (32) is respectively connected with the signal of the storage module (37) and the signal sending module (36);
the distance detection module (5) is used for detecting the distance between the unmanned aerial vehicle and the wall surface of the tunnel to be patrolled and examined; the distance detection module (5) comprises a signal receiving module IV (50), a distance detection control module (51), a laser radar module (52) and an ultrasonic module (53); the signal of the signal receiving module IV (50) is connected with the signal of the distance detection control module (51), and the signal of the distance detection control module (51) is connected with the signals of the laser radar module (52) and the ultrasonic module (53);
the GPS module (1) is used for positioning the unmanned aerial vehicle.
8. The intelligent unmanned aerial vehicle inspection system in the tunnel according to claim 7, wherein the signal of the unmanned aerial vehicle control module (1) is connected with the signal of the warning module (2), and the warning module (2) is used for prompting traffic accidents of vehicles running in the tunnel; the warning module (2) comprises a signal receiving module III (20), a voice control module (21), a voice storage module (23), a voice broadcasting device (24) and a warning lamp (22); the signal connection of three (20) of signal reception module the signal connection of voice control module (21) and accident image collection module (32), the signal connection of voice control module (21) warning light (22) and the signal of pronunciation memory module (23), the signal connection of pronunciation memory module (23) the signal of voice broadcast device (24).
9. The intelligent unmanned aerial vehicle inspection system in the tunnel according to claim 7, wherein the signal of the unmanned aerial vehicle control module (1) is connected with the signal of a light supplement module (4), and the light supplement module (4) is used for supplementing a light source; the light supplementing module (4) comprises a second signal receiving module (40), a light control module (41), a light adjusting module (42) and a light emitting module (43); the signal of the second signal receiving module (40) is connected with the signal of the light control module (41), the signal of the light control module (41) is connected with the signal of the light adjusting module (42), and the signal of the light adjusting module (42) is connected with the signal of the light emitting module (43).
10. The intelligent unmanned aerial vehicle inspection system in the tunnel according to claim 7, wherein the signal of the unmanned aerial vehicle control module (1) is connected with the signal of a rescue signal transmitting module (7), and the rescue signal transmitting module (7) is used for transmitting a rescue signal after the unmanned aerial vehicle is in emergency forced landing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117518158A (en) * | 2023-12-04 | 2024-02-06 | 北京城建勘测设计研究院有限责任公司 | Tunnel full-section inspection equipment and method based on unmanned airborne geological radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117518158A (en) * | 2023-12-04 | 2024-02-06 | 北京城建勘测设计研究院有限责任公司 | Tunnel full-section inspection equipment and method based on unmanned airborne geological radar |
| CN117518158B (en) * | 2023-12-04 | 2024-06-11 | 北京城建勘测设计研究院有限责任公司 | Tunnel full-section inspection equipment and method based on unmanned airborne geological radar |
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