CN115743540A - Tunnel holographic inspection unmanned aerial vehicle device and method based on multi-source information fusion - Google Patents
Tunnel holographic inspection unmanned aerial vehicle device and method based on multi-source information fusion Download PDFInfo
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Abstract
The invention discloses a tunnel holographic inspection unmanned aerial vehicle device and method based on multi-source information fusion, which comprises the following steps: the unmanned aerial vehicle comprises a machine body, a driving system and a rotor wing, wherein the driving system and the rotor wing are installed on the machine body, and the driving system is in power coupling connection with the rotor wing; the auxiliary flight system is arranged on the machine body, is in communication connection with the driving system and is used for determining three-dimensional coordinate information and a target route of the unmanned aerial vehicle; the holographic detection system is in communication connection with the auxiliary flight system and is used for acquiring scanning information of the tunnel and determining risk points; remote control system, actuating system, supplementary flight system and holographic detection system all with remote control system communication connection, remote control system is used for controlling unmanned aerial vehicle's work. According to the invention, the unmanned aerial vehicle is used for replacing manpower to carry out inspection, so that the inspection efficiency and effect are improved, and the adaptability to different working environments is improved.
Description
Technical Field
The invention relates to the technical field of tunnel inspection, in particular to a holographic tunnel inspection unmanned aerial vehicle device and method based on multi-source information fusion.
Background
With the continuous development of infrastructure construction in China, a large number of highway tunnels, railway tunnels, hydraulic tunnels, urban subway tunnels and the like are under construction or proposed, and in a closed industrial scene of the tunnels, tunnel inspection must be carried out regularly in order to ensure the safety of production and operation. Traditional tunnel mode of patrolling and examining relies on the manpower to accomplish, detect as an example with two linings in conventional tunnel, the tunnel scene often needs control engineering vehicle business turn over, then adopt machinery to lift workman to two lining walls in tunnel, the workman lifts geological radar again and scans along two lining surfaces and surveys, not only patrol and examine inefficiency, it is poor to patrol and examine the effect, influence tunnel construction process, but also face certain safe risk, there is reinforcing bar exposure when two lining walls, air pipe etc. and still can lead to two lining to detect even and be difficult to accomplish.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a tunnel holographic inspection unmanned aerial vehicle device based on multi-source information fusion, which improves the efficiency and effect and improves the adaptability.
The tunnel holographic inspection unmanned aerial vehicle device based on multi-source information fusion comprises the following components: the unmanned aerial vehicle comprises a machine body, a driving system and a rotor wing, wherein the driving system and the rotor wing are installed on the machine body, and the driving system is in power coupling connection with the rotor wing; the auxiliary flight system is arranged on the body, is in communication connection with the driving system, and is used for determining three-dimensional coordinate information and a target route of the unmanned aerial vehicle; the holographic detection system is in communication connection with the auxiliary flight system and is used for acquiring scanning information of a tunnel and determining a risk point; the remote control system, actuating system the auxiliary flight system with holographic detection system all with remote control system communication connection, remote control system is used for controlling unmanned aerial vehicle's work.
According to the tunnel holographic inspection unmanned aerial vehicle device based on multi-source information fusion, the unmanned aerial vehicle is used for replacing manual inspection, so that the inspection efficiency and effect are improved, and the adaptability to different working environments is improved.
In some embodiments, the secondary flight system comprises: the positioning module is used for determining three-dimensional coordinate information of the unmanned aerial vehicle; the route planning module is in communication connection with the positioning module and is used for determining a target route based on the three-dimensional coordinate information of the unmanned aerial vehicle and the three-dimensional coordinate information of the starting point and the ending point; the collision avoidance module is used for protecting the unmanned aerial vehicle.
In some embodiments, the positioning module comprises: the positioning module is used for combining the holographic detection system to obtain tunnel mileage information and correcting three-dimensional coordinate information of the unmanned aerial vehicle.
In some embodiments, the collision avoidance module comprises: a physical bump protection module that covers the rotor; and/or, the collision avoidance module includes: the barrier module is kept away in flight, the barrier module is kept away in flight includes: the flight obstacle avoidance module synthesizes information detected by the ultrasonic detector, the laser radar and the millimeter wave radar so as to protect the unmanned aerial vehicle.
In some embodiments, the holographic detection system comprises: the scanning module is arranged on the machine body and is used for acquiring image information and three-dimensional information of a tunnel; the geophysical prospecting module is arranged on the machine body and used for acquiring the depth information of geophysical prospecting images behind the two lining walls and determining an abnormal area behind the two lining walls by combining an image recognition technology; and the imaging module is in communication connection with the scanning module and the geophysical prospecting module and is used for determining a tunnel outline stereo image and forming a tunnel three-dimensional holographic dynamic interactive image based on a multi-source information fusion technology and an image recognition technology.
In some embodiments, the scanning module comprises: the RGBD panoramic camera is arranged on the machine body and used for scanning the tunnel contour and generating a three-dimensional tunnel live model, and the three-dimensional tunnel live model comprises depth of field information; and the laser radar is arranged on the machine body and used for scanning the tunnel contour and generating a tunnel three-dimensional coordinate model, and the tunnel three-dimensional coordinate model comprises coordinate information and distance information.
In some embodiments, the geophysical prospecting module comprises: and the air coupling radar is pivotally arranged on the machine body and is used for acquiring the depth information of the geophysical prospecting image behind the two lining walls.
In some embodiments, the positioning module is in communication with the scanning module and is further configured to determine three-dimensional coordinate information of a fracture and tunnel mileage information; the positioning module is in communication connection with the geophysical prospecting module and is further used for determining three-dimensional coordinate information and tunnel mileage information of the abnormal area.
In some embodiments, the remote control system comprises: the 5G communication module is used for communicating the driving system with a control room; and the dynamic interaction module is arranged in the control room and used for interacting with a user.
According to the tunnel inspection method provided by the embodiment of the invention, the holographic tunnel inspection unmanned aerial vehicle device based on multi-source information fusion is adopted, and the method comprises the following steps: checking the unmanned aerial vehicle; determining the navigation origin-destination point of the unmanned aerial vehicle, and selecting an automatic planning route mode or a manual planning route mode; starting the unmanned aerial vehicle and controlling the unmanned aerial vehicle to hover at a starting point coordinate, adjusting the three-dimensional position of the unmanned aerial vehicle, calibrating the mileage of a tunnel, adjusting the working state of a holographic detection system, and determining a target course line and a survey line; starting an auxiliary flight system, and controlling the unmanned aerial vehicle to move along the air route for inspection; controlling the unmanned aerial vehicle to return to a beginning-to-end point along the air line and simultaneously carrying out retesting on the survey line; or, controlling the unmanned aerial vehicle to retest the key area; the scan information is stored.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a structural diagram of a holographic tunnel inspection unmanned aerial vehicle device based on multi-source information fusion in the embodiment of the invention;
fig. 2 is a flowchart of a method for performing tunnel inspection by using a holographic tunnel inspection unmanned aerial vehicle device based on multi-source information fusion in the embodiment of the present invention.
Reference numerals are as follows:
100. the tunnel holographic inspection unmanned aerial vehicle device based on multi-source information fusion;
10. an auxiliary flight system; 11. a positioning module; 111. a BDS module; 112. a GPS module; 113. an INS module; 12. a route planning module; 13. an anti-collision module; 131. a physical collision avoidance module; 132. a flight obstacle avoidance module; 1321. an ultrasonic detector; 1322. a laser radar; 1323. a millimeter wave radar;
20. a holographic detection system; 21. a scanning module; 211. an RGBD panoramic camera; 22. a geophysical prospecting module; 221. an air-coupled radar; 23. an imaging module;
30. a remote control system; 31. 5G communication module; 32. and a dynamic interaction module.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The tunnel holographic inspection unmanned aerial vehicle device 100 based on multi-source information fusion according to the embodiment of the invention is described below with reference to the accompanying drawings.
As shown in fig. 1, the tunnel holographic inspection unmanned aerial vehicle device 100 based on multi-source information fusion according to the embodiment of the present invention includes: unmanned aerial vehicle, supplementary flight system 10, holographic detection system 20 and remote control system 30.
Unmanned aerial vehicle includes organism, actuating system and rotor, and actuating system and rotor are installed in the organism, and actuating system is connected with rotor power coupling.
For example, unmanned aerial vehicle is many rotor unmanned aerial vehicle, and it has simple structure, maneuverability can be good, can take off and land perpendicularly and fixed point spiral advantage such as.
The auxiliary flight system 10 is installed on the airframe, is in communication connection with the driving system, and is used for determining three-dimensional coordinate information and a target route of the unmanned aerial vehicle.
The holographic detection system 20 is in communication connection with the auxiliary flight system 10 and is used for acquiring scanning information of the tunnel and determining a risk point.
Wherein the risk points are defect points in the tunnel, such as wall cracks, holes behind the wall, and the like.
The driving system, the auxiliary flight system 10 and the holographic detection system 20 are all in communication connection with a remote control system 30, and the remote control system 30 is used for controlling the work of the unmanned aerial vehicle.
According to the tunnel holographic inspection unmanned aerial vehicle device 100 based on multi-source information fusion, the unmanned aerial vehicle is used for replacing manual inspection, the inspection efficiency and the inspection effect are improved, the unmanned aerial vehicle can span different working environments, for example, engineering vehicles cannot walk due to the fact that reinforcing steel bars exist on the wall surface, or small spaces such as ventilation pipelines and the like exist, and the adaptability to different working environments is improved.
In some embodiments, the secondary flight system 10 includes: a positioning module 11, a route planning module 12 and a collision avoidance module 13.
The positioning module 11 is used for determining three-dimensional coordinate information of the unmanned aerial vehicle.
The route planning module 12 is in communication connection with the positioning module 11 and is used for determining a target route based on the three-dimensional coordinate information of the unmanned aerial vehicle and the three-dimensional coordinate information of the starting point and the ending point. Specifically, the route planning module 12 automatically generates a plurality of preset routes and automatically selects an optimal route as a target route.
In some embodiments, the positioning module 11 comprises: the system comprises a BDS (Beidou satellite navigation system) module 111, a GPS module 112 and an INS (inertial navigation system) module 113, wherein the holographic detection system 20 is in communication connection with the positioning module 11, and the positioning module 11 is used for obtaining tunnel mileage information by combining the holographic detection system 20 and correcting three-dimensional coordinate information of the unmanned aerial vehicle.
The positioning module 11 integrates positioning information of the BDS module 111, the GPS module 112, and the INS module 113, so that the three-dimensional coordinate information of the unmanned aerial vehicle determined by the positioning module 11 is more accurate.
Further, the holographic detection system 20 is in communication connection with the positioning module 11, and the positioning module 11 is configured to obtain the tunnel mileage information by combining the holographic detection system 20, correct the three-dimensional coordinate information of the unmanned aerial vehicle, for example, correct the three-dimensional coordinate information of the unmanned aerial vehicle through the tunnel mileage information shot by the following RGBD panoramic camera 211, so that the three-dimensional coordinate information is more accurate.
In some embodiments, the collision avoidance module 13 includes: a physical collision avoidance module 131 and/or a flight avoidance module 132. For example, in some embodiments, both physical collision avoidance module 131 and flight obstacle avoidance module 132 are present; alternatively, in some embodiments, physical collision avoidance module 131 exists alone; alternatively, in some embodiments, the flight obstacle avoidance module 132 exists separately.
Physical bump guard module 131 covers the rotor.
For example, the physical collision avoidance module 131 is a detachable protection frame, which is light and flexible, and performs targeted protection on the rotor, so as to prevent the rotor from being directly damaged by the wall surface of the tunnel or other obstacles when the aircraft collides.
The flight obstacle avoidance module 132 includes: the ultrasonic detector 1321, the laser radar 1322 and the millimeter wave radar 1323, and the flight obstacle avoidance module 132 synthesizes information detected by the ultrasonic detector 1321, the laser radar 1322 and the millimeter wave radar 1323 to protect the unmanned aerial vehicle.
It should be noted that, the ultrasonic detector 1321 is used alone to detect a short distance and is easily interfered by noise and misinformed, and the invention can correct the misinformation information by using the laser radar 1322 and the millimeter wave radar 1323; the laser radar 1322 which is singly used is greatly influenced by dust and smoke, and is easy to misreport in a tunnel smoke environment, and the misreport information can be corrected by using the ultrasonic detector 1321 and the millimeter wave radar 1323; the use of the millimeter wave radar 1323 alone has blind spot areas and is greatly affected by clutter, and the present invention can correct false alarm information by using the ultrasonic detector 1321 and the laser radar 1322. The flight obstacle avoidance module 132 integrates the advantages of the ultrasonic detector 1321, the laser radar 1322 and the millimeter wave radar 1323, overcomes the defects that the ultrasonic detector 1321 misreports and has a small detection distance, the laser radar 1322 is greatly influenced by dust and smoke, and the millimeter wave radar 1323 has serious noise, and realizes efficient obstacle avoidance of the unmanned aerial vehicle in a special environment of weak tunnel light, more dust, more engineering noise and more obstacles.
In some embodiments, the holographic detection system 20 comprises: a scanning module 21, a geophysical prospecting module 22 and an imaging module 23.
The scanning module 21 is installed in the machine body and is used for acquiring image information and three-dimensional information of the tunnel.
The geophysical prospecting module 22 is installed on the machine body and used for acquiring the depth information of the geophysical prospecting image behind the two lining walls and determining the abnormal area behind the two lining walls by combining the image recognition technology.
The imaging module 23 is in communication connection with the scanning module 21 and the geophysical prospecting module 22, and is used for determining a tunnel contour stereo image and forming a tunnel three-dimensional holographic dynamic interactive image based on a multi-source information fusion technology and an image recognition technology.
In some embodiments, the imaging module 23 is further communicatively connected to the positioning module 11 to further form a three-dimensional holographic dynamic interactive image of the tunnel.
Specifically, the imaging module 23 integrates a tunnel three-dimensional coordinate model generated by a laser radar 1322 of the following scanning module 21 based on a multi-source information fusion technology and an image recognition technology to form a tunnel contour three-dimensional image, then the integrated positioning module 11 determines three-dimensional coordinate information, and finally integrates a three-dimensional tunnel live model generated by the following RGBD panoramic camera 211 and depth information of a two-lining wall rear geophysical image acquired by the air coupling radar 221, and locks coordinates and mileage of a two-lining wall surface crack and a wall rear abnormal region to form a tunnel three-dimensional holographic dynamic interaction image.
In some embodiments, the scanning module 21 includes: RGBD panoramic camera 211 and lidar 1322.
The RGBD panoramic camera 211 is mounted to the body for scanning the tunnel contour and generating a three-dimensional tunnel-live model, which includes depth-of-field information.
The laser radar 1322 is installed on the machine body and used for scanning the tunnel contour and generating a tunnel three-dimensional coordinate model, and the tunnel three-dimensional coordinate model comprises coordinate information and distance information.
The RGBD panoramic camera 211 realizes scanning imaging of the wall surface of the tunnel, and the laser radar 1322 can measure three-dimensional information of the tunnel to complete three-dimensional modeling of the tunnel.
In some embodiments, both lidar 1322 of scanning module 21 and lidar 1322 of flight obstacle avoidance module 132 are provided separately; in other embodiments, scanning module 21 and flight obstacle avoidance module 132 share lidar 1322 to reduce the number of components.
In some embodiments, the geophysical module 22 includes: the air coupling radar 221 and the air coupling radar 221 are pivotally mounted on the machine body and used for acquiring depth information of the geophysical prospecting image behind the two lining walls.
Specifically, the air coupling radar 221 is carried on the upper portion of the unmanned aerial vehicle through a spherical hinge base with an adjustable angle, and the scanning requirements of the unmanned aerial vehicle on side walls, waists, shoulders and vaults of tunnels during navigation are met.
In some embodiments, the positioning module 11 is in communication with the scanning module 21 and is also used to determine three-dimensional coordinate information of the fracture and tunnel mileage information. The positioning module 11 is in communication connection with the geophysical prospecting module 22 and is further configured to determine three-dimensional coordinate information of the abnormal area and tunnel mileage information.
Specifically, the positioning module 11 cooperates with the scanning module 21, the scanning module 21 shoots the cracks on the surface of the second liner through the RBGD panoramic camera based on an image recognition technology, the positioning module 11 can position three-dimensional coordinate information of the cracks in real time, and the three-dimensional coordinate information is converted into the mileage of a tunnel, so that the cracks are accurately positioned.
Specifically, the positioning module 11 may cooperate with the geophysical prospecting module 22, the geophysical prospecting module 22 automatically generates depth information of geophysical prospecting images behind two lining walls based on data scanned and collected by the air coupled radar 221, abnormal areas such as cavities behind two lining walls are automatically locked by combining an image recognition technology, the three-dimensional coordinates of the abnormal areas can be positioned in real time by the positioning module 11, and meanwhile, the three-dimensional coordinates are converted into the mileage of a tunnel, so that the accurate positioning of the abnormal areas is realized.
In some embodiments, the remote control system 30 includes: a 5G communication module 31 and a dynamic interaction module 32.
The 5G communication module 31 is used for communication between the driving system and the control room. The dynamic interaction module 32 is installed in the control room for interaction with the user.
Specifically, the 5G communication module 31 includes: 5G module and basic station, unmanned aerial vehicle all are equipped with the 5G module with the control room, ensure that unmanned aerial vehicle can not lose the signal under the tunnel environment and lose the antithetical couplet, satisfy multisource data real-time transmission demand.
Specifically, the dynamic interaction module 32 can perform interaction operations such as amplification, reduction and rotation on the tunnel holographic dynamic interaction image, dynamically control the unmanned aerial vehicle route, the cruising speed and the three-dimensional position, and improve the refinement degree of tunnel routing inspection.
An embodiment of the tunnel holographic inspection unmanned aerial vehicle device 100 based on multi-source information fusion according to the invention is described below with reference to fig. 1.
An unmanned aerial vehicle device is patrolled and examined in tunnel holography based on multisource information fusion 100 includes: unmanned aerial vehicle, supplementary flying system 10, holographic detection system 20 and remote control system 30 sharing part sensor, function interconnection.
Unmanned aerial vehicle includes: organism, actuating system and rotor.
The auxiliary flight system 10 comprises a positioning module 11, an anti-collision module 13 and a route planning module 12, and positioning, automatic flight and safe flight of the three-dimensional position coordinate of the unmanned aerial vehicle are realized.
The route planning module 12 can help the unmanned aerial vehicle to automatically plan a route and select an optimal route based on the real-time three-dimensional coordinate information of the unmanned aerial vehicle output by the positioning module 11 and the preset origin-destination coordinates, and realize autonomous flight under the protection of the collision avoidance module 13.
The holographic detection system 20 comprises a scanning module 21, a geophysical module 22 and an imaging module 23.
The scanning module 21 comprises an RGBD panoramic camera 211 and a laser radar 1322, the scanning module 21 and the flight obstacle avoidance module 132 share the laser radar 1322, the RGBD panoramic camera 211 can scan the tunnel contour to form a high-resolution three-dimensional tunnel live model with depth of field information, and the laser radar 1322 can perform three-dimensional scanning on the tunnel contour to generate a tunnel three-dimensional coordinate model containing coordinates and distance information.
The imaging module 23 integrates the multi-source information collected by the scanning module 21 and the geophysical prospecting module 22, automatically corrects the detection result of positioning and scanning based on an image recognition technology and a multi-source data fusion technology, and outputs a tunnel three-dimensional holographic dynamic interaction image.
The remote control system 30 includes a 5G communication module 31 and a dynamic interaction module 32.
The dynamic interaction module 32 can perform interaction operations such as amplification, reduction and rotation on the tunnel secondary lining holographic dynamic interaction image, dynamically control the navigation line, the cruising speed and the three-dimensional position of the unmanned aerial vehicle, and realize fine regulation and control of tunnel patrol.
According to the invention, by the arrangement, the unmanned aerial vehicle carrying technology is adopted to replace the related technology of carrying mechanical arms on engineering vehicles to push operators, so that the consumption of a large amount of manpower is saved, the working efficiency is improved, the cost is saved, and the construction safety is ensured. The tunnel holographic inspection unmanned aerial vehicle device 100 based on multi-source information fusion carries various sensors and positioning devices, and combines advanced technologies such as big data, artificial intelligence, image recognition and data fusion, the tunnel holographic inspection unmanned aerial vehicle device improves the tunnel inspection detection quality, simultaneously realizes the dynamic imaging and real-time interaction functions of data, and leads the development direction of future intelligent inspection of tunnels. Meanwhile, the tunnel holographic inspection unmanned aerial vehicle device 100 based on multi-source information fusion is simple to operate, convenient for workers to learn and master, short in field preparation and debugging time, free of influence on the implementation of subsequent tunnel construction procedures, and convenient to popularize.
According to the method for tunnel inspection provided by the embodiment of the invention, the holographic tunnel inspection unmanned aerial vehicle device 100 based on multi-source information fusion is adopted, and the method comprises the following steps:
s102: and checking the unmanned aerial vehicle.
Specifically, whether the power of inspection air coupling radar 221 adapts to the tunnel site detection demand, whether inspection 5G communication system is normal, whether inspection orientation module 11 and each sensor work normally, whether inspection unmanned aerial vehicle works normally.
S103: and determining the navigation origin-destination of the unmanned aerial vehicle, and selecting an automatic planning route mode or a manual planning route mode.
Specifically, step S103 further includes step S301: and installing a physical collision avoidance module 131 of the unmanned aerial vehicle.
S104: starting the unmanned aerial vehicle and controlling the unmanned aerial vehicle to hover at the starting point coordinate, adjusting the three-dimensional position of the unmanned aerial vehicle, calibrating the mileage of the tunnel, adjusting the working state of the holographic detection system 20, and determining a target air line and a survey line.
Specifically, step S104 further includes step S401: and adjusting the deflection angle of the spherical hinge base, and checking the imaging effect of the RGBD panoramic camera 211 and the detection effect of the air coupling radar 221.
S105: and starting the auxiliary flight system 10, and controlling the unmanned aerial vehicle to move along the air line for inspection.
In some embodiments, step S105 further comprises step S501: the drone is regulated using a dynamic interaction module 32.
S106: controlling the unmanned aerial vehicle to return to a beginning-to-end point along a route and simultaneously carrying out retesting on a survey line; or, controlling the unmanned aerial vehicle to retest the key area.
S107: the scan information is stored.
Specifically, after the inspection task of one measuring line is completed, the holographic dynamic interactive image and the original data information collected by the relevant sensor are automatically stored.
It should be noted that, if the inspection task of the next line needs to be performed, only the steps S104 to S107 need to be repeated, and if a new tunnel inspection task needs to be performed, only the steps S103 to S107 need to be repeated.
Other configurations and operations of the tunnel holographic inspection drone device 100 based on multi-source information fusion according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides an unmanned aerial vehicle device is patrolled and examined in tunnel holography based on multisource information fusion which characterized in that includes:
the unmanned aerial vehicle comprises a machine body, a driving system and a rotor wing, wherein the driving system and the rotor wing are installed on the machine body, and the driving system is in power coupling connection with the rotor wing;
the auxiliary flight system is arranged on the body, is in communication connection with the driving system, and is used for determining three-dimensional coordinate information and a target route of the unmanned aerial vehicle;
the holographic detection system is in communication connection with the auxiliary flight system and is used for acquiring scanning information of a tunnel and determining risk points;
the remote control system, actuating system the auxiliary flight system with holographic detection system all with remote control system communication connection, remote control system is used for controlling unmanned aerial vehicle's work.
2. The holographic tunnel inspection unmanned aerial vehicle device based on multisource information fusion of claim 1, wherein the auxiliary flight system comprises:
the positioning module is used for determining three-dimensional coordinate information of the unmanned aerial vehicle;
the route planning module is in communication connection with the positioning module and is used for determining a target route based on the three-dimensional coordinate information of the unmanned aerial vehicle and the three-dimensional coordinate information of the starting point and the ending point;
the anti-collision module is used for protecting the unmanned aerial vehicle.
3. The holographic inspection robot device for tunnel based on multi-source information fusion of claim 2, wherein the positioning module comprises: the positioning module is used for combining the holographic detection system to obtain tunnel mileage information and correcting the three-dimensional coordinate information of the unmanned aerial vehicle.
4. The holographic tunnel inspection unmanned aerial vehicle device based on multisource information fusion of claim 2, wherein the collision avoidance module comprises: a physical bump protection module that covers the rotor;
and/or the presence of a gas in the gas,
the collision avoidance module includes: the barrier module is kept away in flight, the barrier module is kept away in flight includes: the flight obstacle avoidance module synthesizes information detected by the ultrasonic detector, the laser radar and the millimeter wave radar so as to protect the unmanned aerial vehicle.
5. The holographic inspection unmanned aerial vehicle device that patrols and examines in tunnel based on multisource information fusion of claim 2, characterized in that, the holographic detection system includes:
the scanning module is arranged on the machine body and used for acquiring image information and three-dimensional information of the tunnel;
the geophysical prospecting module is arranged on the machine body and used for acquiring the depth information of geophysical prospecting images behind the two lining walls and determining an abnormal area behind the two lining walls by combining an image recognition technology;
and the imaging module is in communication connection with the scanning module and the geophysical prospecting module and is used for determining a tunnel outline stereo image and forming a tunnel three-dimensional holographic dynamic interactive image based on a multi-source information fusion technology and an image recognition technology.
6. The holographic inspection unmanned aerial vehicle device of tunnel based on multisource information fusion of claim 5, wherein the scanning module includes:
the RGBD panoramic camera is arranged on the body and used for scanning the tunnel contour and generating a three-dimensional tunnel live model, and the three-dimensional tunnel live model comprises depth of field information;
and the laser radar is arranged on the machine body and is used for scanning the tunnel contour and generating a tunnel three-dimensional coordinate model, and the tunnel three-dimensional coordinate model comprises coordinate information and distance information.
7. The holographic inspection unmanned aerial vehicle device that patrols and examines in tunnel based on multisource information fusion of claim 5, characterized in that, the geophysical module includes:
and the air coupling radar is pivotally arranged on the machine body and is used for acquiring the depth information of the geophysical prospecting image behind the two lining walls.
8. The holographic inspection robot device for tunnel based on multi-source information fusion of claim 5,
the positioning module is in communication connection with the scanning module and is also used for determining three-dimensional coordinate information of the crack and tunnel mileage information;
the positioning module is in communication connection with the geophysical prospecting module and is further used for determining three-dimensional coordinate information and tunnel mileage information of the abnormal area.
9. The holographic inspection unmanned aerial vehicle device based on multi-source information fusion of any one of claims 1-8, wherein the remote control system comprises:
the 5G communication module is used for communicating the driving system with a control room;
and the dynamic interaction module is arranged in the control room and used for interacting with a user.
10. A method for tunnel inspection by using the tunnel holographic inspection unmanned aerial vehicle device based on multi-source information fusion according to any one of claims 1-9, which comprises the following steps:
checking the unmanned aerial vehicle;
determining the navigation origin-destination point of the unmanned aerial vehicle, and selecting an automatic planning route mode or a manual planning route mode;
starting the unmanned aerial vehicle and controlling the unmanned aerial vehicle to hover at a starting point coordinate, adjusting the three-dimensional position of the unmanned aerial vehicle, calibrating the mileage of a tunnel, adjusting the working state of a holographic detection system, and determining a target air route and a survey line;
starting an auxiliary flight system, and controlling the unmanned aerial vehicle to move along the air route for inspection;
controlling the unmanned aerial vehicle to return to the origin-destination point along the route and simultaneously carrying out retesting on the survey line; or, controlling the unmanned aerial vehicle to retest the key area;
the scan information is stored.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116682191A (en) * | 2023-08-02 | 2023-09-01 | 北京城建智控科技股份有限公司 | Subway tunnel inspection configuration method and system |
| 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 |
-
2022
- 2022-11-03 CN CN202211370855.4A patent/CN115743540A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116682191A (en) * | 2023-08-02 | 2023-09-01 | 北京城建智控科技股份有限公司 | Subway tunnel inspection configuration method and system |
| CN116682191B (en) * | 2023-08-02 | 2023-11-28 | 北京城建智控科技股份有限公司 | Subway tunnel inspection configuration method and system |
| 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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