The invention relates to an unmanned aerial vehicle tunnel defect detection method and system, an unmanned aerial vehicle carries an LED module, a camera, a laser radar, an ultrasonic range finder and an IMU, and the method comprises the following steps: collecting images in a tunnel based on the LED module and the camera to obtain a training image set; training by using the training image set to obtain a defect detection model; collecting real-time tunnel images, performing suspected defect detection on the real-time tunnel images through the defect detection model, obtaining unmanned aerial vehicle pose information based on the camera, the laser radar, the ultrasonic range finder and the IMU, and controlling the unmanned aerial vehicle to hover. Compared with the prior art, the LED module is used for supplementing illumination in the tunnel, the IMU, the camera, the laser radar and the ultrasonic range finder are fused to achieve unmanned aerial vehicle pose estimation, the trained defect detection model is used for detecting whether suspected defects exist or not in real time, hovering is carried out after the suspected defects are found, and defect detection is further carried out. Accurate pose estimation and defect detection can be realized in a tunnel which has no GPS signal and is highly symmetrical inside.
本发明涉及一种无人机隧洞缺陷检测方法及系统,无人机上搭载有LED模块、相机、激光雷达、超声波测距仪和IMU,方法包括:基于LED模块和相机在隧洞内采集图像,得到训练图像集;使用训练图像集训练得到缺陷检测模型;采集实时隧洞图像,使用缺陷检测模型对实时隧洞图像进行疑似缺陷检测,基于相机、激光雷达、超声波测距仪和IMU得到无人机位姿信息,控制无人机悬停。与现有技术相比,本发明使用LED模块补充隧洞内光照,融合IMU、相机、激光雷达和超声波测距仪实现无人机位姿估计,使用训练好的缺陷检测模型实时检测是否存在疑似缺陷,发现疑似缺陷后悬停并进一步进行缺陷检测,能够在无GPS信号且内部高度对称的隧洞内实现精确的位姿估计和缺陷检测。
Unmanned aerial vehicle tunnel defect detection method and system
一种无人机隧洞缺陷检测方法及系统
2021-09-07
Patent
Electronic Resource
Chinese
IPC: | G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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