CN112882490A - Railway inspection unmanned aerial vehicle based on 5G technology - Google Patents
Railway inspection unmanned aerial vehicle based on 5G technology Download PDFInfo
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Abstract
本发明公开了一种基于5G技术的铁路巡检无人机，通过无人机携带激光成像雷达对接触网的接触线进行磨损检测，携带云台相机进行循迹飞行，携带高清摄像头对钢轨的断裂、形变进行识别，采用北斗定位模块实时定位无人机当前所在的位置，并在铁路沿线设有无线充电台，对无人机沿线巡检时提供充电的平台，提高无人机的巡航能力，并通过5G通信技术将采集到的数据实时传输至监控中心进行分析存储。也可以由监控中心通过5G通信技术向5G模块发送指令来控制无人机的飞行，当被巡检的铁路路段有列车通过时，监控中心提前自动向无人机发送有列车前往的信息，控制电路板便控制无人机改变飞行方向，飞往就近的无线充电台进行等待。
The invention discloses a railway inspection drone based on 5G technology. The drone carries a laser imaging radar to perform wear detection on the contact line of the catenary, carries a pan-tilt camera for tracking flight, and carries a high-definition camera to monitor the tracking of the rail. Identify fractures and deformations, use the Beidou positioning module to locate the current position of the UAV in real time, and set up a wireless charging station along the railway line to provide a charging platform for the inspection of the UAV along the line, and improve the cruising ability of the UAV , and transmit the collected data to the monitoring center in real time through 5G communication technology for analysis and storage. The monitoring center can also send instructions to the 5G module through 5G communication technology to control the flight of the drone. When a train passes through the railway section being inspected, the monitoring center automatically sends the information of the train to the drone in advance to control the flight of the drone. The circuit board controls the drone to change its flight direction and fly to the nearest wireless charging station to wait.
Description
Technical Field
The invention relates to the field of railway inspection, in particular to a railway inspection unmanned aerial vehicle based on a 5G technology.
Background
With the rapid development of railways in China, the railway industry in China is well recognized in the world, and railway technologies in China are introduced in many countries to implement railway specifications in China. Meanwhile, domestic railways are also accelerated and innovated continuously, and the improvement of the intelligence of railway detection is a key link for optimizing and upgrading the railway industry and realizing modernization in China. Nowadays, the railway industry of China also continuously strives towards intellectualization, and the railway intellectualization plays an indispensable role in improving the traditional railway industry, improving the transportation efficiency, improving the service quality, improving the management level, guaranteeing the transportation safety and reducing the labor intensity of workers.
Once foreign matters appear on the track or the steel rail deforms and breaks, the safe operation of the train can be seriously influenced, and accidents such as derailment and side turning of the train can be caused in serious conditions. In addition, in a contact network, a contact wire is in direct contact with a pantograph, so that the pantograph is abraded under repeated friction of the pantograph, the contact wire is broken in serious conditions, and the power supply safety of a train is affected.
In the prior art, a railway line is mainly inspected manually or by a rail inspection vehicle. The manual inspection along the line is to inspect the rails and the overhead line system by workers along the railway line, and due to the influence of experience of the workers, certain errors exist in the judgment of the abrasion condition of the overhead line system, the deformation condition of the steel rail and the fracture condition of the steel rail, most of the workers work at night, and the labor intensity of the workers is greatly increased; when the inspection vehicle inspects the railway line, the basic condition along the railway can be detected, the inspection vehicle also needs to go out at night for inspection, and once the rail deforms or a large number of obstacles exist, the inspection vehicle cannot go forward continuously.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a railway inspection unmanned aerial vehicle based on a 5G technology, the unmanned aerial vehicle carries a laser imaging radar to carry out abrasion detection on a contact line of a contact network, carries a pan-tilt camera to carry out tracking flight, carries a high-definition camera to identify fracture and deformation of a steel rail, carries a 5G module to transmit acquired data to a monitoring center in real time for analysis and storage, adopts a Beidou positioning module to position the current position of the unmanned aerial vehicle in real time, is provided with a wireless charging platform along the railway, provides a charging platform when the unmanned aerial vehicle inspects along the railway, and improves the cruising ability of the unmanned aerial vehicle. The method effectively replaces manual inspection along the line, improves the detection precision, reduces the labor intensity of workers, is not influenced by rail obstacles and steel rail deformation and fracture, and can be used for normal inspection along the line.
In order to achieve the purpose, the invention provides a railway inspection unmanned aerial vehicle based on a 5G technology, which is realized as follows:
a railway inspection unmanned aerial vehicle based on 5G technology comprises an unmanned aerial vehicle model, fan blade propellers, a rotating motor, a speed regulator, a storage battery, a pan-tilt camera, a control circuit board, a laser imaging radar, a 5G module, a Beidou positioning module, a high-definition camera, a laser ranging radar, a wireless power receiver, a voltage sensor, a current sensor and a ZigBee router, wherein the main body structure of the unmanned aerial vehicle consists of the unmanned aerial vehicle model, the fan blade propellers, the rotating motor, the speed regulator, the storage battery and the control circuit board, the four brackets of the unmanned aerial vehicle model are respectively provided with the same rotating motor and the same speed regulator, each rotating motor is provided with the fan blade propellers, the control circuit board and the storage battery are arranged in the unmanned aerial vehicle model, the storage battery supplies power for the rotating motor, the speed regulator and the control circuit board, the speed regulator regulates the speed of the rotating motors, the flying direction of the unmanned aerial vehicle is controlled and the flying height of the unmanned aerial vehicle is regulated by regulating different rotating speeds of the rotating motors, the laser imaging radar, the 5G module and the Beidou positioning module are arranged above an unmanned aerial vehicle model, the laser imaging radar is used for detecting the abrasion condition of a contact line, the diameter of the contact line is calculated in a control circuit board, and then the abrasion degree of the contact line is judged, the Beidou positioning module is used for positioning the current position of the unmanned aerial vehicle in real time, the tripod head camera, the high-definition camera, the laser ranging radar, the wireless electric energy receiver, the voltage sensor, the current sensor and the ZigBee router are arranged at the bottom end of the unmanned aerial vehicle model, the tripod head camera is used for assisting the unmanned aerial vehicle in tracking flight, the high-definition camera identifies the fracture and deformation of a steel rail, the voltage sensor and the current sensor are used for respectively detecting the voltage and the current of the storage battery and transmitting the detected voltage and current information to the control circuit board.
The scheme of the invention for assisting the unmanned aerial vehicle to carry out tracking flight by the holder camera comprises the following steps: because the railway track is mainly formed by two steel rails and a sleeper in a combined mode, the image information of the steel rails is collected through the holder camera and transmitted to the control circuit board for image recognition processing, the relative positions of the two steel rails are recognized through an image recognition algorithm, the two steel rails are used as tracking lines, and the control circuit board controls the unmanned aerial vehicle to fly along the steel rails.
The scheme for identifying the fracture and deformation of the steel rail by the high-definition camera comprises the following steps: because unmanned aerial vehicle is along the track flight, so unmanned aerial vehicle suspends in the air on the rail, gather orbital picture through high definition digtal camera and upload to control circuit board, carry out image recognition in control circuit board, in the binary image, obvious difference can appear in the pixel of rail fracture department, judge whether the rail breaks through calculating the pixel, and when the rail takes place deformation, the distance between two rails also can change, and in the image, there is obvious difference in the pixel value of rail and the pixel value of background picture, judge whether the rail takes place deformation through the interval of calculating between two rail pixel values.
The wireless charging station is arranged along the railway and used for charging the unmanned aerial vehicle.
The wireless charging station comprises a supporting table, a ZigBee terminal node, a wireless electric energy transmitter and a voltage stabilizer, wherein the voltage stabilizer is installed in the supporting table and connected between 220V mains supply and the wireless electric energy transmitter, the 220V mains supply is stabilized and then supplies power to the wireless electric energy transmitter, the ZigBee terminal node and the wireless electric energy transmitter are installed above the supporting table, the wireless electric energy transmitter is used for supplying power to a wireless electric energy receiver, wireless charging of an unmanned aerial vehicle is achieved, and the ZigBee terminal node is used for establishing a wireless connection relation with a ZigBee router.
The scheme for finding the wireless charging station by the unmanned aerial vehicle is as follows: the ZigBee terminal nodes and the ZigBee router are provided with the same communication protocol, only the ZigBee router on the unmanned aerial vehicle can communicate with the ZigBee terminal nodes of the wireless charging station, when the voltage sensor and the current sensor detect that the voltage and the current of the storage battery of the unmanned aerial vehicle are lower than the preset value, the control circuit board controls and controls the ZigBee router to be opened, the ZigBee router establishes communication with the nearest ZigBee terminal node, the speed regulator regulates the rotating speed of the rotating motor, further adjusting the direction of the unmanned aerial vehicle to fly to the ZigBee terminal node which is connected with the unmanned aerial vehicle, staying on the wireless charging station, then the wireless power transmitter supplies power to the wireless power receiver, the wireless power receiver transmits the power to the storage battery, after voltage sensor, current sensor detected the voltage current of battery normal, showed the end of charging, control circuit board control unmanned aerial vehicle flies to the track top and continues to patrol and examine.
The 5G module is used for transmitting contact line wear information, the position of the unmanned aerial vehicle, steel rail deformation, fracture information and road condition picture information processed by the control circuit board to the monitoring center in real time, the monitoring center can determine a point needing maintenance according to the information along the railway transmitted by the unmanned aerial vehicle, the monitoring center can also transmit an instruction to the 5G module through a 5G communication technology to control the flight of the unmanned aerial vehicle, when a train passes through the railway section to be inspected, the monitoring center automatically transmits information about the train to the unmanned aerial vehicle in advance, and the control circuit board controls the unmanned aerial vehicle to change the flight direction and fly to a nearby wireless charging station for waiting.
The scheme of the unmanned aerial vehicle for railway inspection is as follows: when the railway inspection is not needed, the control circuit board controls the unmanned aerial vehicle to fly to a nearby wireless charging station for charging and waiting, when the railway inspection is needed, the control circuit board controls the unmanned aerial vehicle to fly to the upper part of the track, when the laser ranging radar is used for detecting that the height of the unmanned aerial vehicle from the ground exceeds a preset value, the control circuit board controls the speed regulator to change the rotating speed of the rotating motor, further the flying height of the unmanned aerial vehicle is adjusted, when the flying height of the unmanned aerial vehicle is in the preset value, the flying height of the unmanned aerial vehicle is normal, then the picture information of the track is collected by the pan-tilt camera, the control circuit board identifies the position of the steel rail according to the picture information collected by the pan-tilt camera, the two steel rails are used as tracking lines for flying, when an obstacle appears on the track, the control circuit board controls the 5G module to transmit, Deformation detects, when detecting that the rail crack appears or when deformation, show that the rail has appeared unusually, control circuit board just controls the 5G module and uploads the rail unusual information that fracture appears or deformation to the surveillance center, detect the wearing and tearing condition of contact wire through laser imaging radar, calculate the degree of wear of contact wire in control circuit board, and upload contact wire unusual information to the surveillance center, when voltage sensor, current sensor detects when unmanned aerial vehicle's battery voltage electric current is less than the default, show that unmanned aerial vehicle need charge, control circuit board control unmanned aerial vehicle flies to charge to the wireless charging station that is just close, it patrols and examines to continue to fly to the track after waiting to charge, end up patrolling and examining.
The control circuit board of the invention adopts a DSP control board.
Because the invention adopts the structure of unmanned aerial vehicle routing inspection and 5G module communication, the following beneficial effects can be obtained:
carry the laser imaging radar through unmanned aerial vehicle and carry out wearing and tearing detection to the contact wire of contact net, carry the cloud platform camera and carry out tracking flight, carry the fracture of high definition digtal camera to the rail, deformation is discerned, adopt the position at the current place of big dipper orientation module real-time positioning unmanned aerial vehicle, and be equipped with wireless platform that charges along the railway, provide the platform that charges when patrolling and examining along the line to unmanned aerial vehicle, improve unmanned aerial vehicle's ability of cruising, and carry out analysis and storage to the surveillance center through the data real-time transmission that 5G communication technology will gather. The method effectively replaces manual inspection along the line, improves the detection precision, reduces the labor intensity of workers, is not influenced by rail obstacles and steel rail deformation and fracture, and can be used for normal inspection along the line.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a railway inspection unmanned aerial vehicle based on the 5G technology;
FIG. 2 is a schematic bottom structure diagram of a railway inspection unmanned aerial vehicle based on 5G technology;
fig. 3 is a schematic view of an installation structure of a wireless charging stand of a railway inspection unmanned aerial vehicle based on a 5G technology;
fig. 4 is a schematic structural diagram of a wireless charging station of the railway inspection unmanned aerial vehicle based on the 5G technology;
fig. 5 is a flow chart of a scheme for finding a wireless charging station by an unmanned aerial vehicle of a railway inspection unmanned aerial vehicle based on a 5G technology;
fig. 6 is a schematic circuit connection diagram of the railway inspection unmanned aerial vehicle based on the 5G technology.
The main elements are indicated by symbols.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
Referring to fig. 1 to 6, the railway inspection unmanned aerial vehicle based on the 5G technology includes an unmanned aerial vehicle model airplane 1, a fan blade propeller 2, a rotating electrical machine 3, a speed regulator 4, a storage battery 5, a pan-tilt camera 6, a control circuit board 7, a laser imaging radar 8, a 5G module 9, a Beidou positioning module 10, a high-definition camera 11, a laser ranging radar 12, a wireless power receiver 13, a voltage sensor 14, a current sensor 15 and a ZigBee router 16.
As shown in fig. 1 and fig. 2, the main structure of the unmanned aerial vehicle is composed of the unmanned aerial vehicle model 1, the fan blade propellers 2, the rotating electrical machines 3, the speed regulators 4, the storage battery 5 and the control circuit board 7, wherein the same rotating electrical machines 3 and speed regulators 4 are respectively installed on four supports of the unmanned aerial vehicle model 1, the fan blade propellers 2 are installed on each rotating electrical machine 3, the control circuit board 7 and the storage battery 5 are installed in the unmanned aerial vehicle model 1, the rotating electrical machines 3, the speed regulators 4 and the control circuit board 7 are supplied with power by the storage battery 5, the speed regulators 4 are electrically connected with the rotating electrical machines 3 and the control circuit board 7, the control circuit board 7 controls the output voltage value of the speed regulators 4 to adjust the rotating speed of the rotating electrical machines 3, the control circuit board 7 controls the output of the speed regulators 4 to adjust the speed of the rotating electrical machines 3, the flying direction of the unmanned aerial vehicle and the flying height, the laser imaging radar 8, the 5G module 9 and the Beidou positioning module 10 are installed above an unmanned aerial vehicle model airplane 1, the laser imaging radar 8 is used for detecting the abrasion condition of a contact wire and transmitting the detected information to the control circuit board 7 for processing, the diameter of the contact wire is calculated in the control circuit board 7 so as to judge the abrasion degree of the contact wire, the Beidou positioning module 10 is used for positioning the current position of the unmanned aerial vehicle in real time, a monitoring center can conveniently know the current position of the unmanned aerial vehicle, the tripod head camera 6, the high-definition camera 11, the laser ranging radar 12, the wireless power receiver 13, the voltage sensor 14, the current sensor 15 and the ZigBee router 16 are installed at the bottom end of the unmanned aerial vehicle model airplane 1, the tripod head camera 6 is used for assisting the unmanned aerial vehicle in tracking flight, the high-definition camera 11 is used for identifying the fracture and deformation of a steel rail, and the laser ranging radar, control circuit board 7 adjusts unmanned aerial vehicle's flying height according to the distance that laser rangefinder radar 12 detected, make unmanned aerial vehicle flying height be in the default within range, keep and the distance between the track, voltage sensor 14, current sensor 15 is used for detecting battery 5's voltage and electric current respectively, and transmit the voltage current information who detects to control circuit board 7, when battery 5's voltage electric current takes place corresponding change, control circuit board 7 just controls unmanned aerial vehicle and flies to charging with regard to nearly wireless charging platform 17, wireless power receiver 13 is used for establishing unmanned aerial vehicle and wireless charging platform 17's charging connection, zigBee router 16 is used for assisting unmanned aerial vehicle to look for wireless charging platform 17.
The scheme that 6 supplementary unmanned aerial vehicle of cloud platform camera carry out tracking flight does: because the railway track is mainly formed by combining two steel rails and sleepers, the image information of the steel rails is collected through the pan-tilt camera 6 and is transmitted to the control circuit board 7 for image recognition processing, the relative positions of the two steel rails are recognized through an image recognition algorithm, and the control circuit board 7 controls the unmanned aerial vehicle to fly along the steel rails by taking the two steel rails as a tracking line.
The scheme that the high-definition camera 11 identifies the fracture and the deformation of the steel rail is as follows: because unmanned aerial vehicle is along the track flight, so unmanned aerial vehicle suspends in the air on the rail, gather orbital picture through high definition digtal camera 11 and upload to control circuit board 7, carry out image recognition in control circuit board 7, in the binary image, obvious difference can appear in the pixel of rail fracture department, judge whether the rail breaks through calculating the pixel, and when the rail takes place deformation, the distance between two rails also can change, and in the image, there is obvious difference in the pixel value of rail and the pixel value of background picture, judge whether the rail takes place deformation through calculating the interval between two rail pixel values.
As shown in fig. 3, be equipped with wireless platform 17 that charges along the railway for unmanned aerial vehicle charges, when unmanned aerial vehicle need charge, can fly to the wireless platform 17 that charges of being nearby and charge.
As shown in fig. 4, wireless charging station 17 include brace table 18, ZigBee terminal node 19, wireless power transmitter 20, stabiliser 21 is installed in brace table 18, and stabiliser 21 connects between 220V commercial power and wireless power transmitter 20, supply power for wireless power transmitter 20 after stabilizing 220V commercial power, ZigBee terminal node 19, wireless power transmitter 20 installs in brace table 18 top, wireless power transmitter 20 is used for supplying power for wireless power receiver 13, realize unmanned aerial vehicle's wireless charging, ZigBee terminal node 19 is used for establishing the wireless connection relation with ZigBee router 16.
The scheme for finding the wireless charging station 17 by the unmanned aerial vehicle is as follows: the same communication protocol is set in the ZigBee terminal node 19 and the ZigBee router 16, only the ZigBee router 16 on the unmanned aerial vehicle can communicate with the ZigBee terminal node 19 of the wireless charging station 17, when the voltage sensor 14 and the current sensor 15 detect that the voltage and the current of the storage battery 5 of the unmanned aerial vehicle are lower than the preset value, the control circuit board 7 controls the ZigBee router 16 to be opened, the ZigBee router 16 establishes communication with the nearest ZigBee terminal node 19, the speed regulator 4 regulates the rotating speed of the rotating motor 3, further regulates the direction of the unmanned aerial vehicle to fly to the ZigBee terminal node 19 which has established connection, the unmanned aerial vehicle stays on the wireless charging station 17, then the wireless power transmitter 20 supplies power to the wireless power receiver 13, the power is transmitted to the storage battery 5 through the wireless power receiver 13, when the voltage sensor 14 and the current sensor 15 detect that the voltage and the current of the storage battery 5 are normal, the charging is finished, and the control circuit board 7 controls the unmanned aerial vehicle to fly to the upper part of the track to continue to patrol.
5G module 9 be used for the contact wire wearing and tearing information after 7 processings of control circuit board, unmanned aerial vehicle position, rail deformation, fracture information, road conditions picture information real-time transmission to the surveillance center, the surveillance center can confirm the point that needs the maintenance according to the railway information along the line that unmanned aerial vehicle transmitted, and then realize pertinence, the purpose is overhauld, reduce staff's intensity of labour, also can be by the surveillance center through 5G communication technology to 5G module 9 sending instruction and control unmanned aerial vehicle's flight, when the railway section of the railway highway section of patrolling and examining has the train to pass through, the surveillance center sends the information that has the train to go to unmanned aerial vehicle in advance automatically, control circuit board 7 is convenient for control unmanned aerial vehicle changes flight direction, it waits to fly to the wireless platform 17 that charges nearby.
As shown in fig. 5, the scheme for the unmanned aerial vehicle to carry out railway inspection is as follows: when railway inspection is not needed, the control circuit board 7 controls the unmanned aerial vehicle to fly to the near wireless charging station 17 for charging and waiting, when the railway inspection is needed, the control circuit board 7 controls the unmanned aerial vehicle to fly to the upper part of the track, when the laser ranging radar 12 is used for detecting that the height of the unmanned aerial vehicle from the ground exceeds a preset value, the control circuit board 7 controls the speed regulator 4 to change the rotating speed of the rotating motor 3 so as to adjust the flying height of the unmanned aerial vehicle, when the flying height of the unmanned aerial vehicle is in the preset value, the flying height of the unmanned aerial vehicle is normal, then the pan-tilt camera 6 acquires picture information of the track, the control circuit board 7 identifies the position of the steel rail according to the picture information acquired by the pan-tilt camera 6, two steel rails are used as tracking lines for flying, when an obstacle appears on the track, the control circuit board 7 controls the 5, crack through high definition digtal camera 11 to the rail, deformation detects, when detecting that crack or deformation appear in the rail, it has appeared unusually to show the rail, control circuit board 7 just controls 5G module 9 and uploads the rail unusual information that fracture or deformation appear to the surveillance center, detect the wearing and tearing condition of contact wire through laser imaging radar 8, calculate the degree of wear of contact wire in control circuit board 7, and upload contact wire unusual information to the surveillance center, when voltage sensor 14, current sensor 15 detects when unmanned aerial vehicle's battery 5 voltage electric current is less than the default, show that unmanned aerial vehicle need charge, control circuit board 7 control unmanned aerial vehicle flies to charge to wireless charging station near just, continue to fly to patrol and examine on the track after waiting for the charge, it finishes to patrol and examine up to patrolling and examining.
The control circuit board 7 of the present invention adopts a DSP control board.
The working principle and the working process of the invention are as follows:
as shown in fig. 6, the control circuit board 7 controls the unmanned aerial vehicle to fly along the rail according to the rail picture collected by the pan/tilt/zoom camera 6 as a tracking route, the control circuit board 7 controls the output of the speed regulator 4, the speed regulator 4 adjusts the speed of the rotating motors 3, the flying direction of the unmanned aerial vehicle and the flying height of the unmanned aerial vehicle are controlled by adjusting different rotating speeds of the rotating motors 3, the high definition camera 11 collects the track picture and uploads the track picture to the control circuit board 7, image recognition is performed in the control circuit board 7, the fracture condition and deformation condition of the rail are recognized, the control circuit board 7 adjusts the flying height of the unmanned aerial vehicle according to the distance detected by the laser ranging radar 12, the flying height of the unmanned aerial vehicle is in a preset value range, the distance between the unmanned aerial vehicle and the track is kept, the laser imaging radar 8 detects the wear condition of the contact wire, the diameter of a contact wire is calculated in a control circuit board 7, the abrasion degree of the contact wire is further judged, a Beidou positioning module 10 is used for positioning the current position of an unmanned aerial vehicle in real time and transmitting detected position information to the control circuit board 7, a voltage sensor 14 and a current sensor 15 respectively detect the voltage and the current of a storage battery 5 and transmit detected voltage and current information to the control circuit board 7, when the voltage and the current of the storage battery 5 change correspondingly, the control circuit board 7 controls and controls a ZigBee router 16 to be opened, the ZigBee router 16 establishes communication with a nearest ZigBee terminal node 19, a speed regulator 4 regulates the rotating speed of a rotating motor 3, the direction of the unmanned aerial vehicle is further regulated to fly to the ZigBee terminal node 19 which is connected, the unmanned aerial vehicle stops on a wireless charging platform 17 for charging, and the control circuit board 7 controls a 5G module 9 to control the abrasion information of the contact wire processed by the control circuit board 7 to fly, Unmanned aerial vehicle position, rail deformation, fracture information, road conditions picture information real time transport to surveillance center, the surveillance center can be according to the railway information determination point that needs the maintenance along the line that unmanned aerial vehicle transmitted, also can be by the surveillance center through 5G communication technology to 5G module 9 send instruction control unmanned aerial vehicle's flight, when there is the train to pass through by the railway highway section of patrolling and examining, the surveillance center sends the information that has the train to go to unmanned aerial vehicle in advance automatically, control circuit board 7 just controls unmanned aerial vehicle and changes the flight direction, fly to waiting to the wireless platform 17 that charges nearby.
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| CN113433963A (en) * | 2021-07-15 | 2021-09-24 | 江西理工大学 | Unmanned aerial vehicle multi-platform system and method for magnetic suspension track inspection |
| CN113483684A (en) * | 2021-07-02 | 2021-10-08 | 桂林理工大学 | Track gauge online measurement system |
| CN113674211A (en) * | 2021-07-26 | 2021-11-19 | 上海睿而维科技有限公司 | Track quality monitoring and analyzing system |
| CN113720676A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Deformation damage detection system that interior cabin was patrolled and examined among aircraft structure fatigue test |
| TWI800137B (en) * | 2021-12-03 | 2023-04-21 | 國立虎尾科技大學 | Intelligent unmanned aerial vehicle railway monitoring system and method |
| CN117073570A (en) * | 2023-10-12 | 2023-11-17 | 四川高速公路建设开发集团有限公司 | Tunnel deformation degree detection system and method based on unmanned aerial vehicle |
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