SYSTEM AND METHOD FOR INFRASTRUCTURE INSPECTION

Abstract

Disclosed is a system and method for infrastructure inspection, comprising means for generating a 3D model of a specific piece of infrastructure, such as a LIDAR or photogrammetric sensor on board a helicopter or UAV, the model acting as a basis for creating a waypoint sequence according to which a route will be programmed, which will later be followed by vehicles for inspecting the piece of infrastructure. The vehicles are preferably multi-rotor UAVs that carry out their inspection by gathering data without a LIDAR sensor and which, when performing their programmed route, will be able to dispense with complex on-board electronic processing equipment, all of which results in greater flight autonomy.

Claims

1. System for infrastructure inspection comprising means to generate a digital structural model of a piece of infrastructure, means to configure an inspection route and at least an inspection vehicle, characterized in that the means to configure an inspection route are configured to calculate stopping points for the at least one inspection vehicle in points of the point cloud associated to critical elements of the piece of infrastructure; converting the stopping points in a sequence of spatial positioning points; programming at least one data-acquisition action on each of the at least one inspection vehicle's stopping points and configuring an inspection route by linking the sequence of spatial positioning points.

2. System for infrastructure inspection according to claim 1, characterized in that the means to generate a structural model of an infrastructure comprise a LiDAR sensor.

3. System for infrastructure inspection according to claim 1, characterized in that the means to generate a structural model of an infrastructure comprise at least a photogrammetric sensor.

4. System for infrastructure inspection according to claim 1, characterized in that the at least one inspection vehicle is a multirotor unmanned aircraft vehicle.

5. Method for infrastructure inspection comprising the steps of: a) Generating a digital structural model of a piece of infrastructure, b) Configuring an inspection route, c) Programming the inspection route in at least one inspection vehicle, d) Processing the data acquired by the at least one inspection vehicle, characterized in that step b) comprises the following substeps: i. Calculating stopping points for the at least one inspection vehicle in points of the point cloud associated to critical elements of the piece of infrastructure. ii. Converting the stopping points in a sequence of spatial positioning points. iii. Programming at least one data-acquisition action on each of the at least one inspection vehicle's stopping points. iv. Configuring an inspection route by linking the sequence of spatial positioning points.

6. Method for infrastructure inspection according to claim 5, characterized in that step a) comprises a first substep of scanning the piece of infrastructure, a second substep of generating a point cloud and a third substep of processing the point cloud.

7. Method for infrastructure inspection according to claim 5, characterized in that step b) comprises an additional substep of detecting the infrastructure using the point cloud as basis.

Description

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0029] In a first aspect, the subject matter of the present invention is a system for infrastructure inspection, referring to a specific piece of infrastructure, with a unique physical location. In a preferred embodiment, the invention is applied to a linear piece of infrastructure, such as a power line. The piece of infrastructure has points that, for inspection purposes, are considered critical because they are prone to defects or structural failures.

[0030] The system comprises means to generate a structural digital model of the piece of infrastructure. In a preferred embodiment, these means comprise, firstly, a LiDAR sensor. In another embodiment, said means comprise a photogrammetric sensor, or a set of such sensors. Sensors of one or the other type are preferably installed on board an aircraft, which can be a conventional helicopter or a UAV, or both, each scanning the piece of infrastructure by covering different portions of it. The result of said scanning with any of these means will be a high-density cloud point.

[0031] The means to generate a structural digital model of the piece of infrastructure comprise, secondly, a computer software for the treatment of the point cloud which was obtained by scanning the piece of infrastructure, said treatment being for the purposes of generating the structural model, specifically a three-dimensional rendering. Any of the known programs may be used to this end.

[0032] The system for infrastructure inspection likewise comprises means to configure an inspection route. In a preferred embodiment, said means comprise a computer program which is utilized in connection with the following functions: detecting the scanned infrastructure, for which purpose the point cloud is taken as a basis; calculating the inspection vehicle's stopping points at critical elements of the infrastructure, converting the stopping points in a sequence of spatial positioning points or waypoints, setting specific data acquisition actions associated to those waypoints and linking the waypoints in a route programmable to an inspection vehicle.

[0033] Finally, the system for infrastructure inspection comprises an inspection vehicle, preferably a multirotor UAV. The UAV is equipped with a satellite positioning system capable of connecting to several satellite networks, such as GPS, GLONASS, BeiDou or GALILEO. Likewise, the UAV features a basic obstacle-detection and avoidance sensor. Additionally, the UAV has a high precision positioning system, for instance a RTK (Real-Time Kinematics)-type system.

[0034] In a second aspect, the subject matter of the invention is a method for infrastructure inspection which is implemented by the described system.

[0035] The method comprises, in a first step, generating a structural digital model of a specific infrastructure, which preferably consists of generating a 3D model of the infrastructure.

[0036] This first step comprises a first substep of scanning the infrastructure; a second substep of generating a point cloud and a third substep of computer-processing the point cloud, to obtain the mentioned structural digital model of the piece of infrastructure.

[0037] In a second step, the method comprises configuring an inspection route. This step is preferably carried out with the personal intervention of an operator, who uses the computer program comprised in the means to configure an inspection route, as has been mentioned above.

[0038] This second step comprises a first substep of detecting the infrastructure, for which purpose the point cloud is taken as a basis. A second substep consists of calculating stopping points for the inspection vehicle in points of the point cloud associated to critical elements of the piece of infrastructure. A third substep consists of converting the stopping points in a sequence of spatial positioning points or waypoints; a fourth substep consists of programming at least one data-acquisition action (for instance, taking pictures) on each of the inspection vehicle's stopping points and a fifth substep consists of linking the waypoints to configure a route programmable on an inspection vehicle.

[0039] In a third step, the method comprises programming at least an inspection vehicle with the programmable route obtained as a result of the former step. This is the conventional method of transmitting the programmed route to the aircraft's automatic pilot, which can be performed by any known method: connecting the vehicle to the computer where the route has been programmed, utilizing a USB device, or transmitting the program wirelessly by Wi-Fi or Bluetooth connection. The vehicle's automatic pilot will perform the programmed route.

[0040] In a fourth step, the method comprises processing the data acquired by the at least one inspection vehicle after having followed the inspection route, to detect structural failures. Preferably, this step in performed with a computer system in the ground, at a point in time ulterior to the data acquisition.