Patent Publication Number: US-2022237928-A1

Title: Method for detecting road diseases by intelligent cruise via unmanned aerial vehicle, unmanned aerial vehicle and detecting system therefor

Description:
CROSS REFERENCE OF RELATED APPLICATION 
     The present application claims priority under 35 U.S.C. 119(a-d) to CN 202011203793.9, filed Nov. 2, 2020. 
     BACKGROUND OF THE PRESENT INVENTION 
     Field of Invention 
     The present invention relates to road disease detection, and more particular to a method for detecting road diseases by intelligent cruise via an unmanned aerial vehicle (UAV), the UAV and a detecting system therefor. 
     Description of Related Arts 
     Since 2016, the technical conditions of UAVs have been continuously improved and mature, and have been widely used in agriculture, engineering, military and other fields. The technological development of UAVs has become more and more eye-catching, and target tracking and intelligent control has become a hot field in the development of UAVs. This technology can further improve the safety, efficiency and automation of UAVs, and provide a strong guarantee for the intelligent detection tasks of UAVs. 
     The patent document with an application number 201911120174.0 discloses a method for locating road diseases based on UAVs. The method uses Beidou satellite positioning and navigation system to control UAVs, and recognizes and collects road disease images through an improved DPM model, so as to achieve UAV-based disease location detection. However, this method still requires manual control of the UAV, and it is impossible to make the UAV fly automatically through the method of planning routes or intelligent tracing. In addition, the DPM model is an algorithm that first calculates the histogram of the gradient direction, and then uses the support vector machine to train the disease detection algorithm. 
     Therefore, the conventional road detection technology has shortcomings and needs to be improved. 
     SUMMARY OF THE PRESENT INVENTION 
     In view of the shortcomings of the above conventional arts, an object of the present invention is to provide a method for detecting road diseases by intelligent cruise via an unmanned aerial vehicle (UAV), the UAV and a detecting system therefor, which can automatically fly according to a scheduled route, and detect the deployment Disease. 
     In order to achieve the above object, the present invention provides the following technical solutions. 
     A deep learning-based UAV intelligent cruise road disease test method, UAV built-in road test model and road recognition model based on deep learning network, the detection method is: 
     The UAV is automatically flying on a predetermined route on the actual road determined by the road recognition model, and the road disease test results are obtained by the road surface disease detection model. 
     Preferably, the depth learning-based UAV intelligent cruise road disease detecting method, before the detecting method is performed, the road image is used in the computer terminal, and the road surface disease image separately on the road recognition model, respectively. The depth learning network base model of the road surface disease detection model is trained, and the optimal road recognition model is obtained, and the road surface disease detection model is loaded into the UAV. 
     Preferably, the predetermined route is pre-set by the server, the predetermined route is preset by the server; the UAV communication acquires the predetermined route data. 
     Preferably, the detection method based on deep learning-based UAV intelligent cruise road, the operation mode of the UAV includes intelligent equity, the specific steps: 
     getting an environmental image; 
     using the road recognition model to determine the road mark; and 
     getting a predetermined route, drive the UAV to fly along the road surface on the predetermined route. 
     Preferably, the detection method based on deeply learning-based UAV intelligent cruise road, the operation mode of the UAV includes a fixed point cruise, and the specific operation step is: 
     determining several key locations of the scheduled route; 
     sequentially passing a critical position by the UAV in accordance with the predetermined order. 
     A UAV, comprising basic components, cameras, and detection boards; the camera, the detecting plate, is connected to the base component; the detection board is loaded with a depth learning algorithm, a road surface disease detection model and road recognition. The model can achieve the road disease detection method. 
     Preferably, the UAV, the base assembly includes a rack, a motor, an electrical tone, a control board, a data transmission module, an image transmission module, an accelerometer, a positioning device, and the electrical tone, the accelerometer, The positioning device is connected to the control board, and the detecting plate is connected to the frame; the motor is connected to the electrical connection; the camera is connected to the image transmission module, said The image transmission module is connected to the detection board, respectively. 
     A road surface disease detection system uses the UAV, including interactive end and UAV, the UAV communication with the interactive end. 
     Preferably, the depth learning-based UAV intelligent cruise road disease detection system, the interactive end is a computer or mobile phone. 
     A readable medium, stores a computer software, the software to complete the detection method when executed by the processor. 
     Compared to the prior art, the UAV intelligent cruise road disease detection method, UAV and detection system provided by the present invention have the following benefits: 
     1. The present invention adopts the road recognition model of deep learning network and the road surface disease detection model, it is possible to realize automatic cruise and automatic road disease testing, only need to set a predetermined route or a predetermined regional range to achieve automatic cruise detection, convenient and fast; 
     2. The present invention has adopted a UAV as a core mobile device, and the UAV has a light, a wide range of moving ranges, strong operability, and strong development; 
     3. By realizing the fixed-point cruise of the UAV, the intelligent and flying, through the neural network tracking algorithm, the unmanned intelligence is achieved, thereby achieving the UAV automation intelligent flight, convenient and fast. 
     These and other objectives, features, and advantages of the present invention will become apparent from the following detailed description, the accompanying drawings, and the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a structural diagram of the UAV provided by the present invention; 
         FIG. 2  is a detailed structural block diagram of the UAV provided by the present invention; 
         FIG. 3  is a flow chart of the intelligent follow-up provided by the present invention; 
         FIG. 4  is a flow chart of the fixed-point cruise provided by the present invention; 
         FIG. 5  is a map display diagram of the fixed-point cruise operation provided by the present invention; 
         FIG. 6  is a flowchart of an embodiment of the assembly and debugging of the unmanned aerial vehicle provided by the present invention; 
         FIG. 7  is a structural block diagram of the road disease detection system provided by the present invention. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     In order to make the objects, technical solutions and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings. It will be appreciated that the specific embodiments described herein are intended to explain the present invention and is not intended to limit the invention. 
     Those skilled in the art will appreciate that the foregoing general description and the following detailed description are exemplary and illustrative embodiments of the invention, and the present invention is not intended to limit the invention. 
     The term “comprising”, “including”, “comprising” or any other variant thereof is intended to cover non-exclusive, such that the process or method including the step list includes not only those steps, but also can include unclear or such processes or methods. Similarly, without more restrictions, one or more devices or subsystems, elements, or structures or components that “contain . . . one” do not have more restrictions, exclude other devices or other children, system or other elements or other structures or other components or other subsystems or other components or other components. In the entire manual, the phrase “in one embodiment”, “in another embodiment” and the similar language may, but not necessarily, the same embodiments. 
     All techniques and scientific terms used herein have the same meaning as generally understood by those of ordinary skill in the art of the present invention, unless otherwise defined. 
     The present invention provides a method of detecting a deep learning-based UAV intelligent cruise road disease detection, UAV built-in road recognition model and road recognition model based on deep learning network, and the detection method is specifically: 
     The UAV is automatically flying on a predetermined route on the actual road determined by the road recognition model, and the road disease test results are obtained by the road surface disease detection model. 
     Specifically, the road disease detection method provided by the present invention is based on the UAV intelligent cruise, and it is used to automatically detect the predetermined route with the UAV, which uses the road recognition model to perform road identification, and then determine the flight on the normal road. No remote control is required, while using the road surface disease detection model for road disease recognition. Specifically, the UAV has a high-definition camera, and the resolution setting includes 1024*720, 1920*1080, etc., the sharpness of the shooting is high, and a certain detection requirement can be satisfied. As a preferred embodiment, the predetermined route is preset by the server; the UAV is communicatively communicated with the predetermined route data; preferably, the predetermined route can be pre-set in the UAV, or The UAV is loaded while the flight is loaded, and the present invention is not limited. In the specific operation, the road image and road disease image data are acquired by a high-definition camera, stored in the SD card. With further implementation, there is no need to set a predetermined route, just need to set the area range of cruise detection, the UAV can detect all the roads in this region, and the specific implementation principle is as described above, not doing limited. 
     Corresponding, please refer to  FIG. 1 , the present invention also provides an engineer, including the base assembly  2 , the camera  1 , and the detection plate  3 ; the camera  1 , the detecting plate  3  is connected to the base component  2 , respectively; The detecting plate  3  is loaded with a road surface disease detection model and a road recognition model based on a depth learning algorithm, and the road surface disease detection method can be realized. The base assembly  2  is a base member of the UAV, and it is possible to realize the normal operation of the UAV in the prior art, which is not limited herein, in the present embodiment, the base assembly  2  further according to the detection board  3 . The road information driver UAV flies along the scheduled route in the middle road recognition model. 
     In the present embodiment, the UAV acquires an environmental image around the UAV by the camera  1  and is delivered to the detecting plate  3  by the base assembly  2 ; the number of the camera  1  is not limited. It is also one, or it can be arranged according to the corresponding predetermined position; the detection board  3  determines whether the current UAV is on the road, if not, drive the UAV back to the road If it is not necessary to adjust, continue to fly forward, no need to manually remote control, realize automatic flight, it should be explained, the automatic flight is not only necessary to fly according to the established trajectory, but also guaranteed by camera  1  After the environmental image, in the real road, fly according to the scheduled route; simultaneously determine the road surface area through the road surface disease detection model, determine whether there is a road disease in the road area, and automatically detect road diseases on the basis of automatic flight. 
     As a preferred embodiment, referring to  FIG. 2 , in the present embodiment, the base assembly  2  includes a rack (not shown), a motor  21 , an electrical tuning  22 , a control panel  25 , a data transmission module  23 , an image transmission module  24 , an acceleration A positioning device  27 ; the electrical tuning  22 , the acceleration meter  26 , the positioning device  27 , the detecting plate  3 , and the control panel  25 , integrated, integrated, in the rack; The motor  21  is connected to the electrical tuning  22 ; the camera  1  is connected to the image transmission module  24 , the image transmission module  24 , and the data transmission module  23  are connected to the detection plate  3 , respectively. The electrical tuning  22  is configured to drive the motor  21  according to an instruction of the control panel  25 , and drive the flight fan blade; the control panel  25  drives the normal operation of the UAV system; the data transmission module  23 , Used to connect to the host computer, transmit the communication data transmitted by the control board  25 , receive communication data transmitted by the host computer, realize a specific connection of the UAV and the host computer; the image transmission module  24  is used to shoot the camera  1  The image is transmitted to the detecting plate  3  for processing and recognition; the detecting plate  3  is identified by the image captured by the camera  1 , transmitting the identification information to the control panel  25  for the control panel  25  to control the UAV flight. Reference data, such as identifying the side of the road surface in the right side of the UAV flight direction, driving the position of the UAV to adjust the position to the right side; the positioning device  27  acquires positioning information, when the detection board  3  When there is a road surface disease in the road, the specific coordinate position of the road surface disease is determined, accurate and fast. 
     Specifically, the base assembly  2  is the basic member required for the normal operation of the UAV, which can be used in the art, and the preferred implementation list is listed in Table 1 (including Component components and corresponding models): 
     
       
         
           
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 UAV accessories parameter table 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
               
            
               
                   
                 Assembly 
                 model 
               
               
                   
                   
                 ZD680PRO 
               
               
                   
                   
                 YH4120 
               
               
                   
                 frame 
                 ZD680PRO 
               
               
                   
                 Motor 21 
                 YH4120 
               
               
                   
                 Electric tonary 22 
                 Yingle day 40A 
               
               
                   
                 Flight control (control board 25) 
                 Pixhawk 4 
               
               
                   
                 GPS (positioning device 27) 
                 M8N 
               
               
                   
                 Data transmission station 
                 V5 (1500 meters from the 
               
               
                   
                 (data transmission module 23) 
                 transmission distance) 
               
               
                   
                 Graphic Module (Image 
                 TS832 (transmission 
               
               
                   
                 Transmission Module 24) 
                 distance 2000 meters) 
               
               
                   
                 Camera (camera 1) 
                 Mountain dog sports camera 
               
               
                   
                 power supply 
                 6S 8000 mAh battery 
               
               
                   
                 remote control 
                 Le Di AT9S remote control 
               
               
                   
                   
               
            
           
         
       
     
     Referring to  FIG. 6 , the present invention provides a depth study and UAV intelligent cruise road surface disease detection system, debugging and assembly to operations contain the following steps: 
     S 1 : after the UAV assembly is performed according to the above components, after assembling the UAV, the UAV body is 2.3 kg, resistance to the 5-level wind, there is no interference in the flight area, no obstacle, no obstruction Flight 2000 meters, with self-organized flight, fixed-point hover, one-click return, and intelligent target tracking function, thereby ensuring that the UAV can safely and reliably apply intelligent detection of roads. 
     Before working properly, it is necessary to assemble the UAV. Of course, before assembly debugging, the UAV unlock check should be performed, preventing the UAV from being loses control after power-on, threats to the surrounding personal safety. By default, the UAC enables the integrated security switch of the GPS module. After enabling, Pixhawk  4  will lock the UAV. The specific assembly debugging process is: 
     S 21 : installing the Mission Planner software, connect portable notebooks with Pixhawk  4  flight control modules and GPS, use Mission Planner to burn, write and upgrade control software for the UAV; specific, place the microcontroller of the PixHawk  4  flight control module has 2 MB of flash memory and 512 KB of RAM, making more complex algorithms and models can be implemented on the automatic driver. The Pixhawk  4  Flying Control Module has a separate shock absorber and heating resistor to achieve a certain degree of damping and temperature compensation. And, Pixhawk  4  has a gyroscope, acceleration meter  26 , a level, and other built-in modules, calibration through the Mission Planner (version 1.3.62), can ensure smooth moving. 
     S 22 : debugging, including accelerometer  26  calibration, compass calibration, and GPS calibration; where the GPS module model is M8N, the module integrates GPS with compass, security switches, buzzers and LED integration, connected to Pixhawk  4  GPS Module ports make it as far as possible from other electronic devices, reduce interference. The GPS positive direction should be in the positive direction of the Pixhawk  4  flight control module, and the direction mark is facing the front of the UAV. The gyroscope calibration is performed by Mission Planner (1.3.62 version) and unlock testing and out-of control protection settings to ensure the safety of UAVs. 
     S 23 : by calibrating and debugging the remote control, the UAV fails in accordance with the designated orientation. And set three flight modes, realize self-stable flight, fixed-point hover, and one-button return function; 
     S 24 : calibrating the V5 Digital Module, delivers a fixed-point flight of the UAV by downloading the Mission Planner ground control station in a portable computer or downloading a flying fish ground station app on a smartphone.  FIG. 2  shows the control map of Mission Planner, by specifying a flight height, controlling, setting a hover time, can make no one to fly according to the designated track, thereby improving the intelligence of the detection of UAV road disease; 
     S 25 : adjusting the map transmission station, so that the map display screen displays the amount of unmanned electrical voltage to prevent the UAV from falling due to low voltage and electricity during flight. 
     After assembly debugging, you need to perform performance debugging, specifically: 
     The control debugging of the S 31  UAV refers to whether the remote control is controlled by the remote control to control the direction of the UAV rotation in the UAV fan. 
     S 32  PTZ control commissioning includes debugging of horizontal and lateral rotation and Yuntai self-stable debugging; 
     The level of S 33  UAV is referred to as a macro-mounted slight flight, and the UAV can be self-organized. 
     As a preferred, in the present embodiment, before the detecting method is performed, the road recognition model, the road surface disease detection model, the depth learning network of the road surface disease detection model, the road surface disease detection model, the basic model is trained, and the optimal road recognition model is obtained, and the road surface disease detection model is loaded into the UAV. Specific training methods of the invention are not limited, and can be used in the art of training commonly used in the art. The road surface disease is divided into three types: cracks, pit grooves, and cracks, forming an image library according to each disease type, and further training for each disease separately. The present invention provides a training operation, specifically: 
     S 41 : the screening of images refers to a clear data set in accordance with certain criteria; the criterion of image screening is: 1, the disease position should be as close as possible to the center; 2, the disease should be clear in the visual range of human eyes; 3, image should Contains factors such as strong light, shadow, noise; 4, the image should contain various shooting angles. 
     S 42 : the clipping of the image refers to the clipping of the picture to a unified size, easy to mark and post-processing; the area and type labeled here, the corresponding post-processing is the image processing algorithm commonly used in the art, the present invention is not Do limit. 
     S 43 : the label of the image refers to a rectangular box by a MATLAB program, labeled a disease on a category as a rectangular box; 
     S 44 : the format conversion of the image refers to the transfer of the label information into the MXL format, which constitutes the UAV road image database and road disease image database. 
     S 45 : UAV road image database and road disease image database are divided into training set, verification set and test set according to the proportion of 6:2:2, respectively. 
     S 46 : in high-performance computer terminal training UAV road image and road disease image, through multiple debugging, the optimal road recognition model and road disease detection model; debugging hypervisor should include initial learning rate, total number of total generations, Motto coefficient, weight decay, etc. 
     S 47 : transplanting the optimal road recognition model and road domain detection model to NVIDIA Jetson Nano development board, and install the development board on the UAV; NVIDIA Jetson NANO development board should be equipped with Tensorrt and DeepStream model acceleration framework. 
     S 48 : on the actual road, fixed-point cruise detection and intelligent heel detection, to adjust the test results, and determine whether the surface disease test results reach the expected goal. Specifically, the evaluation index of the detection result is: PR curve, F1 score, accuracy, detection efficiency, and the like. 
     Specifically, the present invention mounts the NVIDIA Jetson Nano development board on the UAV, directly detects the road disease video, eliminating the step of transmitting video data back to the computer terminal, solves the problem of unstable transmission signal, and realizes road disease Real-time detection. 
     As a preferred embodiment, referring to  FIG. 3 , in the present embodiment, the operation mode of the UAV includes intelligent and flying, the specific steps are: 
     getting an environment picture; get the picture here is done through the camera  1  on the UAV, please refer to the above content; 
     using the road recognition model to determine the road mark; 
     getting a predetermined route, drive the UAV to fly along the road surface on the predetermined route. Specifically, intelligent follow-up is mainly flying along the logo of the road. It does not require manual control, you can realize the automatic flight of the road to the road complicated and more arc line, convenient and fast, and cooperate with the UAV Key to return function, etc., realize automatic cruise detection within a certain route. Specifically, in the operating mode of intelligent confection, the route recognition model will focus on identifying the flag on the road surface, transmitting the road surface flag data into the control panel  25  in the UAV, the control board  25  is controlled according to the road sign data. The UAV is normal flight, and the control method of the control board  25  is not limited. 
     As a preferred embodiment, referring to  FIGS. 4 and 5 , in the present embodiment, the operation mode of the UAV includes a fixed point cruise, and the specific steps are: 
     Determine several key positions of the scheduled route; the specific, fixed-point cruise mode is more suitable for road sections, as long as the key position is set to a critical position, you can realize the UAV along the real road section, convenient Fast. 
     The UAV sequentially passes a critical position in accordance with the predetermined order. Through  FIG. 5 , it can be found that the road segment between the two critical positions between the UAV can be realized as long as it is possible to determine a limited number of critical positions, and of course the road segment is the best, the UAV workload. Smaller, followed by further operation, as in the rectangular road map in  FIG. 5 , only need to determine the critical position ( 2 ) and the critical position ( 4 ), then determine the range to retrieve, you can implement all the roads in this area. Cruise detection is convenient and fast. 
     Accordingly, the present invention also provides a road surface disease detection system using the above-mentioned UAV, including interactive end and UAV, the UAV communication with the interactive end. Preferably, the interactive end is a computer or a mobile phone, further, the interaction end can be a cloud station (cloud platform) or a remote server, i.e., set a predetermined route to the UAV over the network, the human machine performs the above test operation. 
     Accordingly, the present invention also provides a readable medium for storing a computing software, which is performed when executed by the processor, completes the road disease detection method described in the above. Specifically, the readable medium may be independent, or may be in a certain electronic device (such as the UAV provided by the present invention) to achieve the road surface detection method. 
     It will be appreciated that one of ordinary skill in the art can be equivalent or changed according to the technical solutions and inventive concepts of the present invention, while all of these changes or replacements should belong to the scope of the appended claims. 
     One skilled in the art will understand that the embodiment of the present invention as shown in the drawings and described above is exemplary only and not intended to be limiting. 
     It will thus be seen that the objects of the present invention have been fully and effectively accomplished. Its embodiments have been shown and described for the purposes of illustrating the functional and structural principles of the present invention and is subject to change without departure from such principles. Therefore, this invention includes all modifications encompassed within the spirit and scope of the following claims.