Infrastructure inspection using a team of unmanned aerial vehicles

使用无人机团队进行基础设施检查

• 批准号: 570553-2021
• 负责人: Forbes, JamesR
• 金额: $ 15.92万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=759946
• 关键词: Infrastructure; inspection; using; team; unmanned

The expected outcome of this research project is a practical solution to infrastructure inspection using multiple unmanned aerial vehicles (UAVs). Regularly inspecting large structures, such as bridges, buildings, and wind turbines, is critically important to ensure their safety and timely repair, but is expensive, cumbersome, and dangerous. Providing governments and businesses with versatile, reliable, turnkey inspection solutions will benefit the industries needing inspections as well as Canadians who rely on the services of those industries. Existing UAV-based inspections are done using one drone with line-of-sight (LOS) positioning information to a Global Navigation Satellite System (GNSS). To realize faster and more complex inspections, this research project considers the use of multiple UAVs endowed with both GNSS and Ultra-Wideband (UWB) sensors. GNSS and UWB are complementary sensors; GNSS provides absolute position information while UWB can be used to provide relative position information between UAVs. The navigation, path planning, and mapping algorithms developed as part of this research program will enable traditionally difficult or impossible inspections, such as inspection of the underside of a bridge, or the inspection of a building in a dense urban environment. The end goal of this research project is to experimentally demonstrate the robust and reliable inspections using multiple UAVs.

该研究项目的预期结果是使用多个无人驾驶汽车（UAV）进行基础设施检查的实用解决方案。定期检查大型结构，例如桥梁，建筑物和风力涡轮机，对于确保其安全性和及时维修至关重要，但昂贵，繁琐且危险。向政府和企业提供多功能，可靠，交钥匙检查解决方案将使需要检查的行业以及依靠这些行业服务的加拿大人受益。现有的基于无人机的检查是使用带有视线（LOS）定位信息到全球导航卫星系统（GNSS）的一台无人机进行的。为了实现更快，更复杂的检查，该研究项目考虑了使用GNSS和超宽带（UWB）传感器的多个无人机的使用。 GNSS和UWB是互补的传感器； GNSS提供绝对位置信息，而UWB可用于在无人机之间提供相对位置信息。作为该研究计划的一部分开发的导航，路径计划和映射算法将使传统上的困难或不可能的检查，例如检查桥梁的底面或在密集的城市环境中检查建筑物的检查。该研究项目的最终目标是实验证明使用多个无人机进行了可靠和可靠的检查。