The three main elements of the project are:
Aircraft
The
ELEVAR aircraft is based on a multirotor developed by TEKEVER. This
unmanned aircraft consists of a small quadcopter adapted to carry the
necessary sensors and to include a protection structure between the
propellers and the structures to avoid possible damages. The modular
nature of this multi-rotor, coupled with the modular and scalable nature
of the information system, allows the rapid exchange of sensors and
components (payload) giving the flexibility to handle a wide range of
monitoring requirements associated with different types of structures.
The aircraft's autopilot allows an easy integration of different control
algorithms and an adaptation to various operating profiles.
Algorithms
The
largest innovation of the ELEVAR platform focuses on its vision
navigation algorithms and inertial sensors. This capability, coupled
with other algorithms that enable 3D modelling of structures, provides
the system with complete independence of satellite positioning signals,
greatly increasing the accuracy of the aircraft position relative to the
structure and to the anomalies to be analysed. In addition, taking
advantage of 2D and 3D maps, the platform becomes capable of processing
data to detect anomalies either autonomously by comparison with the
original CAD model or by techniques of detection in textures. Taking
advantage of these features, ELEVAR presents an innovative solution for
the automation of data collection in inspection and recovery of
structures.
Information system and interface
The interface
between the user and the ELEVAR system is based on the concept of mobile
application through the exploitation of the MORETM platform developed
and implemented by TEKEVER. This platform will guarantee the scalability
and modularity of the system as it allows the easy integration of new
communication channels for the exploitation of the results obtained in
different platforms such as tablets or computers, in online or offline
mode, and in different operating systems. This interface is supported by
an information system that ensures data fusion and processing as well
as reproducibility of the results, allowing easy access to all the
information generated by the ELEVAR system. With this system it will be
possible to add new configurations according to the needs of the user
and the technologies used, perform previous inspections and compare
results.
Consortium:
TEKEVER ASDS (coordinator)
Computer and Robot Vision Lab (VisLab) of Instituto Superior Técnico
National Laboratory for Civil Engineering (LNEC)
LNEC team members:
Maria João Henriques, António Lopes Baptista
PUBLICATIONS
Henriques, M.J.; Pinto, T.; Andrade, J.; Dornellas, D.; Gonçalves, J.; Ribeiro, R.; Bernardino, A.; SantosVictor, J.; Batista, A.L., 2019. "Projeto ELEVAR – Estudo localizado de estruturas verticais com aeronaves robotizadas. Uma contribuição para as inspeções visuais assistidas de obras de engenharia." TEST&E 2019 – 2nd Conference on Testing and Experimentations in Civil Engineering.
Henriques, M.J.; Pinto, T.; Andrade, J.; Dornellas, D.; Gonçalves, J.,2019. "Project ELEVAR – Development of a UAV for autonomous photo surveys of surfaces." FIG Working Week 2019.
Henriques,M.J.; Pinto,T.; Dornellas, D.;
Gonçalves, J.; Ribeiro, R.; Bernardino, A.; Santos-Victor,J. 2018. "Projeto
ELEVAR – Estudo Localizado De Estruturas Verticais Com Aeronaves Robotizadas”.
In IX Conferência Nacional de Cartografia e Geodesia, Amadora.
https://drive.google.com/file/d/1umS8vYd2t_zh5Fxv0SkkYPI8HBKMG1fO/view