Bridge detection unmanned aerial vehicle path planning method

A path planning and bridge detection technology, which is applied in vehicle position/route/height control, non-electric variable control, instruments, etc., can solve the problems of difficult operation, inspection blind spots, high risk factor, etc., and achieve low repetition rate , reduce manpower and material resources, and the effect of simple algorithm

Active Publication Date: 2017-12-08
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

As for the beam floor, the conventional detection methods and methods have limitations, the operation is very difficult, and there are inspection blind spots
Among them, local blind areas can

Method used

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  • Bridge detection unmanned aerial vehicle path planning method
  • Bridge detection unmanned aerial vehicle path planning method
  • Bridge detection unmanned aerial vehicle path planning method

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Embodiment Construction

[0051] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0052] In the drawings, the same or similar symbols represent the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limitations of the present invention.

[0053] A method for bridge detection UAV path planning specifically includes the following steps:

[0054] Step 1: Obtain bridge information according to the flight of the UAV along the bottom boundary of the bridge, so that the subsequent unit decomposition is more accurate and the coverage rate is improved; the UAV information acquisition rule is during the flight along the edge, through the four ultrasonic sensors on the quad...

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Abstract

The invention discloses a bridge detection unmanned aerial vehicle path planning method, which belongs to the technical field of unmanned aerial vehicle path planning. The method comprises the steps that using the method of flying along the edge is used to acquire the contour information of a bridge; grid-based environment model construction is carried out; target area decomposition is carried out; adjacent sub-area convergence is carried out; sub-area optimal path traversal is carried out; and all standing traversal of the bridge bottom is carried out. According to the invention, the algorithm has the advantages of low repetition rate, high coverage rate, no detection blind zone theoretically; the algorithm is simple and easy to implement; and the algorithm can better complete the task of all standing traversal path planning of an unmanned aerial vehicle on the bottom of the bridge.

Description

technical field [0001] The invention belongs to the technical field of UAV path planning, and in particular relates to a method for UAV path planning for bridge detection. Background technique [0002] With the rapid development of today's social economy, more and more high-risk workers will be replaced by artificial intelligence. In recent years, with the continuous development of aerial photography technology, drone applications have penetrated more into all walks of life. Unmanned aerial vehicles can be divided into many categories. Among them, unmanned multi-rotor aircraft can be used in highway bridge inspections, line inspections and other fields due to their simple structure and relatively low price. [0003] The management and maintenance department usually inspects the bridge on a regular basis, mostly using traditional inspection methods, relying on the naked eye or auxiliary tools (such as bridge inspection vehicles, binoculars, etc.) and other diseases. As for...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 莫宏伟曲贺
Owner HARBIN ENG UNIV
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