Detection method of unmanned aerial vehicle cruising around girder used for bridge detection

Abstract

The invention belongs to the field of unmanned aerial vehicle bridge detection, and especially relates to a detection method of an unmanned aerial vehicle cruising around girder used for bridge detection. The method includes the following steps: step S1, establishing a three-dimensional coordinate model map of a bridge according to bridge original data and data shot by an unmanned aerial vehicle;step S2, planning a cruise detection path of the unmanned aerial vehicle according to the three-dimensional coordinate model map, a bridge column bottom area and a bridge column top area adopting equidistant plane encircling cruise paths, and a bridge column intermediate area adopting a spiral cruise path; step S3, executing, by the unmanned aerial vehicle, detection according to the cruise detection path; and step S4, returning, by the unmanned aerial vehicle, collected data to a ground information processing system to perform processing. The method can be directly applied to fully-automaticaccurate detection of bridge columns, so that the problems of high requirements on detection personnel and unsatisfactory detection effects of traditional bridge detection can be solved, and shootingprecision and accuracy can be greatly enhanced.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle bridge detection, in particular to an unmanned aerial vehicle cruising detection method for bridge detection. Background technique [0002] In recent years, UAV bridge inspection technology has gradually entered the market and has become a relatively efficient and safe bridge inspection method. Traditional UAV inspections generally require two professional technicians to control the movement of the fuselage and the two parts of the inspection camera to fly. And data collection, the collected data is displayed on the monitoring screen of the ground station in real time, and the inspectors judge whether there is a disease according to the monitoring. [0003] The existing UAV bridge detection methods still have the following deficiencies: First, the bridge detection process of the UAV is controlled by the UAV operator. In an environment with complex terrain, the position of the operator will ...

AI Technical Summary

Problems solved by technology

[0003] The existing UAV bridge detection methods still have the following deficiencies: First, the bridge detection process of the UAV is controlled by the UAV operator. In an environment with complex terrain, the position of the operator will be difficult to change, resulting in a drop in detection efficiency; second, when the UAV operator controls the UAV to detect the bridge, it is difficult to ensure that the relative position of the UAV to the detection surface is constant , so that the quality of image shooting is uneven, resulting in misjudgment of bridge defect detection; third, affected by factors such as the level of UAV operators and the detection environment, crashes are extremely prone to accidents during UAV bridge inspections

[0004] Since the bridge column is the main supporting structure of the bridge, the inspection and maintenance of the bridge column is particularly important in the bridge inspection. Due to the shortcomings of the existing UAV inspection, it is difficult to ensure the comprehensiveness and accuracy of the inspection data, which is not conducive to timely detection and elimination. Column disease

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