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Three-dimensional cruise method and system for bridge detection

A bridge detection, three-dimensional technology, applied in three-dimensional position/channel control, control/adjustment systems, instruments, etc., can solve the problems of low detection efficiency, prone to safety accidents, easy to miss detection, etc., to improve safety and improve positioning. Accurate, easy-to-use effects

Active Publication Date: 2022-02-11
CHONGQING JIAOTONG UNIVERSITY +1
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Problems solved by technology

[0003] Aiming at the deficiencies of the above-mentioned prior art, the present invention provides a three-dimensional cruising method for bridge detection, which solves the technical problems of low detection efficiency, easy missed detection and easy occurrence of safety accidents in the prior art, and can realize automatic cruising of bridges detection, improve detection efficiency

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  • Three-dimensional cruise method and system for bridge detection
  • Three-dimensional cruise method and system for bridge detection
  • Three-dimensional cruise method and system for bridge detection

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0028] A 3D cruise method for bridge inspection using a flying-climbing amphibious robot such as figure 1 and figure 2 As shown, the flying-climbing amphibious robot includes a flight module and a crawling module 2, the crawling module 2 is provided with an adsorption device, the main control module of the flying-climbing amphibious robot is connected with a GPS positioning module, and the flying-climbing amphibious robot Equipped with a bridge detection device 1, comprising the following steps:

[0029] Step 1: According to the design drawings of the bridge, build a 3D model of the bridge in the 3D spatial coordinate system;

[0030] Step 2: Specify the area to be inspected in the 3D model of the bridge, and plan the corresponding inspection points on the area to be inspected according to the geometric shape of the area to be ins...

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Abstract

The invention discloses a three-dimensional cruising method for bridge detection, which includes establishing a three-dimensional model of the bridge, planning detection points according to the three-dimensional model of the bridge, generating a cruising path according to the detection points, calculating the cruising attitude according to the path points on the cruising path, and establishing the path The corresponding relationship between the point coordinate set and the navigation attitude set is input to the flying-climbing amphibious robot, and the flying-climbing robot executes the three-dimensional automatic cruise program for cruising. The invention also discloses a three-dimensional cruising system for bridge detection, which includes a flying-climbing amphibious robot equipped with a bridge detection device and a ground console capable of wireless communication with the flying-climbing amphibious robot. The invention solves the technical problems of low detection efficiency, easy missed detection and easy occurrence of safety accidents in the prior art, can realize automatic cruise detection of bridges, and improve detection efficiency.

Description

technical field [0001] The invention relates to the field of bridge detection, in particular to a cruising method and system for bridge detection. Background technique [0002] With the development of UAV technology, UAVs are widely used in various engineering technology fields, and UAV technology is gradually adopted in bridge inspection, especially flying and crawling amphibious robots. Flying and crawling amphibious robots have the functions of flying, crawling and Inhabit three states, and can realize switching under the three states, such as Chinese patent "a kind of flying and wall-climbing amphibious robot and its control method (public number CN103192987B)", Chinese patent "a kind of flying wall-climbing robot ( Publication number CN107539054A)". At present, bridges are mainly inspected by manual remote control, which has the disadvantages of high operational difficulty, low efficiency, and easy missed inspections. In addition, there are special-shaped areas such a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/101
Inventor 杨建喜周应新张林磊樊思林张开洪吴尚峰陈楠男胡兴云
Owner CHONGQING JIAOTONG UNIVERSITY
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