Bridge inspection route planning method

A bridge and route technology, applied in the field of bridge inspection route planning, can solve the problems of low degree of automation, heavy workload and low security, and achieve the effect of improving the degree of automation, reducing difficulty and high data quality

Active Publication Date: 2019-06-28
ZHUZHOU TIMES ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0020] In view of this, the purpose of the present invention is to provide a bridge inspection route planning method to solve the problem that the existing inspection methods mainly rely

Method used

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Examples

Experimental program
Comparison scheme
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Embodiment 1

[0092] as attached image 3 As shown, an embodiment of the bridge inspection route planning method of the present invention specifically includes the following steps:

[0093] S100) setting up the reference station 4;

[0094] S200) prepare the unmanned aerial vehicle 10, and set the no-fly area through the ground station 20;

[0095] S300) Manually operate the unmanned aerial vehicle 10 to perform the first inspection operation on the area of ​​the bridge that needs to be inspected, including the bottom surface, outer edge surface, base, pier body and side rails, and plan corresponding inspection routes for each part of the bridge;

[0096] S400) After the inspection route planning for each part of the bridge to be detected is completed, load the corresponding inspection route to the flight control module 16, so as to control the UAV 10 to perform automatic inspection operations.

[0097] Step S100) further includes the following process:

[0098] S101) erecting the tripod...

Embodiment 2

[0189] as attached Figure 19 As shown, an embodiment of a bridge inspection system based on the method described in Embodiment 1 specifically includes: an unmanned aerial vehicle system 1 and a ground terminal system 2 . The unmanned aerial vehicle system 1 further includes an unmanned aerial vehicle 10, and an airborne data processing unit 11, a pan-tilt camera 12, a flight control module 16, an obstacle avoidance module 110 and a positioning module 111 mounted on the unmanned aerial vehicle 10, and the ground terminal system 2 further comprises a ground station 20. The UAV 10 performs the first inspection operation on the bridge to be detected under manual operation, and collects bridge surface data through the pan-tilt camera 12, and according to the positioning signal obtained by the positioning module 111 (such as: using GNSS signals, Global Navigation Satellite System , the full name of the global navigation satellite system, such as GPS, Glonass, Galileo, Beidou satel...

Embodiment 3

[0203] An embodiment of a bridge inspection unmanned aerial vehicle system applied to the method described in embodiment 1, specifically comprising: an unmanned aerial vehicle 10, and an airborne data processing unit 11 and a pan-tilt camera 12 mounted on the unmanned aerial vehicle 10 , the first data transmission station 13 and the first image transmission station 14. During the automatic inspection operation, the airborne data processing unit 11 sends bridge surface data acquisition control signals to the pan-tilt camera 12 , and the airborne data processing unit 11 sends flight control signals to the UAV 10 . The PTZ camera 12 acquires high-definition data on the surface of the bridge, and the bridge video data collected by the PTZ camera 12 is sent to the first image transmission station 14 through the on-board data processing unit 11, and the bridge video data is sent to the ground by the first image transmission station 14 The end system 2 performs display monitoring. ...

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Abstract

The invention discloses a bridge inspection route planning method. The method comprises following steps: S100), a base station is erected; S200), a UAV (unmanned aerial vehicle) is prepared, and a flight forbidden area is arranged by a ground station; S300), the UAV is manually operated to perform first inspection work on a to-be-inspected bridge including areas of an undersurface, an outer edge surface, a base, a pier body and side railings, and corresponding inspection routes are planned for the parts of the bridge respectively; S400), after the inspection route planning of each part of theto-be-inspected bridge is finished, a corresponding inspection route is loaded to a flight control module, and the UAV is controlled to execute automatic inspection work. According to the bridge inspection route planning method, the technical problems of low automation degree, large workload, poor stability of acquired data and low safety of an existing inspection mode which mainly depends on manual operation of the UAV for collecting bridge surface data can be solved.

Description

technical field [0001] The invention relates to the technical field of engineering inspection, in particular to a bridge inspection route planning method for realizing inspection of bridges such as railways and highways by using an unmanned aerial vehicle. Background technique [0002] By the end of 2017, the national railway operating mileage reached 127,000 kilometers, including 25,000 kilometers of high-speed rail. Calculated based on the proportion of bridges accounting for 52% of the line, there are about 10,000 kilometers of high-speed rail bridges in my country. For example, the accumulative length of the Beijing-Tianjin intercity bridge accounts for 86.6% of the total length of the main line, the Beijing-Shanghai high-speed railway accounts for 80.5%, the Guangzhou-Zhuhai intercity bridge accounts for 94.0%, the Wuhan-Guangzhou Railway Express accounted for 48.5%, and the Harbin-Dalian Railway Express accounted for 74.3%. As a routine operation type in the engineerin...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/10
Inventor 颜琼李华伟王文昆罗梓河王贤朱义明廖时才
Owner ZHUZHOU TIMES ELECTRONICS TECH CO LTD
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