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Bridge bottom surface inspection route planning method

A bridge and bottom surface technology, applied in navigation, ground installations, surveying and navigation, etc., can solve the problems of poor data stability, low degree of automation, low security, etc., achieve high stability and safety, improve the degree of automation, improve The effect of precision

Pending Publication Date: 2019-07-09
ZHUZHOU TIMES ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0019] In view of this, the purpose of the present invention is to provide a bridge bottom inspection route planning method to solve the existing inspection methods that mainly rely on manual operation of drones to collect bridge surface data, low automation, heavy workload, and data acquisition problems. Technical problems of poor stability and low security

Method used

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  • Bridge bottom surface inspection route planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] as attached image 3 And attached Figure 4 Shown, a kind of embodiment of the bridge bottom surface inspection route planning method of the present invention, specifically comprises the following steps:

[0069] Operate the unmanned aerial vehicle 10 to carry out patrol inspection along the length direction of the line under the bridge bottom surface (the inspection direction is the bridge pier body N1 → N3 direction), and carry out image acquisition to the bridge bottom surface by the pan-tilt camera 12, simultaneously the UAV 10 The flight route is fused with the information of the pan / tilt camera 12 including attitude angle, shooting angle, frame rate, focal length and exposure time to generate an inspection route. During the inspection process, the inertial measurement module 17, the vision module 18 and the laser radar 19 are used for navigation, and the UAV 10 flies a certain distance under the bottom of the bridge (the fusion navigation technology of the vision...

Embodiment 2

[0083] as attached Figure 7 Shown, a kind of embodiment of the bridge inspection route planning method based on the method of the present invention, specifically comprises the following steps:

[0084] S100) setting up the reference station 4;

[0085] S200) prepare the unmanned aerial vehicle 10, and set the no-fly area through the ground station 20;

[0086] 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;

[0087] 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.

[0088] Step S100) further includes the following process:

[0089...

Embodiment 3

[0101] as attached Figure 8 As shown, an embodiment of the bridge inspection system of the present invention 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 abbreviation of global navigation satellite system, such as GPS, Glonass, Galileo, Beidou satellite navigation system...

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Abstract

The invention discloses a bridge bottom surface inspection route planning method. An unmanned aerial vehicle is operated to perform inspection below the bottom surface of a bridge, image acquisition is performed on the bottom surface of the bridge by virtue of a head and a camera, and a line of flight of the unmanned aerial vehicle is fused with information, including an attitude angle, a shootingangle, a frame rate, a focal distance and exposure time, of the head and the camera, so that an inspection route is generated. In an inspection process, navigation is performed by virtue of an inertia measurement module, a vision module and a laser radar, and the unmanned aerial vehicle flies off the bottom surface of the bridge, receives a locating signal and performs position verification everytime after flying for a distance below the bottom surface of the bridge. The unmanned aerial vehicle is operated to inspect for two routes along the line length direction of the bridge and below thebottom surface of the bridge, and inspection on the bottom surface of the next bridge segment is continuously performed after inspection on the bottom surface of a single bridge segment is completed.The bridge bottom surface inspection route planning method disclosed by the invention can solve the technical problems that data of the surface of the bridge is acquired mainly by manually operating the unmanned aerial vehicle in an existing inspection way, automation degree is low, workload is high, data acquisition stability is poor and safety is low.

Description

technical field [0001] The invention relates to the technical field of engineering detection, in particular to a method for planning inspection routes of bridge bottoms by using an unmanned aerial vehicle to realize inspections of bridges such as railways and highways. 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 t...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/42G01S11/12G01S17/06G01S13/93G01S15/93G01S17/93G01M5/00B61D3/16B60P3/11B64F1/00
CPCG01C21/165G01S19/42G01S11/12G01S17/06G01S15/93G01S17/933G01M5/0008B61D3/16B60P3/11B64F1/007G01S13/933B64U2101/30Y02T10/70
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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