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Bridge base inspection route planning method

A technology for bridges and air routes, which is applied in the field of inspection route planning for bridge foundations, can solve the problems of low automation, poor data stability, and low security, and achieve the goal of improving automation, high stability and safety, and high data quality Effect

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 base inspection route planning method to solve the existing inspection methods mainly rely on manual operation of drones to collect bridge surface data, low degree of automation, heavy workload, and data acquisition problems. Technical problems of poor stability and low security

Method used

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  • Bridge base inspection route planning method

Examples

Experimental program
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Effect test

Embodiment 1

[0067] as attached image 3 As shown, an embodiment of the method for planning the inspection route of the bridge base of the present invention specifically includes the following steps:

[0068] Operate the UAV 10 to perform inspections around the top of the pier body under the bottom of the bridge (the inspection direction is the N1 → N3 direction of the bridge pier body), and the image acquisition is performed on the surface of the bridge base by the pan-tilt camera 12, and the UAV is simultaneously The flight path of 10 is fused with the information of the pan / tilt camera 12 including the attitude angle, shooting angle, frame rate, focal length and exposure time to generate the inspection path. Since the inspection of the bridge base is carried out under the bottom of the bridge, and due to the bridge cover, the GNSS (Global Navigation Satellite System, abbreviation for Global Navigation Satellite System) signal is relatively weak. Therefore, during the inspection process,...

Embodiment 2

[0083] as attached Image 6 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 7 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 base inspection route planning method. An unmanned aerial vehicle is operated to perform inspection by surrounding the top of a pier body below the bottom surface of abridge, image acquisition is performed on the surface of a base 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 shooting angle, a frame rate, a focal length 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. After inspection on a single base of the bridge is completed, the unmanned aerial vehicle flies to the next base of the bridge along the line length direction of the bridge to continuously perform the inspection. The unmanned aerial vehicle flies off the bottom surface of the bridge, receives a locating signal and performs position verification every time after flying for a distance below the bottom surface of the bridge. The bridge base 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 inspection, in particular to a bridge base 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 engin...

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
Owner ZHUZHOU TIMES ELECTRONICS TECH CO LTD
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