Automatic bridge detection method and system based on cooperative operation of multiple unmanned aerial vehicles

Abstract

The invention belongs to the technical field of unmanned aerial vehicles and bridge detection, and particularly relates to an automatic bridge detection method and system based on the cooperative operation of multiple unmanned aerial vehicles. The invention aims to solve the problems that the traditional bridge detection operation is difficult, the time required for a single drone is long, and theerror rate is high. The automatic bridge detection method and system based on the cooperative operation of multiple unmanned aerial vehicles comprises the following steps of: analyzing bridge environmental information and dividing the bridge detection task into a plurality of sub-tasks; obtaining a task clustering optimization function and dividing sub-task groups; planning unmanned aerial vehicle tracks corresponding to the sub-task groups separately and assigning the sub-task groups to the corresponding unmanned aerial vehicles; and transmitting photos taken by the unmanned aerial vehiclesto an image processing unit to extract the characteristics of bridge diseases and generate a bridge disease report. According to the invention, different shooting schemes are designed according to different bridge tasks; multiple unmanned aerial vehicles cooperate together to perform the bridge detection, and each unmanned aerial vehicle performs different sub-tasks; and anomaly remedy is performed by using the redundancy fault tolerance technology; therefore, the efficiency is high, the task continuity and integrity are good, the accuracy is high, and the error rate is low.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles and bridge detection, and in particular relates to an automatic bridge detection method and system based on multi-unmanned aerial vehicle cooperative operation. Background technique [0002] At the current stage, UAV technology has penetrated into many fields such as agriculture, electric power, and transportation, and its targeted application has become one of the important topics of current research. In the field of bridge inspection, the current bridge management and maintenance departments mainly use artificial naked eye inspection and telescope inspection. In the traditional detection process, the singleness of detection equipment is a significant problem at present. In the face of special structural bridges such as suspension bridges or long-span high-pier bridges, for some places that are difficult to reach outside the scope, such as high tower columns, bridge bottom plate...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above problems in the prior art, that is, the traditional bridge detection operation is difficult and costly, while the single UAV bridge detection takes a long time, has a high error rate and high cost, the present invention provides a multi-unmanned A bridge automatic detection method for man-machine collaborative operation, the bridge automatic detection method includes:

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