A bridge model construction method and system, a storage medium and an intelligent terminal

Abstract

The application relates to a bridge model construction method and system, a storage medium and an intelligent terminal, relates to the field of object modeling technology, and comprises the following steps: acquiring bridge liquid distance information and bridge deck width information; determining bridge under-path information according to the bridge liquid distance information and an occupancy value; determining side path information according to the bridge deck width information and an interval value; combining the bridge under-path information, the side path information and a bridge over-path to determine detection track information; controlling a UAV to work at a starting point on a track corresponding to the detection track information to acquire bridge image information, outputting a completion signal when the UAV moves to the starting point again, and determining bridge model information according to the bridge image information; after the completion signal is output, controlling the UAV to move along a fixed direction by a fixed distance, and updating the starting point and the detection track information until the UAV moves to an ending point. The application has the effect of facilitating the construction of a bridge model.

Description

Technical Field

[0001] This application relates to the field of object modeling technology, and in particular to a method, system, storage medium and intelligent terminal for constructing a bridge model. Background Technology

[0002] Digital twins fully utilize data from physical models, sensor updates, and operational history to integrate multi-disciplinary, multi-physical, multi-scale, and multi-probabilistic simulation processes, mapping these data in virtual space to reflect the entire lifecycle of the corresponding physical equipment. Due to the complex and diverse geographical environment of cross-sea bridges, system design modifications are difficult. Therefore, digital twin technology was introduced to improve design efficiency and save costs.

[0003] In related technologies, when establishing a digital twin model of a bridge, the physical model of the bridge is used to build the digital twin model. Currently, the method for constructing a bridge physical model is generally to use drones to collect images and then use image fitting to build the model. When collecting images, the drone moves from one end of the bridge along the length of the bridge to the other end, changes its circumferential orientation at the other end, and then moves back along the length of the bridge. This process is repeated until images of various locations on the bridge are acquired.

[0004] Regarding the aforementioned technologies, the inventors believe that because the overall length of the bridge is relatively long, the time required for a drone to fly a round trip is long, and the characteristics of the bridge end may change during this time. At this time, images collected from the same location in different circumferential directions are prone to differences, making it difficult to fit images from the same location. This makes it difficult to model the physical model of the bridge, and there is still room for improvement. Summary of the Invention

[0005] To facilitate the construction of bridge models, this application provides a bridge model construction method, system, storage medium, and smart terminal.

[0006] Firstly, this application provides a method for constructing a bridge model, employing the following technical solution:

[0007] A method for constructing a bridge model, comprising:

[0008] Obtain bridge fluid distance information and bridge deck width information;

[0009] The under-bridge path information is determined based on the bridge fluid distance information and the preset proportion value.

[0010] The side path information is determined by calculation based on the bridge deck width information and preset interval values.

[0011] The detection trajectory information is determined by combining the under-bridge path information, the side path information, and the preset on-bridge path.

[0012] The system controls a pre-defined UAV to operate at the starting point on the pre-defined trajectory corresponding to the detection trajectory information, so that the UAV moves along the pre-defined detection direction on the trajectory corresponding to the detection trajectory information to acquire bridge image information in real time. When the UAV moves back to the starting point, it outputs a completion signal and performs fitting based on the image information of each bridge to determine the bridge model information.

[0013] After completing the signal output, the drone is controlled to move a preset fixed distance along a preset fixed direction, and the position of the drone after moving is updated to a new starting point. Based on the new starting point, the drone is controlled to continue moving along the trajectory corresponding to the detected trajectory information until the drone moves to a preset ending point.

[0014] By adopting the above technical solution, the distance information of the bridge piers to the seawater is first obtained to determine the height of the piers submerged by seawater. Then, the movement path is set according to the part of the pier exposed to the air, so that the UAV can acquire better images of the bridge during flight. The movement trajectory of the UAV in the circumferential direction of the bridge is determined according to the width of the bridge deck and the flight path of the UAV at the piers. This allows the UAV to move a certain distance along the length of the bridge and then move in the circumferential direction of the bridge to acquire images of the bridge. In this way, the bridge model can be built in real time according to the movement of the UAV in the length of the bridge, so as to realize the construction of the physical model of the bridge.

[0015] Optionally, drone movement methods include:

[0016] When the UAV moves from the path corresponding to the side path information to the path corresponding to the under-bridge path information, obtain obstacle distance information in the direction of movement of the path corresponding to the under-bridge path information;

[0017] Determine whether the distance value corresponding to the obstacle distance information is greater than the preset benchmark value;

[0018] If the distance value corresponding to the obstacle distance information is greater than the reference value, an obstacle-free signal is output and the drone is controlled to move along the path corresponding to the path information under the bridge.

[0019] If the distance value corresponding to the obstacle distance information is not greater than the reference value, the bridge pier signal is output and the UAV is controlled to move a fixed distance in a fixed direction. The opposite direction of the detection direction is updated to a new detection direction so that the UAV can continue to move on the trajectory corresponding to the detection trajectory information until an obstacle-free signal is output.

[0020] By adopting the above technical solution, the distance of obstacles in the direction of movement is detected when the UAV moves to the path corresponding to the path information under the bridge to determine whether the UAV has moved to the bridge pier, so that the UAV can continue to acquire bridge images in an orderly manner when it moves to the bridge pier.

[0021] Optionally, drone movement methods also include:

[0022] Obtain the current location information of the drone;

[0023] The detection interval with a preset fixed width value is divided on the preset positive sequence time axis, and the bridge deck wind direction information is obtained when the first bridge pier signal is output within the detection interval.

[0024] The directional angle information is determined by comparing the direction corresponding to the wind direction information on the bridge deck with a fixed direction;

[0025] Determine whether the included angle corresponding to the direction angle information is greater than the preset right angle;

[0026] If the included angle corresponding to the directional angle information is not greater than a right angle, then a tailwind signal is output and the drone is controlled to move a fixed distance along a fixed direction, and the detected direction is updated.

[0027] If the included angle corresponding to the directional angle information is greater than the right angle, then the current position of the drone is defined as the base point, and the drone is controlled to move in the opposite direction along a fixed direction at the base point until an obstacle-free signal is output. The position of the drone when the obstacle-free signal is output is defined as the inflection point.

[0028] The first lateral boundary information is determined based on the base point, inflection point, and preset first lateral path range. The drone is then controlled to move along the boundary corresponding to the first lateral boundary information. After the drone moves back to the base point, it is controlled to move a fixed distance along a fixed direction and the detection direction is updated.

[0029] By adopting the above technical solution, when the bridge pier is first detected, the wind direction is judged so that if the wind direction is inconsistent with the direction of the drone's detection, the image of the bottom of the bridge is acquired first. This allows the drone to slow down its movement in a fixed direction, so that the wind direction may change later, thus reducing the possibility of the drone flying against the wind.

[0030] Optionally, after the tailwind signal is output, the drone's movement method also includes:

[0031] Determine whether the bridge pier signal is always present while the drone moves along a fixed direction;

[0032] If the bridge pier signal is always present during the drone's movement in a fixed direction, then control the drone to move in the fixed direction until the distance traveled is a fixed distance.

[0033] If the bridge pier signal is not always present during the movement of the drone along a fixed direction, the current position of the drone is defined as the loss point when the bridge pier signal disappears, and the second lateral boundary information is determined based on the loss point and the preset second lateral path range.

[0034] Control the drone to move along the boundary line corresponding to the second lateral boundary information at the point of loss, and control the drone to continue moving in a fixed direction after the drone moves back to the point of loss.

[0035] By adopting the above technical solution, when the drone flies with the wind over the bridge pier, it can be controlled to acquire images of the bottom of the bridge, thereby reducing the occurrence of missing models.

[0036] Optionally, after the drone moves back to the point of loss, the method for moving the drone in a fixed direction includes:

[0037] Acquire the initial position information of the drone before it moves in a fixed direction and loses its position;

[0038] The movement distance is determined based on the position corresponding to the initial position information and the lost point.

[0039] Calculate the difference between the fixed distance and the moving distance information to determine the required distance information;

[0040] The system determines the distance required for the drone to move in a fixed direction and updates the drone's position after movement to the starting point, thereby controlling the drone to continue moving along the detection direction.

[0041] By adopting the above technical solution, the movement of the drone flying with the wind under the bridge after image acquisition is controlled, so that the images captured by the drone in subsequent detection can be effectively fitted with the previous images.

[0042] Alternatively, the methods of moving the drone also include:

[0043] Obtain the remaining battery information of the drone;

[0044] When the drone is at the starting point, determine whether the remaining battery power value is greater than the preset lower limit battery power value;

[0045] If the remaining battery level is greater than the lower limit, the drone will continue to operate normally.

[0046] If the remaining power information corresponds to a power value that is not greater than the lower limit power value, then the charging point that is closest to the current drone position in the fixed direction is defined as the adjacent point, and the lateral distance between the two in the fixed direction is calculated based on the starting point and the adjacent point.

[0047] The number of detections is determined by calculating the distance corresponding to the horizontal distance information and the fixed distance, and the number of detections is matched and analyzed with the operation power information stored in the preset power database to determine the operation power information corresponding to the number of detections.

[0048] Determine whether the remaining power information corresponds to a power value greater than the operational power information corresponds to a power value.

[0049] If the remaining battery power information corresponds to a higher battery power value than the operational battery power information, then control the drone to move and operate normally.

[0050] If the remaining battery information corresponds to a battery value that is not greater than the operational battery value, the current starting point will be marked as a breakpoint, and the drone will be controlled to move from the breakpoint to an adjacent point for charging. If the remaining battery information corresponds to a battery value that is greater than the preset operational value, the drone will be controlled to move back to the breakpoint to continue normal operation.

[0051] By adopting the above technical solution, the power level of the drone during flight can be acquired, so that when the drone's power is low, it can be controlled to move to the set charging point for charging, thereby reducing the possibility of the drone crashing due to insufficient power during flight.

[0052] Optionally, when the remaining battery power information corresponds to a battery power value greater than the operational battery power information, the drone's movement method further includes:

[0053] Determine whether the distance value corresponding to the horizontal distance information is greater than a fixed distance;

[0054] If the distance value corresponding to the lateral distance information is greater than the fixed distance, then control the drone to move and operate normally;

[0055] If the distance value corresponding to the lateral distance information is not greater than the fixed distance, the current starting point of the drone is marked as a change point, and the drone is controlled to move to an adjacent point from the change point to charge. When the remaining power information corresponds to a power value greater than the operating value, the drone is controlled to move to the change point to continue normal operation.

[0056] By adopting the above technical solution, drones with low battery levels can move to the charging point for charging, so that the drones can subsequently acquire images of the bridge.

[0057] Secondly, this application provides a bridge model construction system, which adopts the following technical solution:

[0058] A bridge model building system, comprising:

[0059] The acquisition module is used to acquire bridge fluid distance information and bridge deck width information;

[0060] The processing module, connected to the acquisition module, is used for information storage and processing.

[0061] The processing module calculates and determines the under-bridge path information based on the bridge fluid distance information and the preset proportion value;

[0062] The processing module calculates and determines the side path information based on the bridge deck width information and preset interval values;

[0063] The processing module combines the under-bridge path information, the side path information, and the preset on-bridge path to determine the detection trajectory information;

[0064] The processing module controls the preset UAV to operate at the starting point on the preset trajectory corresponding to the detection trajectory information, so that the UAV moves along the preset detection direction on the trajectory corresponding to the detection trajectory information to acquire bridge image information in real time, and outputs a completion signal when the UAV moves back to the starting point, and performs fitting based on the image information of each bridge to determine the bridge model information.

[0065] After the signal output is completed, the processing module controls the drone to move a preset fixed distance along a preset fixed direction, and updates the drone's position after the movement to a new starting point. Based on the new starting point, the drone continues to be controlled to move along the trajectory corresponding to the detected trajectory information until the drone moves to a preset ending point.

[0066] By adopting the above technical solution, the acquisition module first obtains the bridge liquid distance information to determine the height of the bridge pier submerged by seawater. This allows the processing module to set the movement path based on the part of the bridge pier exposed to the air, so that the UAV can acquire bridge images better during flight. The processing module determines the UAV's movement trajectory in the circumferential direction of the bridge based on the bridge deck width and the UAV's flight path at the bridge pier. This allows the UAV to move a certain distance along the length of the bridge before being controlled to move in the circumferential direction of the bridge to acquire bridge images. As a result, the bridge model can be built in real time based on the movement of the UAV in the length direction of the bridge, so as to realize the construction of the physical model of the bridge.

[0067] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0068] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed according to any of the bridge model construction methods described above.

[0069] By adopting the above technical solution and using a smart terminal, the distance information of the bridge piers to the seawater is first obtained to determine the height of the piers submerged by seawater. Then, the movement path is set according to the part of the pier exposed to the air, so that the drone can acquire images of the bridge better during flight. Based on the width of the bridge deck and the flight path of the drone at the piers, the movement trajectory of the drone in the circumferential direction of the bridge is determined, so that the drone can move a certain distance along the length of the bridge and then be controlled to move in the circumferential direction of the bridge to acquire images of the bridge. Thus, the model of the bridge can be built in real time according to the movement of the drone in the length of the bridge, so as to realize the construction of the physical model of the bridge.

[0070] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates the construction of a bridge model, and adopts the following technical solution:

[0071] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the bridge model construction methods described above.

[0072] By adopting the above technical solution, the computer program containing the bridge model construction method in the storage medium first obtains the bridge liquid distance information to determine the height of the bridge piers submerged by seawater. Then, it sets the movement path according to the part of the bridge pier exposed to the air, so that the UAV can acquire bridge images better during flight. Based on the bridge deck width and the UAV's flight path at the bridge piers, it determines the UAV's movement trajectory in the circumferential direction of the bridge, so that the UAV can move a certain distance along the length of the bridge and then be controlled to move in the circumferential direction of the bridge to acquire bridge images. Thus, the bridge model can be built in real time according to the movement of the UAV in the length of the bridge, so as to realize the construction of the physical model of the bridge.

[0073] In summary, this application includes at least one of the following beneficial technical effects:

[0074] 1. By using a drone to move circumferentially along the length of the bridge, the bridge model can be built in real time as the drone moves, thus facilitating the construction of the bridge's physical model;

[0075] 2. Determine the wind direction during the drone's flight to control the drone to inspect the bridge piers in different sequences according to different wind conditions, thereby increasing the possibility of reducing energy consumption during the drone's movement;

[0076] 3. The drone's battery level can be determined during flight to reduce the likelihood of the drone crashing due to insufficient battery power, thereby improving the accuracy of drone detection. Attached Figure Description

[0077] Figure 1 This is a flowchart of the bridge model construction method.

[0078] Figure 2 This is a schematic diagram of the drone's flight path.

[0079] Figure 3 This is a flowchart of the inspection method for bridge piers.

[0080] Figure 4 This is a schematic diagram of the drone's flight path at the bridge pier.

[0081] Figure 5 This is a flowchart of the method for drones to fly against the wind.

[0082] Figure 6 This is a schematic diagram of the drone's flight path when the wind direction is against the wind.

[0083] Figure 7 This is a flowchart of the drone's tailwind flight method.

[0084] Figure 8 This is a schematic diagram of the drone's flight path when the wind is tailwind.

[0085] Figure 9 This is a flowchart of a method for determining the position of a drone when flying with the wind.

[0086] Figure 10 This is a flowchart of a method for monitoring battery power during drone flight.

[0087] Figure 11 This is a flowchart of a drone charging and mobility method.

[0088] Figure 12 This is a schematic diagram of the modules of the bridge model building system. Detailed Implementation

[0089] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-12 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0090] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0091] This application discloses a method for constructing a bridge model. When a drone flies over a bridge to collect images of the bridge, the drone is controlled to move circumferentially at several points along the length of the bridge to collect images. This allows the drone to perform real-time fitting processing on the bridge images as it moves along the length of the bridge, thereby facilitating the construction of a physical model of the bridge.

[0092] Reference Figure 1 The method for constructing the bridge model includes the following steps:

[0093] Step S100: Obtain bridge fluid distance information and bridge deck width information.

[0094] The distance information corresponding to the bridge deck distance is the distance between the opposite side of the bridge deck and the sea surface, which can be achieved by installing an infrared ranging device on the opposite side of the bridge deck. The width information corresponding to the bridge deck width is the width of the bridge deck, which can be obtained from the bridge design drawings.

[0095] Step S101: Calculate and determine the under-bridge path information based on the bridge fluid distance information and the preset proportion value.

[0096] The percentage value is a ratio less than 1 set by the staff. Based on this percentage value, the flight distance of the drone from the opposite side of the bridge can be determined. The calculation method is to multiply the distance corresponding to the bridge surface distance information by the percentage value. The path information under the bridge corresponds to the path available for drone flight along the width of the bridge surface. Figure 2 As shown.

[0097] Step S102: Calculate and determine the side path information based on the bridge deck width information and the preset interval value.

[0098] The interval value is a fixed value set by the staff, that is, the distance between the drone and the side wall of the bridge deck. The specific value is set by the staff according to the actual situation. The path corresponding to the side path information is the path of the drone when flying on the side of the bridge deck, which is calculated and determined by adding the interval value to the width of the bridge deck. Figure 2 As shown.

[0099] Step S103: Combine the under-bridge path information, the side path information, and the preset on-bridge path to determine the detection trajectory information.

[0100] The path on the bridge is a route set by staff for the drone to move along the width of the bridge deck. The height distance of this path from the bridge deck is also pre-set by staff. The detected trajectory information includes the path corresponding to the path under the bridge, the path corresponding to the side path, and the edge trajectory formed by the combination of the path on the bridge. Figure 2 As shown.

[0101] Step S104: Control the preset UAV to operate at the starting point on the preset trajectory corresponding to the detection trajectory information, so that the UAV moves along the preset detection direction on the trajectory corresponding to the detection trajectory information to acquire bridge image information in real time, and outputs a completion signal when the UAV moves back to the starting point, and performs fitting based on the bridge image information to determine the bridge model information.

[0102] The starting point is the point on the trajectory corresponding to the detection trajectory information, which is set by the staff according to the actual situation. The detection direction is either clockwise or counterclockwise as set by the staff. The image corresponding to the bridge image information is the image of the bridge taken by the drone. When the drone moves back to the starting point, it means that the drone has acquired the circumferential image of the bridge at its current location. At this time, a completion signal is output to indicate the situation. The bridge model is built in real time by fitting the image acquired during the current circumferential movement. The model corresponding to the bridge model information is the model constructed by fitting the drone image. The method of building a model by fitting the image is a conventional technique for those in the field and will not be described in detail.

[0103] Step S105: After the signal output is completed, control the drone to move a preset fixed distance along a preset fixed direction, and update the position of the drone after the movement to a new starting point. Based on the new starting point, continue to control the drone to move along the trajectory corresponding to the detected trajectory information until the drone moves to a preset ending point.

[0104] The fixed direction is the direction of movement along the length of the bridge, defined by staff based on the bridge's length and orientation. The fixed distance is a constant value set by staff based on the drone's image acquisition data, ensuring that the images acquired after the drone moves a fixed distance overlap to some extent with previous images, facilitating image fitting for model construction. The drone's new position is then updated to a new starting point so that the trajectory information corresponding to the detection trajectory is updated accordingly. Figure 2 As shown, this allows the drone to continue circumferentially moving and detecting the bridge at its current length position. The endpoint is a point set by the staff on the bridge's length direction that is not the end where the drone started detecting, opposite to the starting point. The specific point is determined by the staff based on the actual length of the bridge, so that the drone can continuously update the starting point until the bridge detection is complete.

[0105] Reference Figure 3 The methods of drone movement include:

[0106] Step S200: When the UAV moves from the path corresponding to the side path information to the path corresponding to the under-bridge path information, obtain the obstacle distance information in the direction of movement of the path corresponding to the under-bridge path information.

[0107] When the drone moves from the path corresponding to the side path information to the path corresponding to the under-bridge path information, it means that the drone's subsequent movement path is the path corresponding to the under-bridge path information. At this time, the movement direction is towards the other side of the bridge on the path corresponding to the under-bridge path information. The obstacle distance information corresponds to the distance between the drone and the obstacle in the direction towards the other side of the bridge, which can be achieved by installing an infrared rangefinder on the side of the drone.

[0108] Step S201: Determine whether the distance value corresponding to the obstacle distance information is greater than the preset benchmark value.

[0109] The baseline value is the maximum distance set by the staff when there is an obstacle in front that affects the movement of the drone. The purpose of the judgment is to know whether the movement of the drone on the path corresponding to the path information under the bridge will be affected by the obstacle, that is, to determine whether the drone has moved to the bridge pier.

[0110] Step S2011: If the distance value corresponding to the obstacle distance information is greater than the reference value, output an obstacle-free signal and control the UAV to move along the path corresponding to the path information under the bridge.

[0111] When the distance value corresponding to the obstacle distance information is greater than the reference value, it means that there are no obstacles affecting the movement of the UAV in the direction of movement on the path corresponding to the path information under the bridge. That is, this is not the bridge pier. At this time, an obstacle-free signal is output to mark the situation so as to control the UAV to move on the path corresponding to the path information under the bridge to collect images of the bottom of the bridge.

[0112] Step S2012: If the distance value corresponding to the obstacle distance information is not greater than the reference value, output the bridge pier signal and control the UAV to move a fixed distance in a fixed direction, and update the opposite direction of the detection direction to a new detection direction so that the UAV can continue to move on the trajectory corresponding to the detection trajectory information until an obstacle-free signal is output.

[0113] When the distance value corresponding to the obstacle distance information is not greater than the reference value, it indicates that there is an obstacle affecting the movement of the UAV in the direction of movement along the path corresponding to the path information under the bridge. That is, this is the bridge pier. At this time, a bridge pier signal is output to identify the situation, so as to control the UAV to move a fixed distance in a fixed direction to realize the UAV to collect images of the bridge along the length of the bridge. The opposite direction of the detection direction is updated to a new detection direction so that the UAV avoids the bridge pier and detects other positions of the bridge around the circumference until an obstacle-free signal is output to confirm that the UAV has passed the bridge pier. The UAV's movement trajectory at the bridge pier is as follows. Figure 4 As shown.

[0114] Reference Figure 5 Other drone mobility methods include:

[0115] Step S300: Obtain the current location information of the drone.

[0116] The current location information corresponds to the real-time location of the UAV during flight, which can be achieved by installing a positioning device on the UAV. This is a conventional technical means for those skilled in the art and will not be elaborated upon.

[0117] Step S301: Divide the time range into a detection interval with a preset fixed width value on the preset positive sequence time axis, and obtain the bridge deck wind direction information when the first bridge pier signal is output within the detection interval.

[0118] The forward time axis is the time axis in the direction of time flow, with a fixed width value set by the staff. The detection interval is the interval on the forward time axis with a fixed width value, and the end of the detection interval always moves synchronously with the time point. When the first bridge pier signal is output in the detection interval, it means that the drone has just moved to the bridge pier. The direction corresponding to the wind direction information on the bridge surface is the opposite direction of the wind force received by the bridge. This can be obtained by installing a wind vane on the bridge and transmitting the wind direction detection result to the drone wirelessly.

[0119] Step S302: Determine the directional angle information based on the direction corresponding to the wind direction information on the bridge deck and the fixed direction.

[0120] The angle corresponding to the direction angle information is the angle between the direction corresponding to the bridge deck wind direction information and the fixed direction, which can be determined by comparing the two directions.

[0121] Step S303: Determine whether the included angle corresponding to the direction angle information is greater than the preset right angle.

[0122] The right angle is a 90° angle set by the staff. The purpose of the judgment is to determine whether the drone is flying with the wind or against the wind when it moves in a fixed direction.

[0123] Step S3031: If the included angle corresponding to the direction angle information is not greater than the right angle, output a tailwind signal and control the drone to move a fixed distance along a fixed direction, and update the detection direction.

[0124] When the included angle corresponding to the directional angle information is not greater than a right angle, it indicates that the drone is moving in a fixed direction and flying with the wind. At this time, a tailwind signal is output to identify the situation, so as to control the drone to move in a fixed direction to achieve tailwind flight and reduce the energy consumed by the drone to overcome the wind.

[0125] Step S3032: If the included angle corresponding to the directional angle information is greater than the right angle, then the current position of the UAV is defined as the base point, and the UAV is controlled to move in the opposite direction along a fixed direction at the base point until an obstacle-free signal is output, and the position of the UAV when the obstacle-free signal is output is defined as the inflection point.

[0126] When the included angle corresponding to the directional angle information is greater than a right angle, it indicates that the drone is moving in a fixed direction and flying against the wind. At this time, the current position of the drone is defined as a base point for identification, so as to control the drone to move in the opposite direction from the base point to achieve a tailwind. The distance towards the bridge pier is detected in real time. When an unobstructed signal is output, it means that the drone has moved out of the range of the bridge pier. At this time, the position is defined as an inflection point for identification, so as to facilitate the subsequent flight detection of the drone.

[0127] Step S304: Determine the first lateral boundary information based on the base point, inflection point, and preset first lateral path range, and control the UAV to move along the boundary corresponding to the first lateral boundary information. After the UAV moves back to the base point, control the UAV to move a fixed distance along a fixed direction and update the detection direction.

[0128] The first lateral path range is the detection range set by the staff when inspecting the bridge piers, such as... Figure 6 As shown, the base point and inflection point are used to determine the side and corner positions of the first lateral path range, thereby determining the position of the first lateral path range at the bridge pier. The boundary line of the first lateral path range is used to determine the first lateral boundary information, so as to control the UAV to move along the boundary line corresponding to the first lateral boundary information. The UAV first detects the image of the bottom of the bridge between the two piers, so that after the UAV moves back to the base point, it can be controlled to continue moving in a fixed direction. At this time, detecting the image of the middle part of the two piers first can make it possible that the wind direction has changed when the UAV moves in the fixed direction, so that the UAV can fly with the wind.

[0129] Reference Figure 7 After the tailwind signal is output, the drone's movement methods also include:

[0130] Step S400: Determine whether the bridge pier signal is always present during the movement of the UAV along a fixed direction.

[0131] When a tailwind signal is output, it indicates that the drone is moving in a fixed direction to detect the bridge. The purpose of this judgment is to determine whether the drone has moved out of the coverage area of ​​the bridge pier during its movement in the fixed direction.

[0132] Step S4001: If the bridge pier signal is always present during the movement of the UAV in a fixed direction, control the UAV to move in the fixed direction until the movement distance is a fixed distance.

[0133] If the drone maintains a signal from the bridge pier while moving in a fixed direction, it means that it has not left the coverage area of ​​the bridge pier while moving a fixed distance in the fixed direction. In this case, the drone can be controlled to move a fixed distance in the fixed direction normally.

[0134] Step S4002: If the bridge pier signal is not always present during the movement of the UAV along the fixed direction, the current position of the UAV is defined as the loss point when the bridge pier signal disappears, and the second lateral boundary information is determined based on the loss point and the preset second lateral path range.

[0135] When the drone does not consistently have a bridge pier signal while moving in a fixed direction, it indicates that the drone has moved a certain distance in the fixed direction and then left the bridge pier's coverage area. At this time, the position of the drone when the bridge pier signal disappears is defined as the loss point to determine the position where the drone leaves the bridge pier's coverage area. The second lateral path range is the movement range of the drone to detect the image of the middle of the two bridge piers. Based on the position of the loss point, the corner point of the second lateral path range is determined to determine the boundary path of the drone to detect the middle of the bridge piers. The information of this boundary is recorded as the second lateral boundary information.

[0136] Step S401: Control the drone to move along the boundary line corresponding to the second lateral boundary information at the point of loss, and control the drone to continue moving in a fixed direction after the drone moves back to the point of loss.

[0137] Reference Figure 8 The drone is controlled to move along the boundary corresponding to the second lateral boundary information at the point of loss so that it can acquire the image of the bridge between the two piers after leaving the coverage area of ​​the pier. When the drone moves back to the point of loss, it means that the drone has completed the acquisition of the image of the bridge between the two piers. At this time, the drone is controlled to continue to move in a fixed direction to acquire the image of the remaining part of the bridge.

[0138] Reference Figure 9 After the drone moves back to the point of loss, the methods for moving the drone in a fixed direction include:

[0139] Step S500: Obtain the initial position information of the UAV before it moves in a fixed direction and defines the point of loss.

[0140] Once the drone moves back to the lost point, it indicates that the drone has acquired an image of the area between the two bridge piers. At this point, it is necessary to control the drone to perform subsequent inspections normally. The initial position information corresponds to the position of the drone before it started moving in the fixed direction, when the lost point was defined during the drone's movement a fixed distance in a fixed direction. Figure 8 As shown.

[0141] Step S501: Calculate and determine the movement distance information based on the position corresponding to the initial position information and the lost point.

[0142] The distance corresponding to the movement distance information is the distance the UAV travels to the point of loss while moving a fixed distance in a fixed direction. It is calculated using the coordinates of the point of loss and the coordinates of the position corresponding to the initial position information.

[0143] Step S502: Calculate the difference between the fixed distance and the moving distance information to determine the required distance information.

[0144] The distance corresponding to the required distance information is the distance that the drone still needs to move while moving a fixed distance in a fixed direction. It is determined by subtracting the distance corresponding to the moving distance information from the fixed distance.

[0145] Step S503: Control the drone to move the required distance in a fixed direction, and update the drone's position after the movement to the starting point, so as to control the drone to continue moving along the detection direction.

[0146] The distance required for the drone to move in a fixed direction is determined by the information provided, enabling the drone to move to a suitable position to acquire images of the bridge. At this point, the position is updated as the starting point so that the drone can perform normal circumferential detection of the bridge from its current position.

[0147] Reference Figure 10 The methods of drone movement also include:

[0148] Step S600: Obtain the remaining battery power information of the drone.

[0149] The remaining power information corresponds to the current available power level of the drone, which can be obtained by installing a power monitoring device on the drone's power supply equipment.

[0150] Step S601: When the drone is at the starting point, determine whether the remaining power value is greater than the preset lower limit power value.

[0151] The lower limit of battery level is the maximum battery level at which the drone's battery is low and needs to be charged. When the drone moves to the starting point, the battery level is assessed to determine whether the drone should move circumferentially to inspect the bridge or to perform charging operations.

[0152] Step S6011: If the remaining power information corresponds to a power value greater than the lower limit power value, then maintain normal drone operation.

[0153] When the remaining battery level is greater than the lower limit, it means that the drone has enough power to perform normal testing operations. In this case, the drone can continue to move and operate normally.

[0154] Step S6012: If the remaining power information corresponds to a power value that is not greater than the lower limit power value, then the charging point that is closest to the current drone position in the fixed direction is defined as the adjacent point, and the lateral distance information between the two in the fixed direction is calculated based on the starting point and the adjacent point.

[0155] When the remaining battery information corresponds to a battery value that is not greater than the lower limit battery value, it indicates that the drone needs to be charged. At this time, it is determined whether the drone can move to the charging point ahead before the battery is completely depleted. The charging point is a location where the drone can be charged. A charging point is set at a certain distance along the length of the bridge. The charging point closest to the current position of the drone in a fixed direction is defined as the adjacent point to mark the nearest charging point to the drone in the direction of movement, so as to distinguish different charging points. The lateral distance information corresponds to the distance between the starting point and the adjacent point in a fixed direction, which can be determined by calculating the projection coordinates of the two coordinates in the fixed direction.

[0156] Step S602: Calculate the number of detections based on the distance corresponding to the horizontal distance information and the fixed distance, and match and analyze the number of detections and the work power information stored in the preset power database to determine the work power information corresponding to the number of detections.

[0157] The number of detections corresponds to the number of times the drone needs to move to an adjacent point in a fixed direction and distance. This is obtained by dividing the distance value corresponding to the lateral distance information by the fixed distance and rounding up. The power consumption information corresponds to the power consumption value required for the number of detections corresponding to the drone's mobile operation. The correspondence between the two is obtained through multiple tests conducted by staff in advance, and a power consumption database is established based on this correspondence. The method for establishing the database is a conventional technique for those skilled in the art and will not be elaborated upon.

[0158] Step S603: Determine whether the remaining power information corresponds to a power value greater than the working power information corresponds to a power value.

[0159] The purpose of the assessment is to determine whether the drone can move to an adjacent point under normal operating conditions.

[0160] Step S6031: If the remaining power information corresponds to a power value greater than the operational power information corresponds to a power value, then control the drone to move and operate normally.

[0161] When the remaining battery power value is greater than the operational battery power value, it means that the drone can move to the adjacent point under normal operation conditions. At this time, the drone can be controlled to move and operate normally.

[0162] Step S6032: If the remaining power information corresponds to a power value that is not greater than the working power information, mark the current starting point as a breakpoint and control the drone to move to an adjacent point for charging. If the remaining power information corresponds to a power value that is greater than the preset working value, control the drone to move to the breakpoint and continue normal operation.

[0163] When the remaining battery power value is not greater than the operational battery power value, it means that the drone cannot move to the adjacent point under normal operation. At this time, the current starting point is marked as a breakpoint to identify and define the starting point, so as to control the drone to move from the breakpoint to the adjacent point for charging. The operational value is the minimum battery power value that the drone can perform normal operation while charging. When the remaining battery power of the drone is the operational value, the drone can be controlled to fly back to the breakpoint to perform normal operation.

[0164] Reference Figure 11 When the remaining battery power information corresponds to a battery power value greater than the operational battery power information, the drone's movement method also includes:

[0165] Step S700: Determine whether the distance value corresponding to the horizontal distance information is greater than the fixed distance.

[0166] The purpose of the judgment is to determine whether the drone moves close to adjacent points when it moves in a fixed direction.

[0167] Step S7001: If the distance value corresponding to the lateral distance information is greater than the fixed distance, control the UAV to move and operate normally.

[0168] When the distance value corresponding to the lateral distance information is greater than the fixed distance, it means that the drone has not yet approached the adjacent point. At this time, the drone can be controlled to move and operate normally.

[0169] Step S7002: If the distance value corresponding to the lateral distance information is not greater than the fixed distance, mark the current starting point of the drone as a change point, and control the drone to move to an adjacent point from the change point to charge. When the remaining power information corresponds to a power value greater than the operation value, control the drone to move to the change point to continue normal operation.

[0170] When the distance value corresponding to the lateral distance information is not greater than the fixed distance, it means that the drone has approached the adjacent point. At this time, the starting point is defined as a variable point to identify and define the starting point so that the drone that is close to the adjacent point can move to the adjacent point for charging at the variable point, and can fly back to the variable point for normal operation after charging.

[0171] Reference Figure 12 Based on the same inventive concept, embodiments of the present invention provide a bridge model construction system, comprising:

[0172] The acquisition module is used to acquire bridge fluid distance information and bridge deck width information;

[0173] The processing module, connected to the acquisition module, is used for information storage and processing.

[0174] The processing module calculates and determines the under-bridge path information based on the bridge fluid distance information and the preset proportion value;

[0175] The processing module calculates and determines the side path information based on the bridge deck width information and preset interval values;

[0176] The processing module combines the under-bridge path information, the side path information, and the preset on-bridge path to determine the detection trajectory information;

[0177] The processing module controls the preset UAV to operate at the starting point on the preset trajectory corresponding to the detection trajectory information, so that the UAV moves along the preset detection direction on the trajectory corresponding to the detection trajectory information to acquire bridge image information in real time, and outputs a completion signal when the UAV moves back to the starting point, and performs fitting based on the image information of each bridge to determine the bridge model information.

[0178] After the signal output is completed, the processing module controls the drone to move a preset fixed distance along a preset fixed direction and updates the drone's position after the movement to a new starting point. Based on the new starting point, the drone continues to be controlled to move along the trajectory corresponding to the detected trajectory information until the drone moves to a preset ending point.

[0179] The bridge pier detection module is used to detect whether the drone has flown to the bridge pier, so as to facilitate the control of the drone's movement;

[0180] The headwind flight detection module controls the drone to fly and detect in headwind conditions.

[0181] The tailwind flight detection module controls the drone to fly and perform detection in tailwind conditions.

[0182] The position correction module is used to correct and determine the movement position of the drone, so that the drone can take pictures of the bridge normally.

[0183] The battery monitoring module is used to monitor the battery level of the drone to reduce the occurrence of the drone crashing due to running out of power during flight;

[0184] The charging mobile control module enables drones with low battery levels to move to the charging point for charging when they approach it.

[0185] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0186] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for constructing a bridge model.

[0187] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0188] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a bridge model construction method.

[0189] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0190] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for constructing a bridge model, characterized in that, include: Obtain bridge fluid distance information and bridge deck width information; The under-bridge path information is determined based on the bridge fluid distance information and the preset proportion value. The side path information is determined by calculation based on the bridge deck width information and preset interval values. The detection trajectory information is determined by combining the under-bridge path information, the side path information, and the preset on-bridge path. The system controls a pre-defined UAV to operate at the starting point on the pre-defined trajectory corresponding to the detection trajectory information, so that the UAV moves along the pre-defined detection direction on the trajectory corresponding to the detection trajectory information to acquire bridge image information in real time. When the UAV moves back to the starting point, it outputs a completion signal and performs fitting based on the image information of each bridge to determine the bridge model information. When the drone moves back to the starting point, it means that the drone has acquired a circumferential image of the bridge at its current location. At this time, a completion signal is output to explain the situation, and the bridge model is built in real time by fitting the image acquired during the current circumferential movement. The model corresponding to the bridge model information is the model constructed by fitting the drone image. After completing the signal output, the drone is controlled to move a preset fixed distance along a preset fixed direction, and the position of the drone after moving is updated to a new starting point. Based on the new starting point, the drone is controlled to continue moving along the trajectory corresponding to the detected trajectory information until the drone moves to a preset ending point.

2. The bridge model construction method according to claim 1, characterized in that... Methods for drone movement include: When the UAV moves from the path corresponding to the side path information to the path corresponding to the under-bridge path information, obtain obstacle distance information in the direction of movement of the path corresponding to the under-bridge path information; Determine whether the distance value corresponding to the obstacle distance information is greater than the preset benchmark value; If the distance value corresponding to the obstacle distance information is greater than the reference value, an obstacle-free signal is output and the drone is controlled to move along the path corresponding to the path information under the bridge. If the distance value corresponding to the obstacle distance information is not greater than the reference value, the bridge pier signal is output and the UAV is controlled to move a fixed distance in a fixed direction. The opposite direction of the detection direction is updated to a new detection direction so that the UAV can continue to move on the trajectory corresponding to the detection trajectory information until an obstacle-free signal is output.

3. The bridge model construction method according to claim 2, characterized in that... Other methods of drone mobility include: Obtain the current location information of the drone; The detection interval with a preset fixed width value is divided on the preset positive sequence time axis, and the bridge deck wind direction information is obtained when the first bridge pier signal is output within the detection interval. The directional angle information is determined by comparing the direction corresponding to the wind direction information on the bridge deck with a fixed direction; Determine whether the included angle corresponding to the direction angle information is greater than the preset right angle; If the included angle corresponding to the directional angle information is not greater than a right angle, then a tailwind signal is output and the drone is controlled to move a fixed distance along a fixed direction, and the detected direction is updated. If the included angle corresponding to the directional angle information is greater than the right angle, then the current position of the drone is defined as the base point, and the drone is controlled to move in the opposite direction along a fixed direction at the base point until an obstacle-free signal is output. The position of the drone when the obstacle-free signal is output is defined as the inflection point. The first lateral boundary information is determined based on the base point, inflection point, and preset first lateral path range. The drone is then controlled to move along the boundary corresponding to the first lateral boundary information. After the drone moves back to the base point, it is controlled to move a fixed distance along a fixed direction and the detection direction is updated.

4. The bridge model construction method according to claim 3, characterized in that... After the tailwind signal is output, the drone's movement methods also include: Determine whether the bridge pier signal is always present while the drone moves along a fixed direction; If the bridge pier signal is always present during the drone's movement in a fixed direction, then control the drone to move in the fixed direction until the distance traveled is a fixed distance. If the bridge pier signal is not always present during the movement of the drone along a fixed direction, the current position of the drone is defined as the loss point when the bridge pier signal disappears, and the second lateral boundary information is determined based on the loss point and the preset second lateral path range. Control the drone to move along the boundary line corresponding to the second lateral boundary information at the point of loss, and control the drone to continue moving in a fixed direction after the drone moves back to the point of loss.

5. The bridge model construction method according to claim 4, characterized in that... After the drone moves back to the point of loss, the methods for moving the drone in a fixed direction include: Acquire the initial position information of the drone before it moves in a fixed direction and loses its position; The movement distance is determined based on the position corresponding to the initial position information and the lost point. Calculate the difference between the fixed distance and the moving distance information to determine the required distance information; The system determines the distance required for the drone to move in a fixed direction and updates the drone's position after movement to the starting point, thereby controlling the drone to continue moving along the detection direction.

6. The bridge model construction method according to claim 1, characterized in that, The methods of drone movement also include: Obtain the remaining battery information of the drone; When the drone is at the starting point, determine whether the remaining battery power value is greater than the preset lower limit battery power value; If the remaining battery level is greater than the lower limit, the drone will continue to operate normally. If the remaining power information corresponds to a power value that is not greater than the lower limit power value, then the charging point that is closest to the current drone position in the fixed direction is defined as the adjacent point, and the lateral distance between the two in the fixed direction is calculated based on the starting point and the adjacent point. The number of detections is determined by calculating the distance corresponding to the horizontal distance information and the fixed distance, and the number of detections is matched and analyzed with the operation power information stored in the preset power database to determine the operation power information corresponding to the number of detections. Determine whether the remaining power information corresponds to a power value greater than the operational power information corresponds to a power value. If the remaining battery power information corresponds to a higher battery power value than the operational battery power information, then control the drone to move and operate normally. If the remaining battery information corresponds to a battery value that is not greater than the operational battery value, the current starting point will be marked as a breakpoint, and the drone will be controlled to move from the breakpoint to an adjacent point for charging. If the remaining battery information corresponds to a battery value that is greater than the preset operational value, the drone will be controlled to move back to the breakpoint to continue normal operation.

7. The bridge model construction method according to claim 6, characterized in that... When the remaining battery power information corresponds to a higher battery power value than the operational battery power information, the drone's movement method also includes: Determine whether the distance value corresponding to the horizontal distance information is greater than a fixed distance; If the distance value corresponding to the lateral distance information is greater than the fixed distance, then control the drone to move and operate normally; If the distance value corresponding to the lateral distance information is not greater than the fixed distance, the current starting point of the drone is marked as a change point, and the drone is controlled to move to an adjacent point from the change point to charge. When the remaining power information corresponds to a power value greater than the operating value, the drone is controlled to move to the change point to continue normal operation.

8. A bridge model construction system, characterized in that, include: The acquisition module is used to acquire bridge fluid distance information and bridge deck width information; The processing module, connected to the acquisition module, is used for information storage and processing. The processing module calculates and determines the under-bridge path information based on the bridge fluid distance information and the preset proportion value; The processing module calculates and determines the side path information based on the bridge deck width information and preset interval values; The processing module combines the under-bridge path information, the side path information, and the preset on-bridge path to determine the detection trajectory information; The processing module controls the preset UAV to operate at the starting point on the preset trajectory corresponding to the detection trajectory information, so that the UAV moves along the preset detection direction on the trajectory corresponding to the detection trajectory information to acquire bridge image information in real time, and outputs a completion signal when the UAV moves back to the starting point, and performs fitting based on the image information of each bridge to determine the bridge model information. When the drone moves back to the starting point, it means that the drone has acquired a circumferential image of the bridge at its current location. At this time, a completion signal is output to explain the situation, and the bridge model is built in real time by fitting the image acquired during the current circumferential movement. The model corresponding to the bridge model information is the model constructed by fitting the drone image. After the signal output is completed, the processing module controls the drone to move a preset fixed distance along a preset fixed direction, and updates the drone's position after the movement to a new starting point. Based on the new starting point, the drone continues to be controlled to move along the trajectory corresponding to the detected trajectory information until the drone moves to a preset ending point.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed according to any one of claims 1 to 7.

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