Bridge detection system and detection method based on unmanned aerial vehicle and UWB positioning

Abstract

The invention discloses a bridge detection system and detection method based on an unmanned aerial vehicle and UWB positioning, and belongs to the technical field of unmanned equipment control. The data processing system is used for receiving data acquired by the UWB positioning system; the plurality of aircrafts are used for assembling UWB positioning systems; according to the bridge detection system and method based on the unmanned aerial vehicle and UWB positioning, the UWB positioning tag and the positioning base station are installed on the unmanned aerial vehicle, high-precision positioning of the unmanned aerial vehicle is achieved in the process that the unmanned aerial vehicle collects bridge bottom images, the positioning stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle is assisted in safely achieving the bridge bottom detection and image collection process, and the detection efficiency is improved. Accurate positioning can be carried out in an area where GPS signals are affected, the situation that UWB base stations need to be arranged and installed in advance when accurate positioning is carried out in many similar scenes is replaced, and the steps and cost for installing the UWB base stations and maintaining the UWB base stations are omitted.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned device control, and particularly relates to a bridge detection system and a detection method based on an unmanned aerial vehicle and UWB positioning. Background Art

[0002] UWB: Ultra Wide Band (UWB) technology is a wireless carrier communication technology. Through long-distance communication between devices equipped with UWB, ranging and confirmation of the direction angle are carried out to achieve positioning, which can achieve centimeter-level positioning and can be used for high-precision positioning in various scenarios. By arranging multiple positioning base stations to support positioning tags, the accurate position of the tags can be obtained; During the long-term use of bridges, various external influences may cause various safety problems. In the maintenance of bridges, the detection of the bridge bottom is a basic detection operation task. Manual detection has low work efficiency and seriously affects the safety of detection personnel, and there are also certain detection blind spots that personnel cannot reach. As an efficient and safe method, unmanned aerial vehicles have been widely used. However, currently, unmanned aerial vehicles mainly use the Global Positioning System (GPS) for positioning. This positioning method originally has low accuracy, and the signal will be affected under the bridge, resulting in a larger error, affecting the positioning stability of the unmanned aerial vehicle. Especially when there are obstacles under the bridge, detection cannot be carried out. Therefore, it is necessary to develop a new bridge detection system and detection method based on an unmanned aerial vehicle and UWB positioning to solve the existing problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a bridge detection system and a detection method based on an unmanned aerial vehicle and UWB positioning to solve the problem of low positioning accuracy when collecting images under the bridge.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A bridge detection system based on an unmanned aerial vehicle and UWB positioning, comprising: A UWB positioning system; A data processing system for receiving data collected by the UWB positioning system; Multiple flying vehicles for assembling the UWB positioning system; Wherein: The UWB positioning system includes: A positioning tag, which is assembled on the flying vehicle; and an image acquisition device is provided on the flying vehicle equipped with the positioning tag; A positioning base station; the positioning base station is assembled on the flying vehicle, matches the positioning tag, and positions the flying vehicle equipped with the UWB tag; A UWB positioning server, which is used to confirm the position of the UWB base station and generate the position information of the flying vehicle equipped with the UWB tag, The data processing system receives the aircraft position information and image data from the UWB positioning server and is used to analyze the collected image data.

[0005] Preferably, the data processing system establishes bridge bottom model data based on drawings and actual measurements, marks the position of the bridge bottom, establishes position information data on both sides of the bridge, and marks the positions on both sides of the bridge that need to be flown.

[0006] Preferably, the aircraft includes a flight control system, a flight power system, and a space radar.

[0007] Preferably, the image data analysis includes software-based picture comparison and recognition, the software's picture comparison and recognition integrated recognition algorithm, or manual comparison; the comparison and recognition includes comparing the most recently acquired image data with the last acquired image data, confirming by comparative analysis of the image data whether the most recently acquired image data and the last acquired image data at a certain location are the same and whether there is a problem, and marking the problematic bridge bottom position according to the position information of the aircraft equipped with the UWB tag.

[0008] Preferably, the aircraft equipped with the positioning base station includes a first UAV UWB base station, a second UAV UWB base station, a third UAV UWB base station and a fourth UAV UWB base station, wherein the first UAV UWB base station and the second UAV UWB base station are distributed in the same straight line.

[0009] Preferably, the aircraft equipped with a positioning base station also includes: a first UAV auxiliary base station and a second UAV auxiliary base station, the first UAV auxiliary base station realizes positioning through the first UAV UWB base station and the second UAV UWB base station, and the second UAV auxiliary base station realizes positioning through the third UAV UWB base station and the fourth UAV UWB base station.

[0010] Preferably, the first UAV auxiliary base station and the second UAV auxiliary base station are distributed along the same axis, with the first UAV UWB base station and the third UAV UWB base station distributed on one side of the axis, and the second UAV UWB base station and the fourth UAV UWB base station distributed on the other side of the axis.

[0011] Preferably, the first UAV UWB base station, the second UAV UWB base station, the third UAV UWB base station and the fourth UAV UWB base station are all at the same distance from the bridge, and the distance between the first UAV UWB base station and the third UAV UWB base station is the same as the distance between the second UAV UWB base station and the fourth UAV UWB base station.

[0012] Preferably, if there is an obstacle under the bridge, the first UAV auxiliary base station and the second UAV auxiliary base station are respectively located at both ends of the obstacle, and the aircraft equipped with a positioning tag is located between the first UAV auxiliary base station and the second UAV auxiliary base station during operation.

[0013] The present invention further provides a detection method of a bridge detection system based on an unmanned aerial vehicle and UWB positioning, comprising: The bridge bottom model data is established based on the inspected bridge drawings and actual measurements, the position of the bridge bottom is marked, the position information data of both sides of the bridge is established, and the positions on both sides of the bridge that need to be flown are marked; the aircraft equipped with the UWB base station hovers at a fixed position with the support of the position grid data, providing positioning support for the aircraft equipped with the UWB tag for image acquisition; If there is a positioning blind spot or an obstacle that is too long or too thick at the bottom of the bridge, the first UAV auxiliary base station and the second UAV auxiliary base station are set to support the positioning of the aircraft equipped with the UWB tag. The first UAV auxiliary base station realizes positioning through the first UAV UWB base station and the second UAV UWB base station, and the second UAV auxiliary base station realizes positioning through the third UAV UWB base station and the fourth UAV UWB base station; The UWB positioning server generates the position information of the aircraft with the UWB tag and sends this position information to the data processing system. The aircraft equipped with the UWB tag sends the collected images to the data processing system; The data processing system analyzes the collected bridge bottom image data. The image data analysis uses a recognition algorithm to compare and identify the pictures, or manually compares the most recently collected image data with the last collected image data. By comparing and analyzing the image data, it is confirmed whether there are any differences or problems between the most recently collected image data and the last collected image data at a certain location, and the problematic bridge bottom location is marked according to the aircraft position information of the UWB tag installed.

[0014] The technical effects and advantages of the present invention are as follows: the bridge detection system and detection method based on unmanned aerial vehicles and UWB positioning, by installing UWB positioning tags and positioning base stations on the drone, can achieve high-precision positioning of the drone during the process of the drone collecting images of the bridge bottom, improve the positioning stability of the drone, assist the drone in safely realizing the detection and image collection process of the bridge bottom, and realize accurate positioning in areas affected by GPS signals, instead of the situation in many similar scenarios where accurate positioning requires the pre-arrangement and installation of UWB base stations, eliminating the steps and costs of installing and maintaining UWB base stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the distribution of aircraft of the present invention; Figure 2 Schematic diagram of the distribution of aircraft when there are obstacles under the bridge according to the present invention; Figure 3 Flow chart of the present invention. Detailed implementation manners

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0017] The present invention provides a Figure 1 bridge detection system based on unmanned aircraft and UWB positioning as shown in a UWB positioning system; a data processing system for receiving data collected by the UWB positioning system; a plurality of aircraft for assembling the UWB positioning system; in this embodiment, the aircraft is a drone; The UWB positioning system includes: positioning tags, which are assembled on the aircraft; and image acquisition devices are provided on the aircraft equipped with the positioning tags; positioning base stations; the positioning base stations are assembled on the aircraft, match with the positioning tags, and position the aircraft equipped with UWB tags; a UWB positioning server, which is used to confirm the position of the UWB base station and generate the position information of the aircraft equipped with UWB tags, the UWB base station and the UWB tag are carried by the drone, connected to the drone, and fixedly connected to the drone; Data processing system: including bridge bottom model data, position grid marking data, display terminal and related computing and processing support. For the bridge to be detected, the data processing system first establishes the bridge bottom model data according to the drawings and actual measurements, marks each position at the bridge bottom, and further establishes the position information data on both sides of the bridge, and marks the positions where the drone base stations on both sides of the bridge need to fly; Drone: General commercial drones or other unmanned aircraft are required to include a flight control system, a flight power system, an image acquisition device, support for the access of UWB tags and base stations, and further may include a space radar to increase the control safety of the drone; In this example, the UWB positioning server is used to confirm the position of the UWB base station of the drone, and with the support of the UWB base station of the drone, position the aircraft equipped with the UWB tag, generate the position information of the aircraft equipped with the UWB tag, and send this position information to the data processing system.

[0018] The aircraft equipped with the UWB tag performs image acquisition work, performs image acquisition work on the bridge bottom based on the image acquisition function carried by the aircraft, and sends the acquired images to the data processing system; The data processing system analyzes the acquired bridge bottom image data. The image data analysis can be divided into picture comparison and recognition based on software. The picture comparison and recognition of the software integrates the recognition algorithms of third parties, or can also be compared manually by eyes. Regardless of the preliminary analysis method, the final problem confirmation still requires manual confirmation due to professionalism. Compare the image data collected most recently with the image data collected last time. Through the comparative analysis of the image data, confirm whether there are differences between the image data collected most recently and the image data collected last time at a certain position and whether there are problems, and mark the possible problematic bridge bottom positions according to the position information of the aircraft with the UWB tag; As Figure 1 shown, with the support of the UWB base station of the drone, the aircraft equipped with the UWB tag is positioned to generate position point information, and is sent to the data processing platform through the UWB positioning server. The drone equipped with the UWB tag performs the work of image acquisition of the bridge bottom, and also sends the acquired images to the data processing platform. The data processing platform performs data analysis based on the bridge bottom images; In this embodiment, four UWB base stations of drones are used. In this embodiment, the UWB base stations of drones include the first UWB base station of the drone, the second UWB base station of the drone, the third UWB base station of the drone, and the fourth UWB base station of the drone. Among them, the first UWB base station of the drone and the second UWB base station of the drone are distributed in the same straight line; because it is carried by the drone, the work of arranging a large number of UWB base stations at the bridge bottom is omitted. With the support of the UWB base stations of the drones, precise positioning of the drones with UWB tags responsible for image acquisition is achieved; according to the bridge bottom model data of the bridge, position grid marking data is referred to generate position grid data on both sides of the bridge. The four UWB base stations of the drones hover at fixed positions with the support of the position grid data to provide positioning support for the drones equipped with UWB tags responsible for image acquisition; Most bridges are transparent in the north-south or east-west directions. The four UWB base stations of the drones at the positions on both sides of the bridge can provide positioning support for the aircraft equipped with UWB tags responsible for image acquisition. However, considering that there may be some special bridge bottoms where dead corners may occur, such as Figure 2In the situation shown, obstacles that are too long and too thick may affect the communication between the four UAV UWB base stations on both sides of the bridge and the aircraft equipped with UWB tags responsible for image acquisition. The UAV UWB base station supports the positioning of the UAV auxiliary base station that flies under the bridge, and implements mutual ranging positioning between the UAV auxiliary base station and the UWB tags responsible for image acquisition to support the positioning of the aircraft responsible for image acquisition. The UAV auxiliary base station includes a first UAV auxiliary base station and a second UAV auxiliary base station. The first UAV auxiliary base station is positioned through the first UAV UWB base station and the second UAV UWB base station, and the second UAV auxiliary base station is positioned through the third UAV UWB base station and the fourth UWB base station. The first UAV auxiliary base station and the The two UAV auxiliary base stations are distributed along the same axis, with the first UAV UWB base station and the third UAV UWB base station distributed on one side of the axis, and the second UAV UWB base station and the fourth UAV UWB base station distributed on the other side of the axis. The first UAV UWB base station, the second UAV UWB base station, the third UAV UWB base station and the fourth UAV UWB base station are all at the same distance from the bridge, and the distance between the first UAV UWB base station and the third UAV UWB base station is the same as the distance between the second UAV UWB base station and the fourth UAV UWB base station. If there is an obstacle under the bridge, the first UAV auxiliary base station and the second UAV auxiliary base station are respectively located at the two ends of the obstacle, and the aircraft equipped with the positioning tag is located between the first UAV auxiliary base station and the second UAV auxiliary base station during operation. The positioning method is as follows: The first drone auxiliary base station obtains its own position through the first drone UWB base station and the second drone UWB base station to support positioning; The second UAV auxiliary base station obtains its own position through positioning by the third UAV UWB base station and the fourth UAV UWB base station; the UAV responsible for image acquisition obtains its own position through the first UAV auxiliary base station and the support positioning of the first UAV auxiliary base station; Based on the above steps, the precise positioning of the drone responsible for collecting images at the possible blind spots of bridge bottom communication is further supported, and the image collection at the blind spots of bridge bottom communication caused by obstacles that are too long and too thick is supported; The present invention further provides a detection method of the bridge detection system based on unmanned aerial vehicle and UWB positioning, such as Figure 3 As shown, the following steps are included: Step 1: Establish the bridge bottom model data based on the detected bridge drawings and actual measurements, mark the position of the bridge bottom, establish the position information data on both sides of the bridge, and mark the positions on both sides of the bridge that need to be flown; Step 2: The aircraft equipped with the UWB base station hovers at a fixed position with the support of the position grid data, providing positioning support for the aircraft equipped with the UWB tag for image acquisition; Step 3: If there is a positioning blind spot or an obstacle that is too long or too thick at the bottom of the bridge, the first UAV auxiliary base station and the second UAV auxiliary base station are set to support the positioning of the aircraft equipped with the UWB tag. The first UAV auxiliary base station realizes positioning through the first UAV UWB base station and the second UAV UWB base station, and the second UAV auxiliary base station realizes positioning through the third UAV UWB base station and the fourth UAV UWB base station. Step 4: The UWB positioning server generates the position information of the aircraft with the UWB tag and sends the position information to the data processing system. The aircraft equipped with the UWB tag sends the collected images to the data processing system. Step 5. The data processing system analyzes the collected bridge bottom image data. The image data analysis uses a recognition algorithm to compare and identify the pictures, or manually compares the most recently collected image data with the last collected image data. By comparing and analyzing the image data, it is confirmed whether there are any differences or problems between the most recently collected image data and the last collected image data at a certain location, and the problematic bridge bottom location is marked according to the aircraft position information of the UWB tag installed.

[0019] The bridge detection system and detection method based on unmanned aerial vehicles and UWB positioning, by installing UWB positioning tags and positioning base stations on the drone, achieves high-precision positioning of the drone during the process of the drone collecting bridge bottom images, improves the positioning stability of the drone, and assists the drone to safely realize the detection and image collection process of the bridge bottom, and realizes accurate positioning in areas affected by GPS signals, instead of the situation in many similar scenarios where accurate positioning requires the pre-arrangement and installation of UWB base stations, eliminating the steps and costs of installing and maintaining UWB base stations.

[0020] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bridge detection system based on unmanned aerial vehicle and UWB positioning, characterized by: include: UWB positioning system; A data processing system that receives data collected by the UWB positioning system; Multiple aircrafts equipped with UWB positioning systems; in: The UWB positioning system comprises: A positioning tag is mounted on the aircraft; and an image acquisition device is arranged on the aircraft equipped with the positioning tag; Positioning base station; the positioning base station is installed on the aircraft, matches with the positioning tag, and locates the aircraft equipped with the UWB tag; UWB positioning server, the UWB positioning server is used to confirm the location of the UWB base station and generate the location information of the aircraft equipped with the UWB tag, The data processing system receives the aircraft position information and image data from the UWB positioning server and is used to analyze the collected image data.

2. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 1 is characterized by: The data processing system establishes bridge bottom model data based on drawings and actual measurements, marks the position of the bridge bottom, establishes position information data on both sides of the bridge, and marks the positions on both sides of the bridge that need to be flown.

3. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 1 is characterized by: The aircraft includes a flight control system, a flight power system, and a space radar.

4. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 2 is characterized in that: The image data analysis includes software-based image comparison and recognition, the software's image comparison and recognition integrated recognition algorithm, or manual comparison; the comparison and recognition includes comparing the most recently collected image data with the last collected image data, and confirming by comparing and analyzing the image data whether the most recently collected image data and the last collected image data at a certain location are the same and whether there is a problem, and marking the problematic bridge bottom position according to the aircraft position information equipped with the UWB tag.

5. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 1 is characterized by: The aircraft equipped with the positioning base station includes a first UAV UWB base station, a second UAV UWB base station, a third UAV UWB base station and a fourth UAV UWB base station, wherein the first UAV UWB base station and the second UAV UWB base station are distributed in the same straight line.

6. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 5 is characterized by: The aircraft equipped with the positioning base station also includes: a first unmanned aerial vehicle auxiliary base station and a second unmanned aerial vehicle auxiliary base station, the first unmanned aerial vehicle auxiliary base station realizes positioning through the first unmanned aerial vehicle UWB base station and the second unmanned aerial vehicle UWB base station, and the second unmanned aerial vehicle auxiliary base station realizes positioning through the third unmanned aerial vehicle UWB base station and the fourth unmanned aerial vehicle UWB base station.

7. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 6 is characterized by: The first UAV auxiliary base station and the second UAV auxiliary base station are distributed along the same axis, with the first UAV UWB base station and the third UAV UWB base station distributed on one side of the axis, and the second UAV UWB base station and the fourth UAV UWB base station distributed on the other side of the axis.

8. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 7 is characterized in that: The distances between the first UAV UWB base station, the second UAV UWB base station, the third UAV UWB base station and the fourth UAV UWB base station and the bridge are all the same, and the distance between the first UAV UWB base station and the third UAV UWB base station is the same as the distance between the second UAV UWB base station and the fourth UAV UWB base station.

9. The bridge detection system based on unmanned aerial vehicle and UWB positioning according to claim 8, characterized in that: If there is an obstacle under the bridge, the first UAV auxiliary base station and the second UAV auxiliary base station are respectively located at the two ends of the obstacle, and the aircraft equipped with the positioning tag is located between the first UAV auxiliary base station and the second UAV auxiliary base station during operation.

10. The detection method of the bridge detection system based on unmanned aerial vehicle and UWB positioning according to any one of claims 6 to 8, characterized in that: include: The bridge bottom model data is established based on the inspected bridge drawings and actual measurements, the position of the bridge bottom is marked, the position information data of both sides of the bridge is established, and the positions on both sides of the bridge that need to be flown are marked; the aircraft equipped with the UWB base station hovers at a fixed position with the support of the position grid data, providing positioning support for the aircraft equipped with the UWB tag for image acquisition; If there is a positioning blind spot or an obstacle that is too long or too thick at the bottom of the bridge, the first UAV auxiliary base station and the second UAV auxiliary base station are set to support the positioning of the aircraft equipped with the UWB tag. The first UAV auxiliary base station realizes positioning through the first UAV UWB base station and the second UAV UWB base station, and the second UAV auxiliary base station realizes positioning through the third UAV UWB base station and the fourth UAV UWB base station; The UWB positioning server generates the position information of the aircraft with the UWB tag and sends this position information to the data processing system. The aircraft equipped with the UWB tag sends the collected images to the data processing system; The data processing system analyzes the collected bridge bottom image data. The image data analysis uses a recognition algorithm to compare and identify the pictures, or manually compares the most recently collected image data with the last collected image data. By comparing and analyzing the image data, it is confirmed whether there are any differences or problems between the most recently collected image data and the last collected image data at a certain location, and the problematic bridge bottom location is marked according to the aircraft position information of the UWB tag installed.

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