Marine work steel structure coating detection method and system based on unmanned aerial vehicle

Abstract

The invention relates to a maritime work steel structure coating detection method and system based on an unmanned aerial vehicle, and relates to the field of coating detection technologies, and the method comprises the steps that a pile foundation distribution drawing is obtained; determining the center position of the pile foundation and the corresponding outer contour of the pile foundation according to the pile foundation distribution drawing; according to the center position of the pile foundation and the corresponding outer contour of the pile foundation, a required moving contour is determined; determining an initial operation contour on all the required moving contours, determining an initial point on the initial operation contour, and controlling the unmanned aerial vehicle to move to the initial point so as to operate along the initial operation contour to obtain a coating detection image; when the unmanned aerial vehicle moves to the starting point again, external wind parameters are obtained, the starting operation contour and the starting point are determined again according to the external wind parameters and the remaining required moving contour, and the unmanned aerial vehicle is controlled to work according to the new starting operation contour and the starting point; and determining a coating detection state according to the coating detection image. The device has the function of improving the coating detection effect of the maritime work steel structure.

Description

Technical Field

[0001] This application relates to the field of coating inspection technology, and in particular to a method and system for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs). Background Technology

[0002] Marine engineering steel structures (such as offshore wind turbine monopiles and jacket foundation legs) are exposed to highly corrosive marine environments for extended periods. Among them, the pile foundation is immersed in seawater for a long time and is affected by wave erosion, alternating wet and dry conditions, and biological adhesion. The rate of deterioration and damage of its anti-corrosion coating is much higher than that of the superstructure, making it the most important part of corrosion protection and requiring regular and accurate testing.

[0003] Currently, the inspection of coatings in high-altitude and water-adjacent areas such as marine steel structure pile foundations is gradually shifting from the traditional "close-range, high-risk" operation mode that relies on manual scaffolding or suspended platforms to a "non-contact, long-distance" observation mode using drones. The common practice is for trained personnel to operate drones near the target pile foundation to acquire images, which are then used to analyze the coating condition.

[0004] The aforementioned technologies mainly rely on manual methods for coating inspection, which is not only inefficient but also prone to omissions, resulting in poor overall inspection results and room for improvement. Summary of the Invention

[0005] To improve the coating inspection effect of marine steel structures, this application provides a method and system for inspecting coatings of marine steel structures based on unmanned aerial vehicles (UAVs).

[0006] Firstly, this application provides a method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs), employing the following technical solution: A method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs), comprising: Obtain pile foundation distribution drawings; The pile foundation distribution drawings are analyzed to determine the center location of the pile foundation and the corresponding external outline of the pile foundation. Determine the required movement profile based on the center location of the pile foundation and the corresponding external profile of the pile foundation. Determine the starting work profile on all required movement profiles, determine the starting point on the starting work profile, and control the UAV to move to the starting point to perform work along the starting work profile to obtain coating inspection images; When the drone moves back to the starting point, the external wind parameters are acquired, and the starting operation contour and starting point are re-determined based on the external wind parameters and the remaining required movement contour. The drone is then controlled to perform operations based on the new starting operation contour and starting point. The coating detection status is determined by analyzing the coating detection images.

[0007] Optionally, the steps of analyzing external wind parameters and the remaining demand movement profile to re-determine the initial operation profile and starting point include: Define the remaining demand movement contours that are not the starting operation contours as subsequent waiting contours; Randomly select one of the following waiting contours and define it as the simulated arrival contour. Then determine the simulated operation path based on the simulated arrival contour, the current starting point, and the remaining following waiting contours. The simulated operation route is determined based on the simulated operation path, and the minimum simulated operation route is defined as the simulated representative route to the current simulated arrival contour. Under the simulated operation path, the points of the simulated reached contour after the current starting point are defined as subsequent points, and the contour change direction is constructed based on the subsequent points and the current starting point. The minimum simulated representative distance is defined as the simulated lower limit distance, and the difference between the simulated representative distance and the simulated lower limit distance is calculated to determine the excess driving distance. The pressure bearing coefficient is determined by calculation and analysis based on the direction of profile change and external wind parameters, and the profile selection coefficient is determined by calculation based on the pressure bearing coefficient and the excess travel distance. The simulated arrival contour corresponding to the largest contour selection coefficient is determined as the new starting contour, and the corresponding subsequent point is determined as the new starting point.

[0008] Optionally, the steps for determining the bearing capacity coefficient through calculation and analysis based on the direction of profile variation and external wind parameters include: The external wind direction and force are determined based on the external wind parameters, and the external wind resistance angle is determined based on the external wind direction and the direction of contour change. The external wind resistance angle and the corresponding resistance coefficient of the external wind force are determined based on the preset resistance matching relationship. The resistance movement distance is determined based on the current starting point and subsequent points, and the bearing capacity coefficient is calculated based on the resistance movement distance and the resistance coefficient.

[0009] Optionally, after determining the resistance movement distance, the UAV-based method for inspecting coatings on marine steel structures also includes: Determine whether the resisted movement distance is greater than the preset allowable change distance; If the resistance to movement distance is not greater than the allowable change distance, the bearing capacity coefficient is determined by calculation based on the resistance to movement distance and the resistance coefficient. If the resistance distance is greater than the allowable change distance, the first overcoming coefficient is determined by calculation based on the allowable change distance and the resistance coefficient. The remaining resistance distance is determined by calculating the resistance movement distance and the allowable change distance. Construct a historical interval on a preset timeline with the current time point as the endpoint and a width of a preset historical duration, and determine the subsequent wind parameters based on the current external wind parameters within the historical interval; The predicted wind parameters are determined by analyzing the subsequent wind parameters, and the second overcoming coefficient is determined based on the predicted wind parameters and the remaining resistance distance. The pressure bearing coefficient is determined based on the first overcoming coefficient and the second overcoming coefficient.

[0010] Optionally, the steps for determining the predicted wind parameters based on subsequent wind parameters include: The historical number of successive winds is determined by counting each successive wind parameter, and the total historical number is determined by summing all the historical successive wind parameters. The percentage of historical successors is determined by calculation based on the number of historical successors and the total number of historical successors, and a similar interval is constructed based on the largest percentage of historical successors and the preset similar percentages. The subsequent wind parameters whose historical subsequent proportions are in a similar range are defined as key wind parameters, and the internal proportion of key wind parameters is determined by calculation based on the historical subsequent number of key wind parameters. The predicted wind parameters are determined by calculation and analysis based on the proportion of key internal winds and the corresponding subsequent wind parameters.

[0011] Optionally, after the profile selection coefficient is determined, the UAV-based method for inspecting coatings on marine steel structures also includes: Determine whether there exist at least two simulated arrival contours with the same and largest selection coefficient; If there are no at least two simulated arrival contours with the same and largest contour selection coefficient, then the simulated arrival contour corresponding to the largest contour selection coefficient shall be determined as the new starting operation contour. If there are at least two simulated arrival contours with the same and largest contour selection coefficient, then the simulated arrival contour corresponding to the largest contour selection coefficient is defined as the candidate operation contour. Under the alternative operational contours, the maximum contour selection coefficient is determined based on the current external wind parameters, and the maximum contour selection coefficient is defined as the alternative selection coefficient. The alternative job profile corresponding to the largest alternative selection coefficient is determined as the new starting job profile.

[0012] Secondly, this application provides a UAV-based coating inspection system for marine steel structures, employing the following technical solution: A drone-based coating inspection system for marine steel structures includes: The acquisition module is used to acquire pile foundation distribution drawings; The processing module, connected to the acquisition module, is used for information storage and processing; The processing module analyzes the pile foundation distribution drawings to determine the center location of the pile foundation and the corresponding external outline of the pile foundation. The processing module determines the required movement profile based on the center position of the pile foundation and the corresponding external contour of the pile foundation. The processing module determines the starting work contour on all required movement contours, determines the starting point on the starting work contour, and controls the UAV to move to the starting point to perform work along the starting work contour to obtain coating inspection images. When the UAV moves back to the starting point, the processing module acquires the external wind parameters and analyzes them based on the external wind parameters and the remaining required movement contour to redetermine the starting operation contour and starting point, and controls the UAV to perform operations according to the new starting operation contour and starting point. The processing module analyzes the coating detection image to determine the coating detection status.

[0013] In summary, this application includes at least one of the following beneficial technical effects: When using drones to inspect the coating of marine steel structures, the inspection path of the drone can be rationally planned according to the distribution of each pile foundation, thereby realizing automatic inspection by the drone and improving the inspection effect of the coating of marine steel structures. During the movement of the drone, external wind conditions can be fully considered to plan a reasonable detection path for the drone to fly, thereby improving the overall detection effect. Attached Figure Description

[0014] Figure 1 This is a flowchart of a method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs).

[0015] Figure 2 This is a flowchart of a module for a method of inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs). Detailed Implementation

[0016] To make the purpose, technical solution, and advantages of this application clearer, the following is combined with Figures 1-2 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.

[0017] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0018] This application discloses a method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs), referring to... Figure 1 The method flow for inspecting coatings on marine steel structures based on unmanned aerial vehicles includes the following steps: Step S100: Obtain pile foundation distribution drawings.

[0019] The pile foundation distribution map is a map showing the distribution of pile foundations on the marine steel structure to be inspected, and it is manually entered by the staff.

[0020] Step S101: Analyze the pile foundation distribution drawings to determine the center position of the pile foundation and the corresponding external outline of the pile foundation.

[0021] The center position of the pile foundation is the center point of the pile foundation, and the outer contour of the pile foundation is the outer contour of the cross section of the pile foundation on the horizontal plane. Both can be obtained by analyzing the pile foundation distribution drawings.

[0022] Step S102: Determine the required movement profile based on the center position of the pile foundation and the corresponding external profile of the pile foundation.

[0023] The required movement profile is the path profile that the UAV needs to move when inspecting the surface of the pile foundation. It is determined by connecting the center position of the pile foundation with each point on the outer contour of the pile foundation and extending the preset observation distance. Then, the points are connected according to the positional relationship of each contour point on the outer contour of the pile foundation to construct the required movement profile.

[0024] Step S103: Determine the starting work contour on all required movement contours, determine the starting point on the starting work contour, and control the UAV to move to the starting point to perform work along the starting work contour to obtain coating inspection images.

[0025] The initial working profile is the first required movement profile that the UAV will inspect. It can be selected randomly or the closest movable required movement profile that the UAV can reach can be determined. The starting point is the position point on the initial working profile where the UAV arrives and begins its work. Generally, it is the position point on the initial working profile that the UAV can reach the fastest. The coating inspection image is the image data of the pile foundation surface obtained by the UAV moving along the initial working profile.

[0026] Step S104: When the UAV moves back to the starting point, acquire the external wind parameters, and analyze the external wind parameters and the remaining required movement contour to determine the starting operation contour and starting point again, and control the UAV to perform operations according to the new starting operation contour and starting point.

[0027] External wind parameters are external wind data, including the direction and strength of the external wind. By redefining the initial operation outline and starting point, the subsequent detection of the UAV can be controlled. The method for determining the new initial operation outline and starting point can be the same as the first one, or it can be determined by steps S200-S206. At this time, the UAV can perform normal operation detection.

[0028] Step S105: Analyze the coating inspection image to determine the coating inspection status.

[0029] The coating inspection status reflects the status data of the coating on the surface of marine steel structures. The method of determining the coating condition through images is a conventional technique for those skilled in the art, and will not be elaborated here.

[0030] The steps for re-determining the initial work outline and starting point based on external wind parameters and the remaining demand movement profile include: Step S200: Define the remaining demand movement contours that are not the starting operation contours as subsequent waiting contours.

[0031] Define subsequent waiting contours to identify and distinguish the required movement contours that need to be detected later, facilitating subsequent analysis.

[0032] Step S201: Randomly select one of the following waiting contours and define it as the simulated arrival contour, and determine the simulated operation path based on the simulated arrival contour, the current starting point, and the remaining following waiting contours.

[0033] By defining a simulated arrival contour, the required movement contours to be detected are simulated and analyzed. The simulated operation path is the drone moving from the current starting point to the simulated arrival contour, then moving on the simulated arrival contour, and then moving sequentially to the flight paths of the other drones waiting for the subsequent contours.

[0034] Step S202: Determine the simulated operation route based on the simulated operation path, and define the minimum simulated operation route as the simulated representative route of the current simulated arrival contour.

[0035] The simulated operation path is the flight path required for the UAV to fly according to the simulated operation path. The simulated representative path is defined to identify the minimum simulated operation path, which is the minimum distance the UAV will move after reaching the simulated outline.

[0036] Step S203: Under the simulated operation path, define the points of the simulated arrival contour reached after the current starting point as subsequent points, and construct the contour change direction based on the subsequent points and the current starting point.

[0037] Define successor points to mark the locations of the UAV's flight path. The direction of contour change is the direction the UAV needs to move to reach the simulated contour, which is the direction from the current starting point to the successor point.

[0038] Step S204: Define the minimum simulated representative distance as the simulated lower limit distance, and calculate the difference between the simulated representative distance and the simulated lower limit distance to determine the excess travel distance.

[0039] Define a simulated lower limit distance to identify the shortest distance the drone needs to travel; any excess distance is the simulated representative distance minus the simulated lower limit distance.

[0040] Step S205: Calculate and analyze based on the direction of profile change and external wind parameters to determine the pressure bearing coefficient, and calculate based on the pressure bearing coefficient and excess travel distance to determine the profile selection coefficient.

[0041] The pressure bearing coefficient reflects the pressure exerted by the drone against external wind force; the specific calculation method is described in steps S300-S302. The contour selection coefficient reflects whether the selected simulated arrival contour is suitable as the starting contour for operation; a larger value indicates greater suitability. The calculation formula is as follows: ,in For contour selection coefficient, The bearing capacity coefficient is... To avoid unnecessary travel distance, , as well as These are preset fixed calculation parameters.

[0042] Step S206: Determine the simulated arrival contour corresponding to the largest contour selection coefficient as the new starting contour, and determine the corresponding subsequent point as the new starting point.

[0043] At this point, the simulated arrival profile corresponding to the largest profile selection factor is determined as the new starting operation profile to facilitate UAV flight operations.

[0044] The steps for determining the bearing capacity coefficient based on the direction of profile variation and external wind parameters include: Step S300: Determine the external wind direction and force based on the external wind parameters, and determine the external wind resistance angle based on the external wind direction and the direction of contour change.

[0045] External wind direction refers to the direction of operation of the external wind; external wind force refers to the level and magnitude of the external wind; and external wind resistance angle refers to the angle between the external wind direction and the direction of contour change.

[0046] Step S301: Determine the external wind resistance angle and the resistance coefficient corresponding to the external wind force according to the preset resistance matching relationship.

[0047] The resistance coefficient is the coefficient value of the external wind force required for the drone to move along the direction of profile change under the current external wind parameters. The larger the coefficient value, the more unfavorable it is for the drone to fly. The resistance matching relationship between the three is determined by the staff in advance through multiple tests, which will not be elaborated here.

[0048] Step S302: Determine the resistance movement distance based on the current starting point and subsequent points, and calculate the bearing pressure coefficient based on the resistance movement distance and the resistance coefficient.

[0049] The resistance movement distance is the straight-line distance between the current starting point and the subsequent point. The bearing coefficient can be determined by multiplying the resistance movement distance by the resistance coefficient.

[0050] After determining the resistance movement distance, the UAV-based method for inspecting coatings on marine steel structures also includes: Step S400: Determine whether the resistance movement distance is greater than the preset allowable change distance.

[0051] The allowable distance is the maximum distance that the drone will fly when the external wind force is deemed unlikely to change, as set by the staff. The purpose of this judgment is to determine whether the external wind parameters may change during the drone's flight toward the simulated arrival contour.

[0052] Step S4001: If the resistance movement distance is not greater than the allowable change distance, the bearing pressure coefficient is determined by calculation based on the resistance movement distance and the resistance coefficient.

[0053] When the resistance distance is not greater than the allowable change distance, it means that the drone is not prone to wind changes during flight. In this case, normal analysis can be performed to determine the pressure coefficient.

[0054] Step S4002: If the resistance movement distance is greater than the allowable change distance, the first overcoming coefficient is determined by calculation based on the allowable change distance and the resistance coefficient.

[0055] When the resistance distance is greater than the allowable change distance, it indicates that the external wind parameters will change during the flight of the UAV under theoretical conditions, so further analysis is needed; the first overcoming coefficient is the pressure coefficient that the UAV will reach when moving the allowable change distance under the current external wind parameters, which is determined by multiplying the allowable change distance by the resistance coefficient.

[0056] Step S401: Calculate and determine the remaining resistance distance based on the resistance movement distance and the allowable change distance.

[0057] The resistance remaining distance is the distance the drone still needs to move after the external wind changes under theoretical conditions. It is the parameter value obtained by subtracting the allowable change distance from the resistance movement distance.

[0058] Step S402: Construct a historical interval on the preset time axis with the current time point as the endpoint and the width as the preset historical duration, and determine the subsequent wind parameters in the historical interval based on the current external wind parameters.

[0059] The time axis is a coordinate axis formed by combining various time points. This coordinate axis points from the time points that have already passed to the time points that have not yet been reached. The time points that have already passed are on the left side of the coordinate axis, and the left side of the coordinate axis is defined as the front side of the time axis. The historical duration is the duration for which data on the historical detection of the UAV can be acquired by the staff. The historical interval is constructed to facilitate the acquisition and analysis of data within the historical duration. The subsequent wind parameter is the external wind parameter obtained after the change of the external wind parameter under the historical condition when the external wind parameter in the historical interval is consistent with the current external wind parameter.

[0060] Step S403: Analyze the subsequent wind parameters to determine the predicted wind parameters, determine the second overcoming coefficient based on the predicted wind parameters and the remaining resistance distance, and determine the pressure bearing coefficient based on the first overcoming coefficient and the second overcoming coefficient.

[0061] The predicted wind parameter is the predicted external wind force when the UAV moves to resist the remaining distance under theoretical conditions. The specific determination method can be referred to steps S500-S503. At this time, the corresponding resistance coefficient can be obtained according to the predicted wind parameter. Then, the pressure bearing coefficient of the UAV during the movement process of resisting the remaining distance can be determined by multiplying the resistance coefficient by the remaining resistance distance, that is, the second overcoming coefficient. At this time, the first overcoming coefficient and the second overcoming coefficient are added together to obtain the required pressure bearing coefficient.

[0062] The steps for determining predicted wind parameters based on subsequent wind parameters include: Step S500: Count according to each subsequent wind parameter to determine the historical subsequent quantity, and sum all the historical subsequent quantities to determine the overall historical quantity.

[0063] The historical successive quantity is the number of times a single successive wind parameter appears in a historical interval, while the historical total quantity is the sum of all historical successive quantities.

[0064] Step S501: Calculate the percentage of historical successors based on the number of historical successors and the total number of historical successors, and construct a similar interval based on the largest percentage of historical successors and the preset similar percentage.

[0065] The historical successor percentage is the value obtained by dividing the historical successor quantity by the historical total quantity. The similarity percentage is the maximum difference allowed when two historical successor percentages are considered to be close to each other, as set by the staff. The lower endpoint can be constructed by subtracting the similarity percentage from the largest historical successor percentage. Then, by using the largest historical successor percentage as the upper endpoint, the numerical range that other percentages that are close to the largest historical successor percentage need to be in can be constructed, i.e., the similarity range.

[0066] Step S502: Define the subsequent wind parameters whose historical subsequent proportions are in a similar range as key wind parameters, and calculate the internal proportion of key wind parameters based on the historical subsequent number of key wind parameters.

[0067] Key wind parameters are defined to identify and distinguish subsequent wind parameters that are theoretically more likely to occur. The proportion of key wind parameters is the ratio of a single key wind parameter to all key wind parameters, that is, the ratio of the number of historical subsequent wind parameters of a single key wind parameter to the sum of the number of historical subsequent wind parameters of all historical subsequent wind parameters.

[0068] Step S503: Calculate and analyze based on the proportion of key internal areas and the corresponding subsequent wind parameters to determine the predicted wind parameters.

[0069] At this point, the subsequent wind parameters can be fitted into vectors, focusing on the proportion within each vector, i.e., the number of vectors, so that the vectors of the same subsequent wind parameter can be superimposed and extended. Then, all vectors are fitted to obtain a unique vector value, which is the predicted wind parameter.

[0070] After the contour selection coefficient is determined, the UAV-based method for inspecting coatings on marine steel structures also includes: Step S600: Determine whether there are at least two simulated arrival contours with the same and largest selection coefficient.

[0071] The purpose of the judgment is to determine whether there are multiple simulated arrival profiles that meet the requirements, so as to determine the new starting operation profile.

[0072] Step S6001: If there are no at least two simulated arrival contours with the same and largest contour selection coefficient, then the simulated arrival contour corresponding to the largest contour selection coefficient shall be determined as the new starting operation contour.

[0073] When there are no at least two simulated arrival contours with the same and largest selection coefficient, it means that there is only one simulated arrival contour that meets the requirements. In this case, it can be determined as the new starting operation contour.

[0074] Step S6002: If there are at least two simulated arrival contours with the same and largest contour selection coefficient, then the simulated arrival contour corresponding to the largest contour selection coefficient is defined as the candidate operation contour.

[0075] When there are at least two simulated arrival contours with the same and largest selection coefficient, it indicates that there are multiple simulated arrival contours that meet the requirements and require further analysis. Therefore, they are defined as candidate operation contours to distinguish between different simulated arrival contours and facilitate subsequent analysis.

[0076] Step S601: Under the alternative operational profile, determine the maximum profile selection coefficient based on the current external wind parameters, and define the maximum profile selection coefficient as the alternative selection coefficient.

[0077] The alternative selection factor is the maximum profile selection factor that can be determined under the current external wind parameters when using the alternative operation profile as the new starting operation profile.

[0078] Step S602: Determine the candidate job profile corresponding to the largest candidate selection coefficient as the new starting job profile.

[0079] A larger alternative selection coefficient indicates that the current alternative operation profile is more convenient for subsequent UAV detection. Therefore, the alternative operation profile corresponding to the largest alternative selection coefficient can be determined as the new starting operation profile.

[0080] Reference Figure 2 Based on the same inventive concept, embodiments of the present invention provide a marine steel structure coating inspection system based on unmanned aerial vehicles (UAVs), comprising: The acquisition module is used to acquire pile foundation distribution drawings; The processing module, connected to the acquisition module, is used for information storage and processing; The processing module analyzes the pile foundation distribution drawings to determine the center location of the pile foundation and the corresponding external outline of the pile foundation. The processing module determines the required movement profile based on the center position of the pile foundation and the corresponding external contour of the pile foundation. The processing module determines the starting work contour on all required movement contours, determines the starting point on the starting work contour, and controls the UAV to move to the starting point to perform work along the starting work contour to obtain coating inspection images. When the UAV moves back to the starting point, the processing module acquires the external wind parameters and analyzes them based on the external wind parameters and the remaining required movement contour to redetermine the starting operation contour and starting point, and controls the UAV to perform operations according to the new starting operation contour and starting point. The processing module analyzes the coating detection image to determine the coating detection status; The initial operation profile determination module is used to determine a new initial operation profile for UAV detection; The bearing capacity determination module is used to determine the bearing capacity. The accurate bearing capacity module is used to determine the appropriate bearing capacity with relatively high accuracy. The predictive wind parameter determination module determines the predictive wind parameters based on the subsequent wind parameters. The simulated arrival contour filtering module is used to filter multiple simulated arrival contours that meet the requirements.

[0081] 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.

Claims

1. A method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs), characterized in that, include: Obtain pile foundation distribution drawings; The pile foundation distribution drawings are analyzed to determine the center location of the pile foundation and the corresponding external outline of the pile foundation. Determine the required movement profile based on the center location of the pile foundation and the corresponding external profile of the pile foundation. Determine the starting work profile on all required movement profiles, determine the starting point on the starting work profile, and control the UAV to move to the starting point to perform work along the starting work profile to obtain coating inspection images; When the drone moves back to the starting point, the external wind parameters are acquired, and the starting operation contour and starting point are re-determined based on the external wind parameters and the remaining required movement contour. The drone is then controlled to perform operations based on the new starting operation contour and starting point. The coating detection status is determined by analyzing the coating detection images.

2. The method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The steps for re-determining the initial work outline and starting point based on external wind parameters and the remaining demand movement profile include: Define the remaining demand movement contours that are not the starting operation contours as subsequent waiting contours; Randomly select one of the following waiting contours and define it as the simulated arrival contour. Then determine the simulated operation path based on the simulated arrival contour, the current starting point, and the remaining following waiting contours. The simulated operation route is determined based on the simulated operation path, and the minimum simulated operation route is defined as the simulated representative route to the current simulated arrival contour. Under the simulated operation path, the points of the simulated reached contour after the current starting point are defined as subsequent points, and the contour change direction is constructed based on the subsequent points and the current starting point. The minimum simulated representative distance is defined as the simulated lower limit distance, and the difference between the simulated representative distance and the simulated lower limit distance is calculated to determine the excess driving distance. The pressure bearing coefficient is determined by calculation and analysis based on the direction of profile change and external wind parameters, and the profile selection coefficient is determined by calculation based on the pressure bearing coefficient and the excess travel distance. The simulated arrival contour corresponding to the largest contour selection coefficient is determined as the new starting contour, and the corresponding subsequent point is determined as the new starting point.

3. The method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The steps for determining the bearing capacity coefficient based on the direction of profile variation and external wind parameters include: The external wind direction and force are determined based on the external wind parameters, and the external wind resistance angle is determined based on the external wind direction and the direction of contour change. The external wind resistance angle and the corresponding resistance coefficient of the external wind force are determined based on the preset resistance matching relationship. The resistance movement distance is determined based on the current starting point and subsequent points, and the bearing capacity coefficient is calculated based on the resistance movement distance and the resistance coefficient.

4. The method for inspecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs) according to claim 3, characterized in that, After determining the resistance movement distance, the UAV-based method for inspecting coatings on marine steel structures also includes: Determine whether the resisted movement distance is greater than the preset allowable change distance; If the resistance to movement distance is not greater than the allowable change distance, the bearing capacity coefficient is determined by calculation based on the resistance to movement distance and the resistance coefficient. If the resistance distance is greater than the allowable change distance, the first overcoming coefficient is determined by calculation based on the allowable change distance and the resistance coefficient. The remaining resistance distance is determined by calculating the resistance movement distance and the allowable change distance. Construct a historical interval on a preset timeline with the current time point as the endpoint and a width of a preset historical duration, and determine the subsequent wind parameters based on the current external wind parameters within the historical interval; The predicted wind parameters are determined by analyzing the subsequent wind parameters, and the second overcoming coefficient is determined based on the predicted wind parameters and the remaining resistance distance. The pressure bearing coefficient is determined based on the first overcoming coefficient and the second overcoming coefficient.

5. The method for detecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, The steps for determining predicted wind parameters based on subsequent wind parameters include: The historical number of successive winds is determined by counting each successive wind parameter, and the total historical number is determined by summing all the historical successive wind parameters. The percentage of historical successors is determined by calculation based on the number of historical successors and the total number of historical successors, and a similar interval is constructed based on the largest percentage of historical successors and the preset similar percentages. The subsequent wind parameters whose historical subsequent proportions are in a similar range are defined as key wind parameters, and the internal proportion of key wind parameters is determined by calculation based on the historical subsequent number of key wind parameters. The predicted wind parameters are determined by calculation and analysis based on the proportion of key internal winds and the corresponding subsequent wind parameters.

6. The method for detecting coatings on marine steel structures based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, After the contour selection coefficient is determined, the UAV-based method for inspecting coatings on marine steel structures also includes: Determine whether there exist at least two simulated arrival contours with the same and largest selection coefficient; If there are no at least two simulated arrival contours with the same and largest contour selection coefficient, then the simulated arrival contour corresponding to the largest contour selection coefficient shall be determined as the new starting operation contour. If there are at least two simulated arrival contours with the same and largest contour selection coefficient, then the simulated arrival contour corresponding to the largest contour selection coefficient is defined as the candidate operation contour. Under the alternative operational contours, the maximum contour selection coefficient is determined based on the current external wind parameters, and the maximum contour selection coefficient is defined as the alternative selection coefficient. The alternative job profile corresponding to the largest alternative selection coefficient is determined as the new starting job profile.

7. A UAV-based coating inspection system for marine steel structures, characterized in that, include: The acquisition module is used to acquire pile foundation distribution drawings; The processing module, connected to the acquisition module, is used for information storage and processing; The processing module analyzes the pile foundation distribution drawings to determine the center location of the pile foundation and the corresponding external outline of the pile foundation. The processing module determines the required movement profile based on the center position of the pile foundation and the corresponding external contour of the pile foundation. The processing module determines the starting work contour on all required movement contours, determines the starting point on the starting work contour, and controls the UAV to move to the starting point to perform work along the starting work contour to obtain coating inspection images. When the UAV moves back to the starting point, the processing module acquires the external wind parameters and analyzes them based on the external wind parameters and the remaining required movement contour to redetermine the starting operation contour and starting point, and controls the UAV to perform operations according to the new starting operation contour and starting point. The processing module analyzes the coating detection image to determine the coating detection status.

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