Unmanned aerial vehicle based bridge and tunnel inspection system

Abstract

The application discloses a bridge and tunnel detection system based on unmanned aerial vehicles, which comprises a modeling unmanned aerial vehicle A, a data acquisition device and a ground comprehensive information processing control system, wherein the ground comprehensive information processing control system comprises a 3D coordinate modeling module, an unmanned aerial vehicle cruising path planning module, a defect detection and labeling module and a bridge and tunnel quality detection report generation module; the data acquisition device comprises a transport vehicle, a vehicle-mounted generator, a plurality of unmanned aerial vehicles B and a plurality of unmanned aerial vehicle parking seats arranged on the transport vehicle; the unmanned aerial vehicles B correspond to the number of the unmanned aerial vehicle parking seats, and the vehicle-mounted generator is used for providing power supply for the unmanned aerial vehicle parking seats; the unmanned aerial vehicles B are used for detecting the appearance of a bridge or a highway tunnel; the bridge and tunnel detection system can greatly improve the detection efficiency of the bridge or the highway tunnel, reduce the labor cost, and simultaneously carry a plurality of unmanned aerial vehicles B and unmanned aerial vehicle parking seats on the transport vehicle, so that the detection work of a plurality of structural facilities can be completed in one inspection task, and the detection efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of road inspection technology and relates to a bridge and tunnel inspection system based on unmanned aerial vehicles (UAVs). Background Technology

[0002] Traditional bridge inspection methods include manual inspection and vehicle-based inspection. Manual inspection is challenging due to its high difficulty level, blind spots, difficulty in ensuring the safety of inspectors, low efficiency, and high investment of manpower and resources. Vehicle-based inspection has limited applicability and requires significant financial investment. Neither method can meet the growing demand for bridge inspection and maintenance.

[0003] Currently, with the maturity of computer vision and image processing technologies, and the widespread adoption and cost reduction of commercial drones, drones are increasingly being explored and applied in bridge inspection. Existing popular remote drone-based bridge surface inspection methods involve manually controlling the drone to photograph and inspect the bridge surface. Typically, multiple professional technicians control the drone's movement, camera operation, and other components for flight and data collection. The collected data is displayed in real-time on a ground station monitoring screen, allowing inspectors to assess for defects. While this method effectively reduces some of the shortcomings of manual and vehicle-based inspections, it still suffers from drawbacks such as requiring highly skilled drone pilots, the risk of crashes, and the potential for blind spots.

[0004] Several technical solutions for bridge inspection using drones have been disclosed. Although the existing technical solutions have automated the bridge inspection process, the limited battery life of drones means that when inspecting long or complex bridges, the power of a single drone is insufficient and the inspection efficiency is low. Therefore, it is impossible to complete long-term and heavy inspection tasks, resulting in low inspection efficiency. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a drone-based bridge and tunnel inspection system that can improve detection accuracy and enable drones to better complete heavy inspection tasks.

[0006] The technical solution of the present invention is as follows:

[0007] A bridge and tunnel inspection system based on unmanned aerial vehicles (UAVs) includes a modeling UAV A, data acquisition equipment, and a ground-based integrated information processing and control system. The ground-based integrated information processing and control system includes a 3D coordinate modeling module, a UAV cruise path planning module, a defect detection and annotation module, and a bridge and tunnel quality inspection report generation module.

[0008] The drone A is used for photographing the bridge, tunnel, and surrounding terrain environment to be inspected.

[0009] The data acquisition equipment includes a transport vehicle, a vehicle-mounted generator, several UAVs B mounted on the transport vehicle, and several UAV landing seats; the number of UAVs B corresponds to the number of UAV landing seats, and the vehicle-mounted generator is used to provide power to the UAV landing seats; the UAVs B are used to inspect the appearance of bridges or highway tunnels.

[0010] The 3D coordinate modeling module is used to create a 3D coordinate model of the bridge or tunnel and its surrounding terrain.

[0011] The drone cruise path planning module is used to plan the cruise path of drone B;

[0012] The defect detection and labeling module is used to detect defects at corresponding locations on the surface of bridge decks or highway tunnels, calculate defect severity indices, and label them in the model.

[0013] The bridge and tunnel quality inspection report generation module is used to generate quality inspection reports for bridges or highway tunnels.

[0014] As a further technological improvement, the UAV B mentioned above includes a flight control module, a sensing module, a positioning module, and a loop closure detection module;

[0015] The flight control module is used to receive the cruise path;

[0016] The sensing module is used to record or photograph the target during the detection process and store the obtained video or photos.

[0017] The positioning module is used to acquire the current position of the UAV in real time, record the current position and flight attitude information of the UAV, and transmit the data to the ground integrated information processing and control system.

[0018] The loopback detection module is used to reposition UAV B after it loses its satellite positioning signal.

[0019] As a further technological improvement, the UAV B described above also includes a communication control module, an image processing and transmission module, and a gimbal control module;

[0020] The communication control module includes a wireless data transmission radio and a GPRS wireless module, which are used to maintain communication with the ground integrated information processing and control system.

[0021] The image processing and transmission module is used for the processing and transmission of video or images;

[0022] The pan-tilt control module is used for camera angle control.

[0023] The detection method of the UAV-based bridge and tunnel detection system described above mainly includes the following steps:

[0024] S1. UAV A collects data on the appearance of the bridge or highway tunnel being inspected and the surrounding terrain and environment, and transmits the data back to the ground integrated information processing and control system;

[0025] S2. The 3D coordinate modeling system of the ground integrated information processing and control system generates a 3D coordinate model of the bridge body and the surrounding terrain environment based on the returned data;

[0026] S3. The UAV cruise path planning system of the ground integrated information processing and control system establishes the autonomous cruise path of UAV B based on the 3D coordinate model of the bridge or highway tunnel and the surrounding terrain environment, and sends the instructions to UAV B.

[0027] S4. The UAV B executes an autonomous cruise path to collect images of the bridge or highway tunnel and transmits the collected information back to the ground integrated information processing and control system.

[0028] S5. The bridge deck or tunnel surface defect detection and marking system of the ground integrated information processing and control system matches the appearance image of the bridge deck or highway tunnel transmitted back by UAV B with a 3D coordinate model, uses the recognition algorithm to identify the defective parts of the bridge deck and calculate the degree of defect of the defective parts, and marks the defective parts and defect degree indicators in the 3D coordinate model.

[0029] S6. The bridge and tunnel quality inspection report generation module of the ground integrated information processing and control system automatically generates bridge quality inspection reports.

[0030] As a further technical improvement, after the UAV B flies out according to the command in step S4 above, if it loses the satellite positioning signal, when the loop closure detection module of the UAV B detects that the UAV B repeatedly appears at the same position, it obtains the current positioning information including flight altitude and flight attitude information, adds the detected keyframes, optimizes the pose map, encapsulates the optimized pose data to form a repositioning signal, and inputs the repositioning signal to the UAV B for positioning. Based on the current positioning, the UAV B continues to fly to the preset flight route.

[0031] As a further technological improvement, the UAV B mentioned in step S4 above can fly out as a single unit or in a formation of multiple units.

[0032] As a further technical improvement, when the power of UAV B is insufficient as described in step S4 above, the positioning module records the current positioning information, the ground integrated information processing and control system controls the low-power UAV B to fly back to the UAV parking seat on the transport vehicle, and controls the fully powered UAV B to fly to the recorded positioning information location to continue flying.

[0033] As a further technological improvement, the positioning information mentioned above includes satellite positioning location, flight altitude, flight attitude, and relative position with the object being measured.

[0034] The advantages and beneficial effects of this technical solution are as follows:

[0035] 1. In this invention, UAV A completes the initial data collection of the bridge body and surrounding terrain environment to be inspected, and establishes a 3D coordinate model. Subsequently, UAV B automatically collects data, and the ground integrated information processing and control system automatically detects and marks defects. Then, it automatically generates a bridge and tunnel quality inspection report. The whole process is automated, which greatly improves the inspection efficiency of bridges or highway tunnels and reduces labor costs. At the same time, multiple UAVs B and UAV landing pads are carried on the transport vehicle, which can complete the inspection of multiple structural facilities in one inspection mission, thereby improving the inspection efficiency.

[0036] 2. This invention enables relay flight of drones during inspection. Drone B is also equipped with a positioning module that can record flight positions, especially the flight position and attitude of the drone before returning to base. As a result, the next drone B can accurately reach the position of the previous drone before returning to base and continue to perform the inspection task. This effectively avoids repetitive inspection work while ensuring the integrity and continuity of the inspection data. Making full use of drone B for continuous inspection work helps to improve inspection efficiency and enables drones to better complete heavy inspection tasks.

[0037] 3. The UAV B of the present invention is also equipped with a loop closure detection module, which can realize the repositioning of UAV B after losing satellite positioning signal, ensuring the practicality and reliability of detection. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a structural framework diagram of the present invention. Detailed Implementation

[0040] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0042] Example 1:

[0043] A bridge and tunnel inspection system based on unmanned aerial vehicles (UAVs) includes a modeling UAV A, data acquisition equipment, and a ground-based integrated information processing and control system. The ground-based integrated information processing and control system includes a 3D coordinate modeling module, a UAV cruise path planning module, a defect detection and annotation module, and a bridge and tunnel quality inspection report generation module.

[0044] The drone A is used for photographing the bridge, tunnel, and surrounding terrain environment to be inspected.

[0045] The data acquisition equipment includes a transport vehicle, a vehicle-mounted generator, several UAVs B mounted on the transport vehicle, and several UAV landing seats; the number of UAVs B corresponds to the number of UAV landing seats, and the vehicle-mounted generator is used to provide power to the UAV landing seats; the UAVs B are used to inspect the appearance of bridges or highway tunnels.

[0046] The 3D coordinate modeling module is used to create a 3D coordinate model of the bridge or tunnel and its surrounding terrain.

[0047] The drone cruise path planning module is used to plan the cruise path of drone B;

[0048] The defect detection and labeling module is used to detect defects at corresponding locations on the surface of bridge decks or highway tunnels, calculate defect severity indices, and label them in the model.

[0049] The bridge and tunnel quality inspection report generation module is used to generate quality inspection reports for bridges or highway tunnels.

[0050] The working principle of this technical solution:

[0051] Drone A completes the initial collection of terrain and environmental data around the bridge and tunnel under inspection, and establishes a 3D coordinate model. Subsequently, Drone B automatically collects data, and the ground integrated information processing and control system automatically detects and marks defects, and then automatically generates a bridge and tunnel quality inspection report, realizing the overall automation process. At the same time, the transport vehicle carries multiple Drones B and drone landing pads, which can complete the inspection of multiple structural facilities in one inspection mission.

[0052] The aforementioned UAV B includes a flight control module, a sensing module, a positioning module, and a loop closure detection module;

[0053] The flight control module is used to receive the cruise path;

[0054] The sensing module is used to record or photograph the target during the detection process and store the obtained video or photos.

[0055] The positioning module is used to acquire the current position of the UAV in real time, record the current position and flight attitude information of the UAV, and transmit the data to the ground integrated information processing and control system. The positioning module of UAV B can record the flight position, especially the flight position and flight attitude information before the UAV returns. Then, the next UAV B can accurately reach the position before the previous UAV returns to continue to perform the inspection task. This effectively avoids repetitive inspection work while ensuring the integrity and continuity of the inspection data. Making full use of UAV B for continuous inspection work helps to improve inspection efficiency and enables UAVs to better complete heavy inspection tasks.

[0056] The loopback detection module is used to reposition UAV B after it loses its satellite positioning signal.

[0057] The drone B also includes a communication control module, an image processing and transmission module, and a gimbal control module;

[0058] The communication control module includes a wireless data transmission radio and a GPRS wireless module, which are used to maintain communication with the ground integrated information processing and control system.

[0059] The image processing and transmission module is used for the processing and transmission of video or images;

[0060] The pan-tilt control module is used for camera angle control.

[0061] The detection method of the UAV-based bridge and tunnel detection system described above mainly includes the following steps:

[0062] S1. UAV A collects data on the appearance of the bridge or highway tunnel being inspected and the surrounding terrain and environment, and transmits the data back to the ground integrated information processing and control system;

[0063] S2. The 3D coordinate modeling system of the ground integrated information processing and control system generates a 3D coordinate model of the bridge body and the surrounding terrain environment based on the returned data;

[0064] S3. The UAV cruise path planning system of the ground integrated information processing and control system establishes the autonomous cruise path of UAV B based on the 3D coordinate model of the bridge or highway tunnel and the surrounding terrain environment, and sends the instructions to UAV B.

[0065] S4. The UAV B executes an autonomous cruise path to collect images of the bridge or highway tunnel and transmits the collected information back to the ground integrated information processing and control system; the UAV B can be launched individually or in formation.

[0066] After the UAV B flies out as instructed, if it loses its satellite positioning signal, the loop closure detection module of UAV B will detect that UAV B appears repeatedly in the same position. It will then obtain the current positioning information, including flight altitude and flight attitude information, and add the detected keyframes to optimize the pose graph. The optimized pose data will be encapsulated to form a repositioning signal, which will be input to UAV B for positioning. Based on the current positioning, UAV B will continue to fly to the preset flight route.

[0067] When the power of the drone B is low, the positioning module records the current positioning information. The ground integrated information processing and control system controls the low-power drone B to fly back to the drone landing seat on the transport vehicle, and controls the fully powered drone B to fly to the recorded positioning information location to continue flying. The positioning information includes satellite positioning position, flight altitude, flight attitude, and relative position with the object being measured.

[0068] S5. The bridge deck defect detection and labeling system of the ground integrated information processing and control system matches the appearance image of the bridge deck or highway tunnel transmitted by UAV B with a 3D coordinate model, uses the recognition algorithm to identify the defective parts of the bridge deck or tunnel surface and calculates the degree of defect of the defective parts, and marks the defective parts and the defect degree index in the 3D coordinate model.

[0069] S6. The bridge and tunnel quality inspection report generation module of the ground integrated information processing and control system automatically generates bridge quality inspection reports.

[0070] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A bridge and tunnel inspection system based on unmanned aerial vehicles (UAVs), characterized in that: It includes a modeling drone A, data acquisition equipment, and a ground integrated information processing and control system. The ground integrated information processing and control system includes a 3D coordinate modeling module, a drone cruise path planning module, a defect detection and annotation module, and a bridge and tunnel quality inspection report generation module. The drone A is used for photographing the bridge, tunnel, and surrounding terrain environment to be inspected. The data acquisition equipment includes a transport vehicle, a vehicle-mounted generator, several UAVs B mounted on the transport vehicle, and several UAV landing seats; the number of UAVs B corresponds to the number of UAV landing seats, and the vehicle-mounted generator is used to provide power to the UAV landing seats; the UAVs B are used to inspect the appearance of bridges or highway tunnels. The 3D coordinate modeling module is used to create a 3D coordinate model of the bridge or tunnel and its surrounding terrain. The drone cruise path planning module is used to plan the cruise path of drone B; The defect detection and labeling module is used to detect defects at corresponding locations on the surface of bridge decks or highway tunnels, calculate defect severity indices, and label them in the model. The bridge and tunnel quality inspection report generation module is used to generate quality inspection reports for bridges or highway tunnels.

2. The bridge and tunnel inspection system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: The aforementioned UAV B includes a flight control module, a sensing module, a positioning module, and a loop closure detection module; The flight control module is used to receive the cruise path; The sensing module is used to record or photograph the target during the detection process and store the obtained video or photos. The positioning module is used to acquire the current position of the UAV in real time, record the current position and flight attitude information of the UAV, and transmit the data to the ground integrated information processing and control system. The loopback detection module is used to reposition UAV B after it loses its satellite positioning signal.

3. The bridge and tunnel inspection system based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that: The drone B also includes a communication control module, an image processing and transmission module, and a gimbal control module; The communication control module includes a wireless data transmission radio and a GPRS wireless module, which are used to maintain communication with the ground integrated information processing and control system. The image processing and transmission module is used for the processing and transmission of video or images; The pan-tilt control module is used for camera angle control.

4. The detection method of the UAV-based bridge and tunnel detection system as described in any one of claims 1-3: characterized in that: The main steps include, S1. UAV A collects data on the appearance of the bridge or highway tunnel being inspected and the surrounding terrain and environment, and transmits the data back to the ground integrated information processing and control system; S2. The 3D coordinate modeling system of the ground integrated information processing and control system generates a 3D coordinate model of the bridge body and the surrounding terrain environment based on the returned data; S3. The UAV cruise path planning system of the ground integrated information processing and control system establishes the autonomous cruise path of UAV B based on the 3D coordinate model of the bridge or highway tunnel and the surrounding terrain environment, and sends the instructions to UAV B. S4. The UAV B executes an autonomous cruise path to collect images of the bridge or highway tunnel and transmits the collected information back to the ground integrated information processing and control system. S5. The bridge deck defect detection and labeling system of the ground integrated information processing and control system matches the appearance image of the bridge deck or highway tunnel transmitted by UAV B with a 3D coordinate model, uses the recognition algorithm to identify the defective parts of the bridge deck or tunnel surface and calculates the degree of defect of the defective parts, and marks the defective parts and the defect degree index in the 3D coordinate model. S6. The bridge and tunnel quality inspection report generation module of the ground integrated information processing and control system automatically generates bridge quality inspection reports.

5. The detection method of the UAV-based bridge and tunnel detection system according to claim 4, characterized in that: After the UAV B flies out as instructed in step S4, if it loses its satellite positioning signal, the loop closure detection module of the UAV B will detect that the UAV B appears repeatedly in the same position. It will then obtain the current positioning information, including flight altitude and flight attitude information, and add the detected keyframes to optimize the pose graph. The optimized pose data will be encapsulated to form a repositioning signal, which will be input to the UAV B for positioning. Based on the current positioning, the UAV B will continue to fly to the preset flight path.

6. The detection method of the UAV-based bridge and tunnel detection system according to claim 4, characterized in that: In step S4, the drone B can be launched individually or in formation.

7. The detection method of the UAV-based bridge and tunnel detection system according to claim 4, characterized in that: When the power of UAV B is insufficient in step S4, the positioning module records the current positioning information, the ground integrated information processing and control system controls the low-power UAV B to fly back to the UAV parking seat on the transport vehicle, and controls the fully powered UAV B to fly to the recorded positioning information location to continue flying.

8. The detection method of the UAV-based bridge and tunnel detection system according to claim 7, characterized in that: The positioning information includes satellite positioning location, flight altitude, flight attitude, and relative position with the object being measured.

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