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Bridge pier inspection route planning method

A technology for bridge piers and bridges, applied in three-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve the problems of low degree of automation, poor data stability, low security, etc., to improve the degree of automation, The effect of high stability and security, and high data quality

Pending Publication Date: 2019-07-02
ZHUZHOU TIMES ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0019] In view of this, the object of the present invention is to provide a bridge pier inspection route planning method to solve the problem that the existing inspection methods mainly rely on manual operation of drones to collect bridge surface data, which has low automation, heavy workload, and difficult data acquisition. Technical problems of poor stability and low security

Method used

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  • Bridge pier inspection route planning method

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Experimental program
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Embodiment 1

[0067] as attached image 3 As shown, an embodiment of the method for planning the inspection route of the bridge pier body of the present invention specifically includes the following steps:

[0068] The UAV 10 is operated to perform inspections around the pier body in a clockwise or counterclockwise direction under the bottom of the bridge, and image acquisition is performed on the four sides of the entire pier body through the pan-tilt camera 12 . The unmanned aerial vehicle 10 completes the inspection operation on a single side of the pier body according to the path of reciprocating up and down in the vertical direction, and at the same time compares the flight path of the unmanned aerial vehicle 10 with the pan-tilt camera 12 including attitude angle, shooting angle, frame rate, focal length and Information including exposure time is fused to generate inspection routes. The inspection of the pier is carried out under the bottom of the bridge. Due to the obstruction of th...

Embodiment 2

[0086] as attached Figure 6 Shown, a kind of embodiment of the bridge inspection route planning method based on the method of the present invention, specifically comprises the following steps:

[0087] S100) set up as attached Figure 17 Reference station 4 shown;

[0088] S200) prepare the unmanned aerial vehicle 10, and set the no-fly area through the ground station 20;

[0089] S300) Manually operate the unmanned aerial vehicle 10 to perform the first inspection operation on the area of ​​the bridge that needs to be inspected, including the bottom surface, outer edge surface, base, pier body and side rails, and plan corresponding inspection routes for each part of the bridge;

[0090] S400) After the inspection route planning for each part of the bridge to be detected is completed, load the corresponding inspection route to the flight control module 16, so as to control the UAV 10 to perform automatic inspection operations.

[0091] Step S100) further includes the follo...

Embodiment 3

[0104] as attached Figure 7As shown, an embodiment of the bridge inspection system of the present invention specifically includes: an unmanned aerial vehicle system 1 and a ground terminal system 2 . The unmanned aerial vehicle system 1 further includes an unmanned aerial vehicle 10, and an airborne data processing unit 11, a pan-tilt camera 12, a flight control module 16, an obstacle avoidance module 110 and a positioning module 111 mounted on the unmanned aerial vehicle 10, and the ground terminal system 2 further comprises a ground station 20. The UAV 10 performs the first inspection operation on the bridge to be detected under manual operation, and collects bridge surface data through the pan-tilt camera 12, and according to the positioning signal obtained by the positioning module 111 (such as: using GNSS signals, Global Navigation Satellite System, The abbreviation of global navigation satellite system, such as GPS, Glonass, Galileo, Beidou satellite navigation system,...

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Abstract

The invention discloses a bridge pier inspection route planning method. A drone carries out inspection around the bottom of a bridge in a clockwise or counterclockwise direction, and carries out imagecapturing on four sides of the whole pier through a holder camera. The drone completes the inspection of the single side of the pier according to the path of reciprocating back and forth in the vertical direction. At the same time, the flight path of the drone is combined with the information of the holder camera including the attitude angle, the shooting angle, the frame rate, the focal length and the exposure time to generate an inspection route. During the pier inspection process, navigation is performed through an inertial measurement module, a vision module and a laser radar. After the inspection of a single pier is completed, the drone flies to the next pier to continue pier inspection. According to the invention, the technical problem that the existing inspection mode mainly relieson the manual operation of the drone to collect the surface data of the bridge, and has the disadvantages of low automation degree, large workload, poor data stability and low safety is solved.

Description

technical field [0001] The invention relates to the technical field of engineering detection, in particular to a bridge pier patrol inspection route planning method for realizing bridge inspection of railways, highways and the like by using an unmanned aerial vehicle. Background technique [0002] By the end of 2017, the national railway operating mileage reached 127,000 kilometers, including 25,000 kilometers of high-speed rail. Calculated based on the proportion of bridges accounting for 52% of the line, there are about 10,000 kilometers of high-speed rail bridges in my country. For example, the accumulative length of the Beijing-Tianjin intercity bridge accounts for 86.6% of the total length of the main line, the Beijing-Shanghai high-speed railway accounts for 80.5%, the Guangzhou-Zhuhai intercity bridge accounts for 94.0%, the Wuhan-Guangzhou Railway Express accounted for 48.5%, and the Harbin-Dalian Railway Express accounted for 74.3%. As a routine operation type in th...

Claims

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Application Information

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IPC IPC(8): G05D1/10B64C39/02B64D47/08
CPCG05D1/101B64C39/02B64D47/08
Inventor 颜琼李华伟王文昆罗梓河王贤朱义明
Owner ZHUZHOU TIMES ELECTRONICS TECH CO LTD
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