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CN109990778A - A kind of bridge pedestal inspection flight course planning method - Google Patents

A kind of bridge pedestal inspection flight course planning method Download PDF

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Publication number
CN109990778A
CN109990778A CN201910290121.7A CN201910290121A CN109990778A CN 109990778 A CN109990778 A CN 109990778A CN 201910290121 A CN201910290121 A CN 201910290121A CN 109990778 A CN109990778 A CN 109990778A
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China
Prior art keywords
bridge
unmanned plane
inspection
pedestal
flight
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CN201910290121.7A
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Chinese (zh)
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CN109990778B (en
Inventor
颜琼
李华伟
王文昆
罗梓河
王贤
朱义明
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Zhuzhou CRRC Times Electric Co Ltd
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Zhuzhou CSR Times Electric Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
    • B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D3/00—Wagons or vans
    • B61D3/16—Wagons or vans adapted for carrying special loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Public Health (AREA)
  • Health & Medical Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

The invention discloses a kind of bridge pedestal inspection flight course planning methods, operation unmanned plane carries out inspection at the top of pier shaft under bridge bottom surface, Image Acquisition is carried out by surface of the holder camera to bridge pedestal, unmanned plane during flying course line is merged with holder camera including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure simultaneously, generates inspection course line.During inspection, navigated by inertia measuring module, vision module and laser radar.After completing single bridge pedestal inspection, unmanned plane flies along bridge line length direction continues inspection to next bridge pedestal.Unmanned plane fly out after every flight a distance under bridge bottom surface bridge bottom surface receive positioning signal carry out position checking.The present invention is able to solve existing routine inspection mode and relies primarily on manual operation unmanned plane acquisition bridge surface data, and the degree of automation is low, heavy workload, obtains the technical problem that data stability is poor, safety is low.

Description

A kind of bridge pedestal inspection flight course planning method
Technical field
The present invention relates to engineering Inspection Technique fields, realize railway, highway using unmanned vehicle more particularly, to a kind of The bridge pedestal inspection flight course planning method of equal bridges inspection.
Background technique
To the end of the year 2017, china railway revenue kilometres reach 12.7 ten thousand kilometers, and wherein 2.5 ten thousand kilometers of high-speed rail, are accounted for by bridge The ratio of route 52% calculates, and there are about 10,000 Yu Gongli for China's high-speed rail bridge.As Beijing-Tianjin inter-city bridge cumulative length accounts for completely just The ratio of line overall length is 86.6%, and Beijing-Shanghai express railway 80.5%, intercity wide pearl is 94.0%, and military wide visitor aims at 48.5%, Harbin-to-Dalian Visitor aims at 74.3%.Bridge machinery as engineering field one routine work type, detection range generally include bridge deck, Superstructure and substructure.The type of bridge machinery is divided into regular detection, periodic detection and three kinds of special detection.It is regular Detection detects people by section or bridge maintenance personnel carry out patrol and detection.Periodic detection is carried out to the quality condition of bridge structure The complete detection periodically tracked.Special detection be because various cause specifics by brainstrust according to certain physics, chemistry without breakage Measuring means is watched comprehensively to what bridge carried out, surveys strong and is surveyed scarce, it is intended to clear reason, degree and the range of damage are found out, point Consequence caused by analysis damage and latent defect may be dangerous to structure bring.The meaning of bridge machinery be mainly reflected in as Under several aspects:
First, by regularly being detected to bridge, it can establish and perfect the associated profiles of bridge technology situation；
Second, by regularly being detected to bridge, it can detecte the health status of bridge, and then find disease in time Or the development of control disease；
Third can carry out technology state evaluating to bridge, be formed objective full and accurate by regularly being detected to bridge Statistics, so as to provide important reference for the maintenance, reinforcing and technological transformation etc. of bridge；
4th, by regularly being detected to bridge, it can find the security risk of bridge, timely so as to have Effect prevents the generation of safety accident.
In general, the concrete position of bridge machinery specifically includes that bridge bottom surface, outer face, pedestal, pavement, pier shaft, sidebar Equal regions, as shown in Figure 1 and Figure 2.As shown in Fig. 2, G is the pavement of bridge, and H is track.For a long time, bridge Detection is main to detect the methods of vehicle or small-sized assisted detector device using visual detection or by large bridge to determine bridge With the presence or absence of defect, but this mode needs that personnel are more, artificial participation ratio is big, the time is long, large labor intensity, low efficiency, At high cost, detection effect is directly related with the experience of patrolman and sense of responsibility, therefore is unable to satisfy growing bridge Maintenance needs.And with the development of unmanned air vehicle technique, unmanned plane provides a kind of high as a kind of novel device for bridge machinery The method of effect, safety, can substitute traditional detection means and be widely used in terms of bridge machinery.Usually in unmanned plane Upper carrying high-definition camera equipment, operator's far distance control unmanned plane are acquired bridge appearance face data, recycle bridge Beam data management software is managed acquisition data, analyzes, handles, and carries out automatic detection to defect and check with artificial, energy Enough complete the detection of the various defects of bridge.The bridge of unmanned plane inspection at this stage relies primarily on staff's remote controlled drone, exists The technical issues of the following aspects:
1, environment where bridge is complicated, much across river, river, lake, valley, operates unmanned plane to staff and brings Inconvenience；
2, bridge structure is complicated, needs the part of inspection very much, includes pier shaft, outer face, railing, pier, bridge bottom surface Deng, heavy workload, cause unmanned plane is complicated for operation to need very high skill；
3, there is a continuing need for manual operation unmanned plane, low efficiencys for inspection process, and unmanned plane during flying safety guarantee all relies on The qualification and working attitude of operator, is easy to appear safety accident；
4, bridge bottom surface GNSS signal is blocked, and unmanned plane flies under no GNSS signal, navigate and position completely according to By staff's remote control operation, unmanned plane inspection bridge technology difficulty, security risk be will increase dramatically, and be easy to appear unmanned plane pendant Ruin accident；
5, staff operates unmanned plane and brings shaking, it is unintelligible, stable to bring the image data of acquisition, and then influence Subsequent data analysis, defects detection；
6, the illumination of bridge base area is blocked, and it is not clear enough, bright to collect image data, is subsequent image procossing And defect analysis detection brings difficulty.
In the prior art, Chinese invention application CN105551108A and CN105501248A individually discloses a kind of railway Line data-logging method and system.Further, CN104762877A, CN106645205A, CN204833672U, CN104843176A、CN105460210A、CN106054916A、CN205366074U、CN106320173A、 The documents such as CN107748572A, CN108051450A, CN108284953A, CN108177787A, CN207173986U also all mention Go out using unmanned plane as platform, has carried high definition camera and acquire bridge data, and complete the technical solution to bridge machinery.However, There is following distinct disadvantage in these technical solutions:
1, the above application relies primarily on staff and operates unmanned plane acquisition bridge surface data, and the degree of automation is low, work Work amount is big, the stability of acquisition data is poor, safety is low；
2, bridge structure is complicated, and different parts shape difference is very big, and different parts detection needs the ways and means of profession, The above application does not propose targetedly detection method for each position of bridge；
3, it will appear failures, the above applications such as low battery, communication loss in unmanned plane detection process and do not propose failure feelings Processing method under condition；
4, environment is complicated under bridge bottom surface, there are various barriers, needs effectively to be evaded, the above application does not mention Effective method out.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of bridge pedestal inspection flight course planning method, it is existing to solve Routine inspection mode relies primarily on manual operation unmanned plane acquisition bridge surface data, and the degree of automation is low, heavy workload, obtains data Stability is poor, technical problem that safety is low.
In order to achieve the above-mentioned object of the invention, the present invention specifically provides a kind of skill of bridge pedestal inspection flight course planning method Art implementation, bridge pedestal inspection flight course planning method, comprising the following steps:
Operation unmanned plane carries out inspection at the top of pier shaft under bridge bottom surface, by holder camera to bridge pedestal Surface carries out Image Acquisition, while including attitude angle, shooting angle, frame per second, coke by the line of flight of unmanned plane and holder camera Away from and the time for exposure including information merged, generate inspection course line.During inspection, pass through inertia measuring module, view Feel that module and laser radar are navigated.After completing single bridge pedestal inspection, unmanned plane flies along bridge line length direction Row to next bridge pedestal continues inspection.Unmanned plane flies out bridge bottom after every flight a distance under bridge bottom surface Face receives positioning signal and carries out position checking.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
It is used as takeoff point on spacious level land other than the unmanned plane is placed in from bridge bottom surface, holder camera is installed In the top or front of the unmanned plane.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
The relative elevation height of bridge bottom surface is obtained according to the threedimensional model of bridge, is subtracted on the basis of this relative elevation height The shooting distance value for removing unmanned plane obtains the inspection operation height above sea level of unmanned plane.Wherein, the relative elevation height of bridge bottom surface The beam body height of bridge is subtracted for the relative elevation height value at pedestrian way of bridge edge.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
In inspection operation process, when alarming when the battery dump energy of unmanned plane is insufficient, operation unmanned plane stops Only operation, and spacious place landing is found, to replace battery.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
Remote controller makes unmanned plane standing start to inspection operation height above sea level, then towards the bridge bottom close to pier shaft Face direction flight, until the heading for adjusting unmanned plane is to be parallel to pier shaft width direction when reaching close to the position of pier shaft Inwardly, it then fixes tentatively, adjusts attitude angle, shooting angle and the focal length value of holder camera, open supplementary lighting module, it is ensured that shooting picture All covering bridge pedestals.Remote controler advance rudder is pushed, guarantees that unmanned plane advances in inspection height above sea level, on the outside of arrival pier shaft Marginal position after, complete the single face of bridge pedestal inspection operation.Unmanned plane is operated again to be diverted to towards bridge line length Direction, while the attitude angle, shooting angle and focal length value of holder camera are adjusted, inspection operation is repeated until complete around bridge pedestal At the inspection operation in four faces, then the bridge bottom surface that flies out receives positioning calibration signal.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
Remote controler advance rudder is pushed away, unmanned plane is made to advance, while guaranteeing that inspection operation height above sea level is constant.When the next pier of arrival When body, the direction for adjusting unmanned plane is towards pier shaft interior direction.When unmanned plane towards flight set distance on the inside of pier shaft and leans on After nearly pier shaft, inspection operation is repeated until completing the inspection operation in four faces around bridge pedestal, then the bridge bottom surface reception that flies out Calibration signal is positioned, remote controler advance rudder is then pushed to continue the inspection operation of next bridge pedestal.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
Connect after the inspection that entire bridge route is completed in segmentation, then by all sectional inspection course lines close to duplicate place It picks up and, landing course line therein is removed, merging point is the region that there are positioning signal and spaciousness in unmanned plane during flying position, with shape At a complete inspection course line.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
Safe landing point is set in the two sides perpendicular to bridge line length, and in the two sides perpendicular to bridge line length The safe net that makes a return voyage of setting in setting range.The make a return voyage height above sea level of net of safety is lower than the bridge floor height of bridge, and the barrier that is above the ground level Hinder the height of object, is back to safe make a return voyage on the net safely to ensure unmanned plane during making a return voyage.In each pier shaft perpendicular to bridge The two sides setting of beam line length is maked a return voyage starting point, when unmanned plane occur in inspection operation process dropout, low battery or A urgent key make a return voyage situation when, flight is back to takeoff point to neighbouring starting point of making a return voyage, and by the safety net that makes a return voyage.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
When unmanned plane carries out inspection operation under bridge bottom surface, there is signal during no positioning signal environment Lose, low battery or a urgent key make a return voyage situation when, drawn high first to the position close to bridge bottom surface, then fly out bridge bottom Unmanned plane after receiving positioning signal, is pulled up to the height above sea level of the safe net that makes a return voyage, then rectilinear flight to safety is maked a return voyage by face Net makes a return voyage to takeoff point.After the net that makes a return voyage safely is provided with, it is loaded onto together with inspection course line and flies control module.
Further, bridge pedestal unmanned plane inspection flight course planning method includes:
When the unmanned plane is positioned at no positioning signal region, the UAV system passes through inertia measuring module vision mould Block and laser radar obtain the three-dimensional coordinate of the unmanned plane Distance positioning dropout point position, and are obtained by the altimeter Altitude data is taken, to realize without the navigation under positioning signal environment.
By implementing the technical solution for the bridge pedestal inspection flight course planning method that aforementioned present invention provides, have has as follows Beneficial effect:
(1) bridge pedestal inspection flight course planning method of the present invention is directed to using unmanned plane and is detected bridge pedestal planning phase The inspection course line answered carries out automatic detecting operation to control unmanned plane according to inspection course line, so that entire inspection operation process is certainly Dynamicization degree, stability and safety are high, and the bridge susceptor surface quality of data obtained is high, is very beneficial for subsequent Image procossing and defects detection and positioning；
(2) bridge pedestal inspection flight course planning method of the present invention, using unmanned plane sectional inspection flight course planning, while multistage The method of course line fusion carries out course line fusion in spacious and strong GNSS signal region, reduces manual inspection flight course planning Difficulty improves the accuracy in unmanned plane inspection course line, greatly improves the degree of automation of unmanned plane bridge inspection；
(3) bridge pedestal inspection flight course planning method of the present invention, by unmanned aerial vehicle platform carry inertia measuring module, Vision module and laser radar realize unmanned plane positioning and navigation under no GNSS signal environment；
(4) bridge pedestal inspection flight course planning method of the present invention is provided with the safe net that makes a return voyage for bridge inspection, guarantees nothing It is man-machine in case of emergency fast and safely to make a return voyage, it is ensured that the safety during bridge inspection.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Other embodiments are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram for being detected bridge；
Fig. 2 is to be detected structural schematic diagram of the bridge under another visual angle；
Fig. 3 is a kind of flight course planning schematic diagram of specific embodiment of bridge pedestal inspection flight course planning method of the present invention；
Fig. 4 is that inspection is maked a return voyage safely the setting of net in a kind of specific embodiment of bridge pedestal inspection flight course planning method of the present invention Set schematic diagram；
Fig. 5 is that course line fusion signal is segmented in a kind of specific embodiment of bridge pedestal inspection flight course planning method of the present invention Figure；
Fig. 6 is the program flow diagram of the unmanned plane inspection flight course planning method based on the method for the present invention；
Fig. 7 be the method for the present invention based on bridge cruising inspection system system structure diagram；
Fig. 8 be the method for the present invention based on bridge cruising inspection system operation principle schematic diagram；
Fig. 9 be the method for the present invention based on UAV system structure composition block diagram；
Figure 10 be the method for the present invention based on bridge cruising inspection system in image data localization method functional block diagram；
Figure 11 be the method for the present invention based on bridge cruising inspection system in overhaul the functional block diagram of defect positioning method；
Figure 12 be the method for the present invention based on bridge cruising inspection system Bridge data management module functional block diagram；
Figure 13 be the method for the present invention based on bridge cruising inspection system using railcar as the structural representation front view of platform；
Figure 14 be the method for the present invention based on bridge cruising inspection system using railcar as the structural representation top view of platform；
Figure 15 be the method for the present invention based on bridge cruising inspection system using motor vehicle as the structural schematic diagram of platform；
Figure 16 is the program flow diagram of the bridge method for inspecting based on the method for the present invention；
Figure 17 be the method for the present invention based on bridge cruising inspection system in base station structure composition schematic diagram；
In figure: 1- UAV system, the ground 2- end system, 3- hold position indicator, 4- base station, 5- host, the radio station 6-, 7- Transmitting antenna, 8- foot prop, 9- battery, 10- unmanned plane, 11- on-board data processing unit, 12- holder camera, the number of 13- first pass Radio station, the first figure of 14- conduct electricity platform, 15- stored on-board module, and 16- flies control module, 17- inertia measuring module, 18- vision module, 19- laser radar, 110- obstacle avoidance module, 111- locating module, 112- supplementary lighting module, 113- barometer, 20- earth station, 21- One display screen, the second data radio station of 22-, the second figure of 23- conduct electricity platform, 24- second display screen, 100- railcar, 101- drivers' cab, The compartment 102-, 103- scaling platform, 200- motor vehicle, 201- driver's cabin, 202- container.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only It is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field Art personnel all other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.
As shown in attached drawing 3 to attached drawing 17, the specific embodiment of bridge pedestal inspection flight course planning method of the present invention is given, The present invention will be further explained below with reference to the attached drawings and specific examples.
Embodiment 1
As shown in Fig. 3, a kind of embodiment of bridge pedestal inspection flight course planning method of the present invention, specifically includes following step It is rapid:
Operate unmanned plane 10 carried out at the top of pier shaft under the bridge bottom surface inspection (inspection direction be bridge pier shaft N1 → The direction N3), Image Acquisition is carried out to the surface of bridge pedestal by holder camera 12, while by the line of flight of unmanned plane 10 with Holder camera 12 is merged including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure, generates inspection Course line.Since the inspection of bridge pedestal carries out under bridge bottom surface, due to there is bridge to block, GNSS (Global Navigation Satellite System, the abbreviation of Global Navigation Satellite System) signal is weaker, therefore during inspection, passes through inertia Measurement module 17, vision module 18 and laser radar 19 navigate.After the inspection for completing single bridge pedestal, unmanned plane 10 It flies along bridge line length direction L and continues inspection to next bridge pedestal.Unmanned plane 10 is every under bridge bottom surface The bridge bottom surface reception positioning signal that flies out after flight a distance carries out position checking.
Detailed job step is as follows:
1) takeoff point X is used as on the spacious level land other than unmanned plane 10 being placed in from bridge bottom surface, by holder camera 12 It is installed on the top or front of unmanned plane 10.
2) the relative elevation height of bridge bottom surface is obtained according to the threedimensional model of bridge, on the basis of this relative elevation height The shooting distance value for subtracting unmanned plane 10 obtains the inspection operation height above sea level of unmanned plane 10.Wherein, bridge bottom surface is relatively extra large Degree of lifting is that the relative elevation height value at pedestrian way of bridge edge subtracts the beam body height of bridge.
3) remote controller makes 10 standing start of unmanned plane to inspection operation height above sea level, then towards the bridge close to pier shaft Soffit direction is flown, until the heading of adjustment unmanned plane 10 is wide to be parallel to pier shaft when reaching close to the position of pier shaft It is inside to spend direction, then fixes tentatively, adjusts attitude angle, shooting angle and the focal length value of holder camera 12, opens supplementary lighting module 112, Ensure shooting picture all covering bridge pedestals.Remote controler advance rudder is pushed, guarantees unmanned plane 10 in inspection height above sea level low speed Advance, after reaching the marginal position on the outside of pier shaft, completes the inspection operation in the single face of bridge pedestal.10 turns of unmanned plane are operated again To towards bridge line length direction L, while the attitude angle, shooting angle and focal length value of holder camera 12 are adjusted, surrounds bridge Beam bottom seat repeats inspection operation until completing the inspection operation in four faces, then the bridge bottom surface that flies out receives positioning calibration signal.Nothing Man-machine 10 surround the path of bridge pedestal inspection either quadrangle, is also possible to the types such as annular.
4) remote controler advance rudder is pushed away, 10 low-speed forward of unmanned plane is made, while guaranteeing that inspection operation height above sea level is constant.When arriving When up to next pier shaft, the direction of adjustment unmanned plane 10 is towards pier shaft interior direction.When unmanned plane 10 is outside towards pier shaft inside After flight set distance (such as: 2~3 meters) and close pier shaft, inspection operation is repeated around bridge pedestal until completing four faces Inspection operation, then the bridge bottom surface that flies out receive positioning calibration signal, then remote controler advance rudder are pushed to continue next bridge bottom The inspection operation of seat.
5) in inspection operation process, when alarming when the battery dump energy of unmanned plane 10 is insufficient, nobody is operated Machine 10 stops operation, and finds spacious place landing, to replace battery.
6) after the inspection that entire bridge route is completed in segmentation, then by all segmentation course lines close to duplicate local connection Get up, landing course line therein is removed, merging point is the region that 10 flight position of unmanned plane has positioning signal and spaciousness, with shape At a complete inspection course line.
It is connected after the inspection that entire bridge route is completed in segmentation, then by all segmentation course lines close to duplicate place Come, landing course line therein is removed, merging point is the region that 10 flight position of unmanned plane has positioning signal and spaciousness, to be formed One complete inspection course line.Segmentation course line, which carries out fusion in the case where there is GNSS signal, to be considered without unmanned plane under GNSS signal by view Feel and laser will appear error when being navigated after a certain distance.Therefore, it is merged under the conditions of GNSS signal is good It can guarantee flight safety.Course line fusion is completed in the software of earth station 20, and inspection course line is loaded onto UAV system 1 Winged control module 16 in.Two sections of course lines as shown in Fig. 5, X are takeoff point, and Y is level point, and the merging point in two sections of course lines needs In the good place of GNSS signal, two course lines are connected close to duplicate place, and intermediate landing course line are removed, Merging point is the place that there is good GNSS signal in 10 flight service of unmanned plane.When two sections of course lines fusion as described in attached drawing 5, course line 1 descent and the take-off process in course line 2 can all remove.It is by set of coordinates one by one in the local service for having GNSS signal At the coordinate in a course line is made of longitude and latitude and altitude data.But the course line coordinate under bridge bottom surface be not by Longitude and latitude and altitude data form, but pass through visual odometry i.e. inertia measuring module 17 and vision module 18 and laser The fusion of radar 19, to carry out the navigation under no GNSS signal.Under the conditions of no GNSS signal, UAV system 1 passes through inertia Measurement module 17, vision module 18 and laser radar 19 obtain the three-dimensional of 10 Distance positioning dropout point position of unmanned plane and sit Mark, and obtain by altimeter 113 that altitude data is counter pushes away course line coordinate, to realize without the navigation under positioning signal environment.
In order to ensure unmanned plane 10 occur in inspection operation process it is fast when dropout, low battery, a urgent key make a return voyage Speed returns to takeoff point X, thus guarantee 10 safety work of unmanned plane, the bridge pedestal inspection flight course planning side of the present embodiment description Method further comprises that inspection is maked a return voyage safely net planning process, the process specifically includes the following steps:
Safe landing point Z is set in the two sides perpendicular to bridge line length, and perpendicular to the two of bridge line length The safe net that makes a return voyage of setting in side setting range (such as: 10 meters).Safety make a return voyage net height above sea level be lower than bridge bridge floor (i.e. bridge The upper surface of beam body, as shown in I in attached drawing 4) height, and the height for the barrier that is above the ground level, should not have in this height above sea level region Ground obstacle.Safety is maked a return voyage on the net back to safety during making a return voyage for guarantee unmanned plane 10, vertical in each bridge pier shaft The starting point J that makes a return voyage is set in the two sides of bridge line length, to ensure that unmanned plane 10 is back to safely safety during making a return voyage It makes a return voyage online, as shown in Fig. 4.Urgent process point following situations of making a return voyage:
When unmanned plane 10 carries out inspection operation under bridge bottom surface, believe during no positioning signal environment Number lose, low battery or a urgent key make a return voyage situation when, drawn high first to the position close to bridge bottom surface, then fly out bridge bottom Face, after receiving positioning signal, unmanned plane 10 is pulled up to the height above sea level of the safe net that makes a return voyage, and then rectilinear flight to safety is maked a return voyage Net makes a return voyage to safe landing point Z.
When unmanned plane 10 inspection operation and in have positioning signal state during occur dropout, low battery or A urgent key make a return voyage situation when, unmanned plane 10 is pulled up to safety and makes a return voyage the height above sea level of net, and then rectilinear flight to safety is maked a return voyage Net makes a return voyage to safe landing point Z.
After the net that makes a return voyage safely is provided with, it is loaded onto together with inspection course line and flies control module 16.When unmanned plane 10 is in inspection Occur in operation process dropout, low battery or a urgent key make a return voyage situation when, flight to the neighbouring starting point J that makes a return voyage, and Safe landing point Z is quickly back to by making a return voyage to net safely.
Embodiment 2
As shown in Fig. 6, a kind of embodiment of the bridge inspection flight course planning method based on the method for the present invention, specifically includes Following steps:
S100 base station 4) is set up；
S200) prepare unmanned plane 10, and prohibited flight area is arranged by earth station 20；
S300 it includes bottom surface, outer face, pedestal, pier shaft and sidebar that) 10 pairs of manual operation unmanned plane, which need the bridge of inspection, Region inside carries out inspection operation for the first time, and plans corresponding inspection course line respectively for each position of bridge；
S400 it) is detected after the completion of the inspection flight course planning at each position of bridge, loads to winged control module 16 and patrol accordingly Course line is examined, carries out automatic detecting operation to control unmanned plane 10.
Step S100) further comprise following procedure:
S101) foot prop 8 of base station 4 is set up on known point and centering flattens；
S102 the power supply line and transmitting antenna 7 of base station 4) are connected；
S103 host 5 and the radio station 6 of base station 4) are opened, host 5 starts auto-initiation and search of satellite, when satellite number After reaching requirement with satellite quality, the differential signal of base station 4 starts to emit, and base station 4 starts to work normally.
Step S200) further comprise following procedure:
S201 unmanned plane 10) is placed in depletion region, the software in earth station 20 is opened, sets up and connect earth station Then 20 connection powers on for unmanned plane 10；
S202 no-fly region) is set by region more than bridge floor sidebar in the software of earth station 20, to ensure Operator will not fly unmanned plane 10 to region more than bridge floor；
S203 it whether effective) tests no-fly region setting, operates 10 standing start of unmanned plane, quickly push away remote controler lifting Whether rudder, test unmanned plane 10 can break through no-fly height.
Step S300) further comprise following procedure:
S301 three-dimensional measurement, modeling) are carried out for the bridge for needing to carry out inspection, generates bridge three-dimensional map；
S302) operation unmanned plane 10 is to bridge including bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar Region carry out inspection operation for the first time, while adjusting the shooting angle of holder camera 12, imaging made to reach optimum efficiency；
S303) by the line of flight of unmanned plane 10 and holder camera 12 include attitude angle, shooting angle, frame per second, focal length and Information preservation including time for exposure, which is got off, to be merged, and inspection course line is generated.
Embodiment 3
As shown in Fig. 7, a kind of embodiment of bridge cruising inspection system of the present invention, specifically includes: UAV system 1 and ground End system 2.UAV system 1 further comprises unmanned plane 10, and be mounted on unmanned plane 10 on-board data processing unit 11, Holder camera 12 flies to control module 16, obstacle avoidance module 110 and locating module 111, ground end system 2 to further comprise earth station 20. Unmanned plane 10 carries out inspection operation for the first time to the bridge that needs detect under manual operation, carries out bridge table by holder camera 12 Face data acquisition, and the positioning signal obtained according to locating module 111 is (such as: using GNSS signal, Global Navigation Satellite System, the abbreviation of Global Navigation Satellite System, such as GPS, Glonass, Galileo, Beidou satellite navigation system System etc. is all one of Global Navigation Satellite System) generate inspection course line.Unmanned plane 10 flies patrolling for control module 16 according to write-in It examines course line and carries out automatic detecting operation, on-board data processing unit 11 is handled according to the data that obstacle avoidance module 110 is sent, and The progress automatic obstacle-avoiding emergency processing of unmanned plane 10 is controlled by flying control module 16.Bridge cruising inspection system is outer according to detected bridge Shape structure designs accurately unmanned plane inspection course line and collecting method and safety failure processor for each position System.Holder camera 12 carries out video acquisition and video capture, holder phase according to the parameter of setting in automatic detecting operation process The video that machine 12 acquires is sent to ground end system 2 and shown, earth station 20 in automatic detecting operation process according to capturing Image carries out defects detection and positioning, as shown in Fig. 8.Wherein, holder camera 12 can use integral structure, be also possible to Using the split type structure being mounted on camera on holder.Holder camera 12 acquires data with equidistant or constant duration, Guarantee all standing of bridge surface data acquisition.
As shown in Fig. 9, on unmanned plane 10 also equipped with inertia measuring module 17, vision module 18, laser radar 19 and Supplementary lighting module 112, inertia measuring module 17, vision module 18, laser radar 19 and supplementary lighting module 112 are handled with on-board data Unit 11 is connected.Inertia measuring module 17, vision module 18 and laser radar 19 are that unmanned plane 10 provides no positioning signal environment Under navigation information, on-board data processing unit 11 passes through to inertia measuring module 17, vision module 18 and laser radar 19 Data are acquired and calculate, and generate to the positioning of itself present position of unmanned plane 10, posture and scene cartographic information, thus real Existing unmanned plane 10 completes autonomous positioning and navigation under no positioning signal environment.Supplementary lighting module 112 is cloud under low-light (level) environment Platform camera 12 provides light source.
The positioning coordinate data that 20 real-time reception of earth station is sent by locating module 111, and sent by obstacle avoidance module 110 Barrier data, and the location of combine the electronic three-dimensional map data for being detected bridge, real-time display unmanned plane 10.Ground Three-dimensional map environment of the face station 20 based on detected bridge carries out simulated flight to the inspection course line of generation, to verify inspection boat Whether line meets the inspection requirement of setting, if meeting inspection requirement, saves the inspection course line qualified by verifying, and will test The qualified inspection course line write-in of card flies in control module 16, to realize the automatic detecting operation of unmanned plane 10.
Also equipped with stored on-board module 15 on unmanned plane 10, on-board data processing unit 11 complete to holder camera 12, Inertia measuring module 17, vision module 18, laser radar 19, the data acquisition of obstacle avoidance module 110 and locating module 111 and place Reason.On-board data processing unit 11 controls the posture and shooting of holder camera 12, and the image data that holder camera 12 is captured passes through On-board data processing unit 11 is stored into on-board memory devices 15, after unmanned plane 10 completes automatic detecting operation, picture number Earth station 20 is transferred to according to stored on-board module 15 is passed through again.Ground end system 2 further includes that second to be connected with earth station 20 shows Display screen 24, (such as: SD card can be used, i.e. Secure Digital Memory Card, secure digital is deposited by stored on-board module 15 Card storage) image data of unloading shown by second display screen 24.In automatic detecting operation process, 12, holder camera Video acquisition and video capture are carried out according to the parameter of setting, the positioning of 10 present position of unmanned plane is sat when capturing image co-registration shooting Mark, the attitude angle of holder camera 12, course line, bridge and shooting time information are stored into on-board memory devices 15.Route information The main position (such as: bridge bottom surface, outer face, pedestal, pier shaft, sidebar) comprising bridge title, the course line inspection bridge.
After the completion of bed rearrangement bridge automatic detecting operation, the data conversion storage in on-board memory devices 15 is into earth station 20. Unmanned plane 10 during manual operation to the bridge that detects of needs include bottom surface A, outer face B, pavement bottom surface C, pedestal D, Region including pier shaft E and sidebar F carries out inspection operation for the first time, while on-board data processing unit 11 controls holder camera 12 and adjusts Whole shooting angle makes imaging reach optimum efficiency.Holder camera 12 is included attitude angle, shooting angle, frame per second, coke by earth station 20 Away from and the time for exposure including information merge in the line of flight of unmanned plane 10, generate inspection course line.On unmanned plane 10 Also equipped with altimeter 113, when unmanned plane 10 is positioned at no positioning signal region, UAV system 1 passes through inertia measuring module 17, vision module 18 and laser radar 19 obtain the three-dimensional coordinate of 10 Distance positioning dropout point position of unmanned plane, and pass through Altimeter 113 obtains altitude data, to realize without the navigation under positioning signal environment.Meanwhile UAV system 1 is surveyed by inertia It measures module 17, vision module 18 and laser radar 19 and generates the three dimensional point cloud in the detected region of bridge to realize that scene is built Figure.
It also conducts electricity platform 14 equipped with the first data radio station 13 and the first figure on unmanned plane 10, earth station system 2 further includes One display screen 21, the second data radio station 22 and the second figure conduct electricity platform 23.The video data that holder camera 12 acquires passes through airborne number According to processing unit 11 be sent to the first figure conduct electricity platform 14 carry out real-time Transmission, the video data by the second figure conduct electricity platform 23 receive after Display monitoring is carried out by the first display screen 21, the compressed video flowing of real-time Transmission acquires picture convenient for video monitoring and data Adjustment.First data radio station 13 is connected with on-board data processing unit 11, and the second data radio station 22 is connected with earth station 20.Work as nothing After man-machine 10 complete automatic detecting operation, image data passes through stored on-board module 15 again and is transferred to earth station 20.Pass through number Image procossing carries out intelligent measurement defects detection to image is captured, very high to the resolution requirement of image, image transmission system (including the One figure conducts electricity platform 14 and the second figure conducts electricity platform 23) can not real-time Transmission to earth station 20, can only store to on-board memory devices 15 In (such as: airborne SD card), it is then transferred to earth station 20 again.It is passed between UAV system 1 and ground end system 2 by the first number Radio station 13 and the second data radio station 22 realize the control instruction and Flight Condition Data alternating transmission of unmanned plane 10.First number conducts electricity Interaction data between platform 13 and the second data radio station 22 mainly includes upstream data and downlink data, wherein upstream data master It include: telecommand data, course line upload data, holder camera parameter setting data, data etc. are arranged in unmanned plane during flying, under Row data specifically include that altimeter data, battery allowance data, holder status data, GNSS satellite data, obstacle avoidance module number According to, inertia measurement (IMU, Inertial Measurement Unit) data, laser radar data, Flight Condition Data, flight Mileage etc..
Obstacle avoidance module 110 further uses millimetre-wave radar, ultrasonic sensor, infrared distance sensor, laser ranging The combination of any one or more in sensor is mentioned for the barrier around sensorcraft 10, and for 10 avoidance of unmanned plane For range data.Locating module 111 uses the real-time dynamic positioning based on carrier phase observation data, to provide unmanned plane 10 in real time Three-dimensional localization information in specified coordinate system.
As shown in Fig. 11, bridge cruising inspection system further includes hand-held position indicator 3, when needing to repair to bridge defect When, ground end system 2 sends the positioning coordinate and azimuth information of defect present position to hand-held position indicator 3.
As shown in Fig. 12, bridge data management module 201 is further provided in earth station 20, bridge data manages mould Block 201 further comprises:
Basic data input submodule 202, for inputting the essential information of detected bridge；Bridge essential information includes: The title of bridge, type, length, route, bridge pier (pier shaft) quantity, the north GPS, the east GPS, GPS high, bridge initial position GPS (Global Positioning System, the abbreviation of global positioning system) coordinate；
Detection data manages submodule 203, for the acquisition and importing of detection data, detection data according to bridge bottom surface, Outer face, pavement bottom surface, pedestal, pier shaft and sidebar Classification Management, while detection data can be browsed, inquired, searched for, And history detection data is compared and analyzed；
Data analyze submodule 204, and for realizing dysnusia detection and artificial defect detection, dysnusia detection passes through The automatic detection to defect is completed in intelligent image identification, and artificial defect detection is based on display interface by staff, checks original Beginning detection data is completed to the mark of defect, classification and proving operation；
Patrol task plans submodule 205, for arranging the bridge patrol plan in range of management, and prompts staff Inspection progress.
Embodiment 4
A kind of embodiment of the patrol unmanned machine system of bridge applied to embodiment 1, specifically includes: unmanned plane 10, and On-board data processing unit 11, holder camera 12, the first data radio station 13 and the first figure being mounted on unmanned plane 10 conduct electricity platform 14.In automatic detecting operation process, on-board data processing unit 11 sends the acquisition control of bridge surface data to holder camera 12 Signal processed, on-board data processing unit 11 send flight control signal to unmanned plane 10.Holder camera 12 obtains bridge surface High-definition data, the bridge video data that holder camera 12 acquires are sent to the first figure by on-board data processing unit 11 and conduct electricity platform 14, which is sent to ground end system 2 and is carried out display monitoring by the first figure platform 14 that conducts electricity.First data radio station 13 It is connected with on-board data processing unit 11, UAV system 1 realizes the nothing between ground end system 2 by the first data radio station 13 Man-machine 10 control instruction and the alternating transmission of Flight Condition Data.
As shown in Fig. 9, the patrol unmanned machine system of bridge further comprises being mounted on unmanned plane 10, and and on-board data The connected locating module 111 of processing unit 11, on-board data processing unit 11 obtain determining for unmanned plane 10 by locating module 111 Position information.Locating module 111 specifically uses difference RTK (Real Time Kinematic, real-time dynamic positioning) module, can Guarantee high-precision navigation and positioning of the unmanned plane 10 in the case where there is GNSS signal.RTK is a kind of GNSS measuring technique, and RTK positions skill Real-time dynamic positioning of the art based on carrier phase observation data, it can provide tested website (unmanned plane 10) in real time and sit specified Three-dimensional localization in mark system is as a result, and reach a centimetre class precision.
The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Obstacle avoidance module 110 even, on-board data processing unit 11 are that unmanned plane 10 provides the distance letter of barrier by obstacle avoidance module 110 Breath.Obstacle avoidance module 110 can further use millimetre-wave radar, ultrasonic sensor, infrared distance sensor, laser ranging to pass The combination of any one or more in sensor guarantees that the safety of unmanned plane 10 flies for the barrier around sensorcraft 10 Row.
The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Inertia measuring module 17 (i.e. IMU, Inertial Measurement Unit) even.Inertia measuring module 17 is to measure nobody The device of 10 triaxial attitude angle of machine (or angular speed) and acceleration.On-board data processing unit 11 passes through inertia measuring module 17 Obtain the acceleration and angular speed signal of unmanned plane 10.
The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Vision module 18 even.Vision module 18 and inertia measuring module 17 form vision SLAM (i.e. Simultaneous Localization And Mapping, positions and builds figure functional unit), for providing no positioning signal environment for unmanned plane 10 Under vision guided navigation information.The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and at on-board data Manage the connected laser radar 19 of unit 11.Laser radar 19 and inertia measuring module 17 form laser SLAM (i.e. Simultaneous Localization And Mapping, positions and builds figure functional unit), for being provided for unmanned plane 10 Without the three-dimensional point cloud information under positioning signal environment.
Inertia measuring module 17, vision module 18 and laser radar 19 provide high-precision under no GNSS signal for unmanned plane 10 Degree positioning and navigation information.Inertia measuring module 17 and vision module 18 constitute vision SLAM, inertia measuring module 17 and laser Radar 19 constitutes laser SLAM.On-board data processing unit 11 uses embedded data processing center, by sensing data It is acquired and calculates, the positioning to its own position and attitude and scene cartographic information are generated, to make unmanned plane 10 in nothing GNSS signal completes autonomous positioning and navigation.SLAM (Simultaneous Localization and Mapping, it is immediately fixed Position with build figure) main function be to make unmanned plane 10 in unknown environment, complete position (Localization), build figure (Mapping) and path planning (Navigation).Laser SLAM uses laser radar 19, the collected object of laser radar 19 Information shows a series of dispersions, point with precise angle and range information, referred to as point cloud.In general, laser SLAM is logical It crosses the matching to different moments two panels point cloud and compares, calculate the change of the distance and posture of 19 relative motion of laser radar, with Complete the positioning to unmanned plane 10 itself.19 ranging of laser radar is more accurate, and error model is simple, other than strong light direct beam Stable in environment, the processing for putting cloud is simple, while point cloud information itself includes direct geometrical relationship, so that unmanned plane 10 Path planning and navigation become intuitive.And texture information that vision SLAM can obtain magnanimity from environment, being imbued with redundancy, Possess superpower scenery identification ability.Vision SLAM identified using texture information abundant, can be relatively easy to by with To track and predict the dynamic object in scene.Vision SLAM the operation is stable in the dynamic environment of texture-rich, and can be sharp Light SLAM provides very accurate point cloud matching, and the accurate direction of the offer of laser radar 19 and range information are correct matched Point Yun Shangye is capable of providing strong support.In the environment that illumination wretched insufficiency or texture lack, laser SLAM positioning can Vision SLAM is allowed to carry out scene record by few information.The two fusion use can learn from other's strong points to offset one's weaknesses, and greatly improve The positioning accuracy of unmanned plane 10.
The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Supplementary lighting module 112 even.On-board data processing unit 11 control supplementary lighting module 112 be holder camera 12 under low-light (level) environment into The acquisition of row data provides light source, and the position inadequate to illumination carries out light filling, guarantees the clear, bright of acquisition image.
The patrol unmanned machine system of bridge further comprise be arranged on unmanned plane 10, and with 11 phase of on-board data processing unit Stored on-board module 15 even, is captured by holder camera 12 and the bridge surface image data for carrying out defects detection passes through machine Data processing unit 11 is carried to store into stored on-board module 15.After unmanned plane 10 completes inspection operation, the image data is again Earth station 20 is transferred to by stored on-board module 15.
The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Winged control module 16 even.The inspection course line generated by earth station 20 is sent to the first data radio station by the second data radio station 22 13, on-board data processing unit 11 is transmitted to after being received by the first data radio station 13, then write by on-board data processing unit 11 Enter to fly to control module 16.Unmanned plane 10 carries out automatic detecting according to the inspection course line that write-in flies control module 16.
The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Barometer 113 even, when unmanned plane 10 is positioned at no positioning signal region, on-board data processing unit 11 passes through altimeter 113 The altitude data of 10 present position of unmanned plane is obtained, to cooperate inertia measuring module 17, vision module 18 and laser radar 19 real Now without the navigation under positioning signal environment.
Equipped with on-board data processing unit 11, holder camera 12, stored on-board module 15, winged control module on unmanned plane 10 16, inertia measuring module 17, vision module 18, laser radar 19, obstacle avoidance module 110, locating module 111 and supplementary lighting module 112 Deng.And according to specific needs, body top, bottom or the front of unmanned plane 10 can carry out operation with carry holder camera 12. On-board data processing unit 11 is the data acquisition and processing center of unmanned plane 10, is completed to holder camera 12, inertia measurement mould The acquisitions of module datas such as block 17, vision module 18, laser radar 19, obstacle avoidance module 110, locating module 111 and in real time processing, Controlling supplementary lighting module 112 simultaneously is that holder camera 12 acquires data progress light filling.On-board data processing unit 11 controls holder phase The posture and shooting of machine 12 obtain camera data and store into stored on-board module 15.
The patrol unmanned machine system of bridge of the present embodiment description, with high degree of automation, safety is good and does not influence to arrange Vehicle operation, can all-weather operation the advantages that, the efficiency and safety of unmanned plane inspection bridge can be greatly improved.
Embodiment 5
As shown in attached drawing 13 and attached drawing 14, the patrol unmanned machine system of bridge is carrier with railcar 100, and railcar 100 is wrapped Include drivers' cab 101 and compartment 102.Ground end system 2 is set in drivers' cab 101, and UAV system 1 is set in compartment 102, The conduct electricity communication antenna of platform 23 of second data radio station 22 and the second figure is set to outside the vehicle body of railcar 100, is convenient for data receiver.
Unmanned plane 10 is mounted in railcar 100, UAV system 1 is transported to by detected bridge by railcar 100 Beam.On the route of bridge two sides, with one or more concrete curing platform, the fixation landing as unmanned plane 10 is flat Platform.When the patrol unmanned machine system job of bridge, railcar 100, which reaches, is detected bridge, first by staff by unmanned plane 10 are placed on landing platform.Then GNSS-RTK base station (i.e. base station 4) is placed, and controls 10 landing of unmanned plane, worked Personnel can be controlled by the first display screen 21 of ground end system 2 in the drivers' cab 101 of railcar 100 and monitor unmanned plane 10 state of flight, and complete subsequent inspection operation.Or it can be stretched using the setting in 102 two sides of the compartment of railcar 100 Contracting platform 103.It is detected bridge when railcar 100 reaches, unclamps the fixed device of body of unmanned plane 10, then controls scaling platform 103 extend out to unmanned plane 10 in the outside of bridge sidebar.Then GNSS-RTK base station is placed, then controls 10 landing of unmanned plane, Staff can be controlled by the first display screen 21 of ground end system 2 in the drivers' cab 101 of railcar 100 and monitor nothing Man-machine 10 state of flight, and complete subsequent inspection operation.
Embodiment 6
As shown in Fig. 15, the patrol unmanned machine system of bridge is carrier with motor vehicle 200, and motor vehicle 200 includes driver's cabin 201 and container 202.Ground end system 2 is set in driver's cabin 201, and UAV system 1 is set to the goods at 200 rear portion of motor vehicle In case 202, the conduct electricity communication antenna of platform 23 of the second data radio station 22 and the second figure is set to outside the vehicle body of motor vehicle 200.
Unmanned plane 10 is mounted on motor vehicle 200, UAV system 1 is transported to by detected bridge by motor vehicle 200 The lower section of beam.Open place near bridge, using concrete curing one or more platforms, the fixation as unmanned plane 10 is risen Platform drops.It is detected bridge when motor vehicle 200 reaches, unmanned plane 10 is placed on landing platform by staff first.Then It places GNSS-RTK base station (i.e. base station 4), and controls 10 landing of unmanned plane, staff can driving in motor vehicle 200 The state of flight for controlling and monitoring unmanned plane 10 in room 201 by the first display screen 21 of ground end system 2 is sailed, and is completed subsequent Inspection operation.Or it can landing platform by the container 202 at 200 rear portion of motor vehicle as unmanned plane 10.When UAV system 1 It is transported to tested bridge, unclamps the fixed device of body of unmanned plane 10.Then GNSS-RTK base station is placed, and controls nobody 10 landing of machine.Staff can be controlled in the driver's cabin 201 of motor vehicle 200 by the first display screen 21 of ground end system 2 It makes and monitors the state of flight of unmanned plane 10, and complete subsequent inspection operation.
Embodiment 7
As shown in Fig. 16, a kind of embodiment of the bridge method for inspecting based on 1 the method for embodiment, specifically include with Lower step:
S10 three-dimensional map) is established to detected bridge；
S20 base station 4 (can such as use GNSS-RTK base station)) is set up, manual operation unmanned plane 10 is for detected Corresponding inspection course line is planned at each position of bridge, and the structure composition of base station 4 is as shown in Fig. 17；
Inspection flight course planning (calibration) process carries out three-dimensional measurement, modeling first against the bridge for needing to carry out inspection, raw At bridge three-dimensional map；Then, manual operation unmanned plane 10 is to bridge bottom surface, outer face, pavement bottom surface, pedestal, bridge pier (pier Body), the regions such as sidebar carry out inspection operation for the first time, while adjusting the shooting angle of holder camera 12, so that imaging is reached best effective Fruit, and will be under the information preservations such as operating angle, shooting frame rate, the time for exposure of the line of flight of unmanned plane 10 and holder camera 12 It is merged, generates inspection course line, be then based under bridge three-dimensional map environment, to generation in the software of earth station 20 Inspection course line carries out simulated flight, and whether verifying inspection course line is correct, if meets inspection requirement, and saves patrolling for verifying qualification Examine course line；
S30 it) is detected after the completion of the inspection flight course planning at each position of bridge, loads corresponding inspection to winged control module 16 Course line carries out automatic detecting operation to control unmanned plane 10；
S40) the data sent in the acquisition of earth station 20, processing and management 10 automatic detecting operation process of unmanned plane, and it is right Defect existing for bridge is detected to be detected；
S50) data received in 10 automatic detecting operation process of unmanned plane according to earth station 20 are to detected bridge Existing defect is positioned.
Data processing during automatic detecting is to complete acquisition data by the bridge data management software of earth station 20 Identification, management, defects detection, defect location the processing such as resolve, and detailed report generated according to defect classification, grade, with Guide maintenance operation.
In entire bridge cruising inspection system, GNSS-RTK base station is base station 4, and unmanned plane 10 is rover station, the work of RTK It is that a receiver is placed on base station 4 as principle, another or several receivers are placed in carrier (referred to as rover station, at this It is unmanned plane 10 in embodiment) on.Base station 4 and rover station receive the signal of same time, the transmitting of same GPS satellite simultaneously, The observation obtained of base station 4 is compared with known position information, obtains GPS differential correcting value.Then this is corrected Value is transmitted to the total rover station (i.e. unmanned plane 10) depending on satellite by wireless software download radio station 6 in time and refines its GPS observation (corrected value is sent to the locating module 111 carried on rover station, that is, unmanned plane 10 by base station 4, amendment unmanned plane 10 Measured value, to reduce error, improve measurement accuracy), to obtain the accurate real time position of unmanned plane 10 after differential correcting.
Step S10) further comprise following procedure:
S11) by the linear data of bridge route, III coordinate data of CP and Bridge Design drawing, bridge edge plane is obtained Coordinate, bridge edge elevation coordinate and pier shaft centre coordinate；
S12 each building block of bridge) is decomposited from Bridge Design drawing；
S13) according to the dimension data and facade diagram data on Bridge Design drawing, using three-dimensional graphics software to bridge Building block is modeled；
S14 it) is combined each building block together according to the location data of pier shaft centre coordinate, is formed and be detected bridge Threedimensional model；
S15) threedimensional model of detected bridge is imported in map software to the three-dimensional map for obtaining being detected bridge.
Since bridge inspection operation is over the horizon flight, it is mostly in outside sighting distance in operation process, to make operator The position of bridge where monitoring 10 inspection of unmanned plane in real time guarantees safety during inspection, and earth station 20 arrives according to real-time reception GNSS coordinate data, the data of obstacle avoidance module 110 of unmanned plane 10, and combine the bridge being directed into 20 software of earth station three-dimensional Electronic map, the location of 10 inspection of real-time display unmanned plane.
First to by the bridge of inspection, bridge three-dimensional map is established, the barrier comprising bridge near its circumference.Railroad bridge Three-dimensional map establishes input data, and comprising route line style data, CP III, (CP III: Chinese is foundation pile control net, for along route cloth If three dimensional control network, plane control rise closes in basic plane control net CP I or Control networks for lines CP II, high process control rise close in Along the second-class level web of route arrangement, testing after the completion of general engineering construction lower online, for non-fragment orbit laying and operation maintenance Benchmark) data, Bridge Design drawing.Highway bridge three-dimensional map method for building up uses RTK measurement pattern, measures bridge two sides The longitude and latitude and altitude data at edge calculate the threedimensional model of bridge then in conjunction with Bridge Design drawing.Bridge near its circumference High bar barrier also by RTK mode, measure its longitude and latitude, it is finally that the barrier within tens meters of bridge and surrounding is whole It is included in three-dimensional map.
The process that bridge three-dimensional map is established includes: by the linear data of route, III coordinate data of CP and Bridge Design figure Paper obtains bridge edge plane coordinate, bridge edge elevation coordinate, bridge pier centre coordinate.It is decomposed from Bridge Design drawing again All parts out.According to the dimension data and facade diagram data on Bridge Design drawing, chart using AutoCAD or other is three-dimensional Component modeling of the software to bridge.Then, it is combined all parts together according to the location data of bridge pier centre coordinate, that is, is formed One bridge block model.Bridge threedimensional model is imported such as again: obtaining bridge three-dimensional map in Google Earth map software.
Step S20) further comprise following procedure:
S21 base station 4) is set up；The specific steps are in having set up foot prop 8 on known point, centering is flattened (if be erected at It in unknown point, then substantially flattens)；Power supply line and transmitting antenna 7 are connected, and notices that the positive and negative anodes of power supply are correct (red just It is black negative)；Host 5 and radio station 6 are opened, host 5 starts auto-initiation and search of satellite, wants when satellite number and satellite quality reach After asking (about 1 minute), the DL indicator light on host 5 starts 5 seconds quick flashing 2 times, while the TX indicator light on radio station 6 starts often Second dodge 1 time；This shows that the differential signal of base station 4 starts to emit, and entire base station 4 starts to work normally；
S22) prepare unmanned plane 10, and prohibited flight area is arranged by earth station 20；The specific steps are by unmanned plane 10 It is placed on depletion region, the software in earth station 20 is opened, has set up communication antenna, connected the communication antenna of earth station 20, Then it is powered on for unmanned plane 10, sets prohibited flight area for region more than bridge floor side rod in the software map of earth station 20 Domain guarantees that operator will not fly unmanned plane 10 and arrives bridge floor area above；Whether effective test no-fly region setting, nobody 10 standing start of machine quickly pushes away elevator, and whether test unmanned plane 10, which can be broken through, is forbidden height；
S23) 10 pairs of the manual operation unmanned plane bridges for needing inspection include bottom surface, outer face, pavement bottom surface, pedestal, Region including pier shaft and sidebar carries out inspection operation for the first time, and plans corresponding inspection boat respectively for each position of bridge Line.
Step S30) further comprise following procedure:
S31 base station 4) is set up；
S32 unmanned plane 10) is placed in takeoff point X；
S33 communication antenna) is connected, the software in earth station 20 is opened；
S34 inspection course line plan) is loaded, after determining that inspection course line is errorless, execution unmanned plane 10 takes off operation；
S35) unmanned plane 10 carries out automatic detecting operation according to the inspection course line of load.
The qualified inspection course line of verifying is written to the winged control module 16 of UAV system 1 by the software of earth station 20, with It controls unmanned plane 10 and carries out automatic detecting, obstacle avoidance module 110 guarantees the safety during 10 inspection of unmanned plane, in emergency circumstances not Bridge can be caused to damage.During inspection, holder camera 12 carries out video acquisition according to the parameter set, image is grabbed It claps.Video data is shown by radio station's real-time Transmission to ground end system 2.When the high-definition image of candid photograph merges shooting GNSS coordinate, camera posture, course line, bridge and shooting time information store to stored on-board module 15, bed rearrangement bridge inspection Data conversion storage is to earth station 20 after the completion.The fusing image data acquisition moment unmanned plane present position that unmanned plane 10 acquires The information such as GNSS information, acquisition time, shooting angle and inspection course line provide for subsequent defective positioning and accurately position number According to.
Step S40) further comprise following procedure:
The positioning coordinate of 10 present position of unmanned plane, the attitude angle of holder camera 12, course line, bridge when fusion has image taking The candid photograph image of beam and shooting time information generates corresponding file according to the bridge surface data of different inspection course lines acquisition The data of folder, same inspection course line acquisition are stored in individual file.The inspection data for being detected bridge are directed into ground It stands after 20, according to bridge bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar management, and according to shooting date, tested It surveys position type to be shown, while detection data can be browsed, inquired, searched for, and history detection data is carried out pair Than analysis.By carrying out automatic detection of the intelligent image identification completion to defect to candid photograph image, while passing through staff's base In display interface, raw sensor data is checked, carry out artificial defect detection to image is captured, complete the mark to defect, classification And proving operation.
Step S50) further comprise following procedure:
S51 Primary Location) is carried out to image is captured by bridge title and route information, as shown in Fig. 10；
S52) according to the positioning coordinate, the attitude angle of holder camera 12, course line of 10 present position of unmanned plane when capturing image Information, bridge information and shooting time calculate and capture coordinate of each pixel under earth coordinates in image；Work as defect When in bridge bottom surface without positioning signal, nobody is calculated by inertia measuring module 17, vision module 18 and laser radar 19 Coordinate of the machine 10 under earth coordinates, and obtain capturing coordinate of each pixel under earth coordinates in image；
S53) when needing to repair bridge defect, the positioning coordinate and azimuth information of defect present position are sent out It send into hand-held position indicator 3, operating personnel is quickly found out defect position according to the information in hand-held position indicator 3.
10 pairs of the manual operation unmanned plane bridges for needing to detect carry out inspection operation for the first time, carry out figure by holder camera 12 Inspection course line is generated as acquisition, and according to the positioning signal that locating module 111 obtains.Unmanned plane 10 flies control module 16 according to write-in Inspection course line carry out automatic detecting operation, at the data that on-board data processing unit 11 is sent according to obstacle avoidance module 110 Reason, and automatic obstacle-avoiding emergency processing is carried out by flying the control control unmanned plane 10 of module 16.Holder camera 12 is in automatic detecting operation Video acquisition and video capture are carried out according to the parameter of setting in the process, earth station 20 carries out defects detection according to the image of candid photograph And positioning, the video that holder camera 12 acquires are sent to ground end system 2 and are shown.The video data that holder camera 12 acquires It is conducted electricity 14 real-time Transmission of platform by the first figure, which is conducted electricity after platform 23 receives by the second figure and carried out by the first display screen 21 Display monitoring.Nothing is realized by the first data radio station 13 and the second data radio station 22 between UAV system 1 and ground end system 2 Man-machine 10 control instruction and Flight Condition Data interaction.Image data for carrying out defects detection is stored to stored on-board mould In block 15, earth station 20 is transferred to by stored on-board module 15 again after unmanned plane 10 completes automatic detecting operation.By airborne The image data of 15 unloading of memory module is shown by second display screen 24.
Inertia measuring module 17, vision module 18 and laser radar 19 are that unmanned plane 10 is provided under no positioning signal environment Navigation information, on-board data processing unit 11 is by acquiring inertia measuring module 17, vision module 18 and laser radar 19 Data are calculated, and are generated to the positioning of itself present position of unmanned plane 10, posture and scene cartographic information, to realize nobody Machine 10 completes autonomous positioning and navigation under no positioning signal environment.Supplementary lighting module 112 is holder camera under low-light (level) environment 12 provide light source.On-board data processing unit 11 controls the posture and shooting of holder camera 12, the image that holder camera 12 acquires Data are stored into on-board memory devices 15.The coordinate setting data that 20 real-time reception of earth station is sent by locating module 111, with And the barrier data sent by obstacle avoidance module 110, and combine be detected bridge electronic three-dimensional map data, real-time display without The location of man-machine 10.By enabling 10 inspection bridge process of unmanned plane on ground to by inspection Bridge Design three-dimensional map Carry out simulative display in the three-dimensional map software virtual environment at face station 20, can monitor in real time unmanned plane 10 during inspection with Specific location between bridge and apart from situation, greatly improves the safety and the degree of automation of unmanned plane bridge inspection.
The bridge that unmanned plane 10 detects needs during manual operation includes bottom surface, outer face, pavement bottom surface, bottom Region including seat, pier shaft and sidebar carries out inspection operation for the first time, while on-board data processing unit 11 controls holder camera 12 Shooting angle is adjusted, imaging is made to reach optimum efficiency.Earth station 20 by holder camera 12 include attitude angle, shooting angle, frame per second, Focal length and the information including the time for exposure merge in the line of flight of unmanned plane 10, generate inspection course line.Earth station 20 Three-dimensional map environment based on detected bridge carries out simulated flight to the inspection course line of generation, to verify whether course line meets The inspection requirement of setting saves the inspection course line qualified by verifying, and patrolling verifying qualification if meeting inspection requirement It examines course line write-in to fly in control module 16, to realize the automatic detecting operation of unmanned plane 10.
In automatic detecting operation process, holder camera 12 carries out video acquisition and video capture according to the parameter of setting, The positioning coordinate of 10 present position of unmanned plane when capturing image co-registration shooting, the attitude angle of holder camera 12, course line, bridge and Shooting time information is stored into on-board memory devices 15, and after the completion of bed rearrangement is detected bridge inspection operation, stored on-board is set Data conversion storage in standby 15 is into earth station 20.When unmanned plane 10 is positioned at no positioning signal region, UAV system 1 passes through used Property measurement module 17, vision module 18 and laser radar 19 obtain the three-dimensional of 10 Distance positioning dropout point position of unmanned plane and sit Mark, and altitude data is obtained by altimeter 113, to realize without the navigation under positioning signal environment.Meanwhile UAV system 1 Bridge, which is generated, by inertia measuring module 17, vision module 18 and laser radar 19 is detected the three dimensional point cloud in region with reality Live Jing Jiantu.
The bridge method for inspecting of the present embodiment description gives accurately unmanned plane during flying boat for each position of bridge Line and data acquisition modes, and only need to carry out manual intervention operation to the line of flight for the first time, the inspection course line planned for the first time is protected It leaves and, later operation only needs the inspection course line of preservation to be loaded onto unmanned plane 10, it will be able to realize full-automatic inspection bridge Each position.
It, can by implementing the technical solution of the bridge pedestal inspection flight course planning method of specific embodiment of the invention description It has the following technical effects:
(1) the bridge pedestal inspection flight course planning method of specific embodiment of the invention description, using unmanned plane for tested It surveys bridge pedestal and plans corresponding inspection course line, automatic detecting operation is carried out to control unmanned plane according to inspection course line, so that whole A inspection operation process the degree of automation, stability and safety are high, and the bridge susceptor surface quality of data obtained is high, It is very beneficial for subsequent image procossing and defects detection and positioning；
(2) the bridge pedestal inspection flight course planning method of specific embodiment of the invention description, using unmanned plane sectional inspection Flight course planning, while the method for multistage course line fusion carry out course line fusion in spacious and strong GNSS signal region, reduce people The difficulty of work inspection flight course planning, improves the accuracy in unmanned plane inspection course line, greatly improves unmanned plane bridge inspection The degree of automation；
(3) the bridge pedestal inspection flight course planning method of specific embodiment of the invention description, by unmanned aerial vehicle platform Inertia measuring module, vision module and laser radar are carried, unmanned plane positioning and navigation under no GNSS signal environment are realized；
(4) the bridge pedestal inspection flight course planning method of specific embodiment of the invention description, is provided with for bridge inspection Make a return voyage safely net, guarantees that unmanned plane in case of emergency can fast and safely make a return voyage, it is ensured that the safety during bridge inspection Property.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though So the present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art Member, in the case where not departing from Spirit Essence of the invention and technical solution, all using in the methods and techniques of the disclosure above Appearance makes many possible changes and modifications or equivalent example modified to equivalent change to technical solution of the present invention.Therefore, Anything that does not depart from the technical scheme of the invention are made to the above embodiment any simple according to the technical essence of the invention Modification, equivalent replacement, equivalence changes and modification still fall within the range of technical solution of the present invention protection.

Claims (10)

1. a kind of bridge pedestal unmanned plane inspection flight course planning method, which comprises the following steps:
Operation unmanned plane (10) carries out inspection at the top of pier shaft under bridge bottom surface, by holder camera (12) to bridge bottom The surface of seat carries out Image Acquisition, while including attitude angle, shooting by the line of flight of unmanned plane (10) and holder camera (12) Angle, frame per second, focal length and the information including the time for exposure are merged, and inspection course line is generated；During inspection, pass through inertia Measurement module (17), vision module (18) and laser radar (19) navigate；After completing single bridge pedestal inspection, nobody Machine (10) flies along bridge line length direction continues inspection to next bridge pedestal；Unmanned plane is under bridge bottom surface The bridge bottom surface reception positioning signal that flies out after every flight a distance carries out position checking.
2. bridge pedestal unmanned plane inspection flight course planning method according to claim 1, which is characterized in that the method into One step includes:
Takeoff point is used as on spacious level land other than the unmanned plane (10) is placed in from bridge bottom surface, by holder camera (12) It is installed on the top or front of the unmanned plane (10).
3. bridge pedestal unmanned plane inspection flight course planning method according to claim 1 or 2, which is characterized in that the side Method further comprises:
The relative elevation height of bridge bottom surface is obtained according to the threedimensional model of bridge, subtracts nothing on the basis of this relative elevation height The shooting distance value of man-machine (10) obtains the inspection operation height above sea level of unmanned plane (10)；Wherein, the relative elevation of bridge bottom surface Height is that the relative elevation height value at pedestrian way of bridge edge subtracts the beam body height of bridge.
4. bridge pedestal unmanned plane inspection flight course planning method according to claim 3, which is characterized in that the method into One step includes:
In inspection operation process, when alarming when the battery dump energy of unmanned plane (10) is insufficient, unmanned plane is operated (10) it stops operation, and finds spacious place landing, to replace battery.
5. bridge pedestal unmanned plane inspection flight course planning method according to claim 1,2 or 4, which is characterized in that described Method further comprises:
Remote controller makes unmanned plane (10) standing start to inspection operation height above sea level, then towards the bridge bottom close to pier shaft Face direction flight, until the heading of adjustment unmanned plane (10) is to be parallel to pier shaft width when reaching close to the position of pier shaft Direction is inside, then fixes tentatively, and adjusts attitude angle, shooting angle and the focal length value of holder camera (12), opens supplementary lighting module (112), it is ensured that shooting picture all covers bridge pedestal；Remote controler advance rudder is pushed, guarantees unmanned plane (10) in inspection height above sea level Height is advanced, and after reaching the marginal position on the outside of pier shaft, completes the inspection operation in the single face of bridge pedestal；Unmanned plane is operated again (10) it is diverted to towards bridge line length direction, while adjusting the attitude angle, shooting angle and focal length value of holder camera (12), Inspection operation is repeated until completing the inspection operation in four faces around bridge pedestal, then the bridge bottom surface that flies out receives positioning calibration letter Number.
6. bridge pedestal unmanned plane inspection flight course planning method according to claim 5, which is characterized in that the method into One step includes:
Remote controler advance rudder is pushed away, so that unmanned plane (10) is advanced, while guaranteeing that inspection operation height above sea level is constant；When the next pier of arrival When body, the direction of adjustment unmanned plane (10) is towards pier shaft interior direction；When unmanned plane (10) is set towards flight on the inside of pier shaft After distance and close pier shaft, inspection operation is repeated around bridge pedestal until completing the inspection operation in four faces, then the bridge that flies out Bottom surface receives positioning calibration signal, and remote controler advance rudder is then pushed to continue the inspection operation of next bridge pedestal.
7. bridge pedestal unmanned plane inspection flight course planning method according to claim 6, which is characterized in that the method into One step includes:
It is connected after the inspection that entire bridge route is completed in segmentation, then by all sectional inspection course lines close to duplicate place Come, landing course line therein is removed, merging point is the region that unmanned plane (10) flight position has positioning signal and spaciousness, with shape At a complete inspection course line.
8. according to claim 1, bridge pedestal unmanned plane inspection flight course planning method described in 2,4,6 or 7, which is characterized in that The method further includes:
Safe landing point is set in the two sides perpendicular to bridge line length, and in the two sides setting perpendicular to bridge line length The safe net that makes a return voyage of setting in range；The make a return voyage height above sea level of net of safety is lower than the bridge floor height of bridge, and the barrier that is above the ground level Height, with ensure unmanned plane (10) be back to safely during making a return voyage safety make a return voyage it is online；In each pier shaft perpendicular to bridge Starting point of making a return voyage is arranged in the two sides of beam line length, when dropout, low electricity occurs in inspection operation process in unmanned plane (10) Amount or a urgent key make a return voyage situation when, flight is back to takeoff point to neighbouring starting point of making a return voyage, and by the safety net that makes a return voyage.
9. bridge pedestal unmanned plane inspection flight course planning method according to claim 8, which is characterized in that the method into One step includes:
When unmanned plane (10) carries out inspection operation under bridge bottom surface, there is signal during no positioning signal environment Lose, low battery or a urgent key make a return voyage situation when, drawn high first to the position close to bridge bottom surface, then fly out bridge bottom Unmanned plane (10) after receiving positioning signal, is pulled up to the height above sea level of the safe net that makes a return voyage, then rectilinear flight to safety by face The net that makes a return voyage makes a return voyage to takeoff point；After the net that makes a return voyage safely is provided with, it is loaded onto together with inspection course line and flies control module (16).
10. according to claim 1, bridge pedestal unmanned plane inspection flight course planning method, feature described in 2,4,6,7 or 9 exist In, the method further includes:
When the unmanned plane (10) is positioned at no positioning signal region, the UAV system (1) passes through inertia measuring module (17), vision module (18) and laser radar (19) obtain the three-dimensional of unmanned plane (10) Distance positioning dropout point position Coordinate, and altitude data is obtained by the altimeter (113), to realize without the navigation under positioning signal environment.
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