CN114281107A - Highway slope maintenance inspection method - Google Patents
Highway slope maintenance inspection method Download PDFInfo
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- CN114281107A CN114281107A CN202111573972.6A CN202111573972A CN114281107A CN 114281107 A CN114281107 A CN 114281107A CN 202111573972 A CN202111573972 A CN 202111573972A CN 114281107 A CN114281107 A CN 114281107A
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Abstract
The invention discloses a highway side slope maintenance inspection method, which comprises the following steps: the method comprises the steps that a manually driven vehicle patrols along a highway to obtain the position information of the highway slope; marking the position information of the highway side slope to be inspected on a map to generate a highway side slope grid; determining an optimal position set by an unmanned aerial vehicle base station, and formulating an unmanned aerial vehicle routing inspection route; the method comprises the following steps that an unmanned aerial vehicle carries out fixed-point photographing sampling on a highway slope during first inspection, the unmanned aerial vehicle records a sampling position and sends a photographed image to an unmanned aerial vehicle base station for storage, and the unmanned aerial vehicle base station extracts information of a standard state image; the method for maintaining and patrolling the expressway side slope enables the unmanned aerial vehicle to automatically shoot the expressway side slope according to the set unmanned aerial vehicle patrolling route and the sampling position of the first patrolling mark, maximizes the utilization rate of the unmanned aerial vehicle, reduces patrolling errors, and improves the efficiency of maintaining the expressway side slope.
Description
Technical Field
The invention relates to the technical field of slope maintenance, in particular to a highway slope maintenance inspection method.
Background
In mountainous areas, the construction of roads can not avoid traversing mountainous areas, and in order to ensure the stability of the roadbed, slopes with certain slopes, namely side slopes, are formed on two sides of the roadbed of the road, and vegetation is planted on the slopes of the side slopes to prevent water and soil loss; however, due to external environmental factors or the geological action of the side slope, the side slope may have settlement and even fracture, which affects the stability of the roadbed, so that the routing inspection and maintenance of the side slope are important components in highway maintenance; the side slope which cannot be climbed is mainly observed through a telescope, and the side slope inspection mode in the prior art depends on manpower, so that the side slope inspection method is high in danger, high in labor intensity, time-consuming and labor-consuming, and low in inspection efficiency; and only obvious fracture or settlement information of the side slope can be obtained, and the inspection quality is low, so that the expressway side slope maintenance inspection method is provided.
Disclosure of Invention
The invention aims to overcome the existing defects and provide the highway side slope maintenance inspection method, so that the utilization rate of the unmanned aerial vehicle is maximized, the inspection efficiency is improved, the inspection error is reduced, workers can quickly take correct and reasonable measures, the highway side slope maintenance efficiency is improved, and the problems in the background art can be effectively solved.
In order to achieve the purpose, the invention provides the following technical scheme: a highway slope maintenance inspection method comprises the following steps:
a: the method comprises the steps that a manually driven vehicle patrols along a highway to obtain the position information of the highway slope;
b: marking the position information of the highway side slope to be inspected on a map to generate a highway side slope grid;
determining the optimal position set by the unmanned aerial vehicle base station, and formulating an unmanned aerial vehicle routing inspection route;
the unmanned aerial vehicle carries out fixed-point photographing and sampling on the highway slope during the first inspection, the unmanned aerial vehicle records the sampling position and sends the photographed image to an unmanned aerial vehicle base station for storage, and the unmanned aerial vehicle base station extracts the information of the standard state image;
the unmanned aerial vehicle can automatically shoot the highway side slope according to the set unmanned aerial vehicle polling route and the sampling position of the first polling mark, the shot image is sent to the unmanned aerial vehicle base station to be compared with the information of the standard state image, the problem that the unmanned aerial vehicle cannot return due to insufficient endurance mileage is avoided, the stroke of the unmanned aerial vehicle is shortened, the unmanned aerial vehicle can patrol and shoot on the way of going and returning, the utilization rate of the unmanned aerial vehicle is maximized, the polling efficiency is improved, the image comparison efficiency is improved, errors are reduced, alarm instructions of different levels are sent to workers, the workers can conveniently and quickly take correct and reasonable measures, and the highway side slope maintenance efficiency is improved.
Further, the inside solar energy power supply system, PLC control module, wireless data transmission module, image processing module, data storage module, magnetism formula charging system and the alarm module of being equipped with of unmanned aerial vehicle basic station, solar energy power supply system turns into the electric energy with solar energy and saves inside the battery at the basic station, magnetism formula charging system's input electricity is connected the battery output end of basic station, wireless data transmission module passes through wireless signal with the inside data transmission module of unmanned aerial vehicle and is connected, wireless data transmission module and the two-way electricity of PLC control module are connected, PLC control module respectively with wireless data storage module and the two-way electricity of image processing module and be connected, establish wireless communication with unmanned aerial vehicle, thereby handle the analysis with the collection image that receives.
Further, the optimal position that unmanned aerial vehicle basic station set for is confirmed according to highway slope net and unmanned aerial vehicle continuation of the journey mileage, unmanned aerial vehicle patrols and examines the route and formulate according to unmanned aerial vehicle basic station position and highway slope net, looks for the optimal route that unmanned aerial vehicle patrolled and examined, shortens unmanned aerial vehicle's stroke, improves and patrols and examines efficiency.
Furthermore, the optimal setting position of the unmanned aerial vehicle base station is located in the center of the highway slope grid, the distance between the unmanned aerial vehicle base station and the farthest highway slope is not more than half of the farthest endurance mileage of the unmanned aerial vehicle, and the situation that the unmanned aerial vehicle cannot return due to insufficient endurance mileage is avoided.
Further, unmanned aerial vehicle patrols and examines the route and patrol and examine the route for annular unmanned aerial vehicle, makes unmanned aerial vehicle's utilization ratio reach the maximize.
Furthermore, the information of the standard state image comprises a contour line of the standard state image and the color of the standard state image, whether slope landslide and tree damage phenomena occur or not can be judged through the contrast of the contour line, and the growth condition of slope protection vegetation can be judged through the contrast of the color.
Further, unmanned aerial vehicle is followed the unmanned aerial vehicle basic station and is patrolled and examined for the first time along the unmanned aerial vehicle routing inspection route of setting for, unmanned aerial vehicle utilizes image acquisition module to carry out the fixed point and shoot the sample to the highway slope when patrolling and examining for the first time, unmanned aerial vehicle types the inside navigation with the sampling position and will shoot the wireless data transmission module of image transmission to unmanned aerial vehicle basic station, wireless data transmission module sends image information for image processing module through PLC control module, image processing module draws standard state image contour line and standard state image colour and saves through data storage module, set up the maximum deviation threshold value and the minimum deviation threshold value of standard state image contour line and standard state image colour through PLC control module, adopt the fixed point to shoot the efficiency that is favorable to improving image contrast, reduce the error.
Further, the unmanned aerial vehicle automatically takes a picture of the highway slope according to the set unmanned aerial vehicle routing inspection route and the sampling position of the first routing inspection mark and sends the taken picture to a wireless data transmission module of an unmanned aerial vehicle base station, the wireless data transmission module sends the picture to an image processing module through a PLC (programmable logic controller) control module for comparison, and whether the contour line and the color of the current state picture are consistent with those of the standard state picture is judged;
if the contour line and the color of the current state image are consistent with those of the standard state image, the unmanned aerial vehicle patrols the next highway slope along the unmanned aerial vehicle patrolling route;
if the contour line and the color of the current state image are not consistent with those of the standard state image, the unmanned aerial vehicle records a video of the highway slope through an image acquisition module of the unmanned aerial vehicle, sends the recorded video to a data storage module and an alarm module inside an unmanned aerial vehicle base station, and respectively processes different inspection results.
Further, the alarm module is a red-yellow-green three-color alarm lamp, the PLC control module judges the maintenance damage level of the highway side slope according to the information deviation of the current state image and the standard state image, when the information deviation of the current state image and the standard state image is greater than a set maximum threshold value, the PLC control module controls the red-yellow-green three-color alarm lamp to emit red light, when the information deviation of the current state image and the information deviation of the standard state image are located between the set maximum threshold value and the set minimum threshold value, the PLC control module controls the red-yellow-green three-color alarm lamp to emit yellow light, and different levels of alarm indication are emitted to workers through different inspection results.
Compared with the prior art, the invention has the beneficial effects that: the highway slope maintenance inspection method has the following advantages:
1. the optimal position that unmanned aerial vehicle basic station set for is confirmed according to highway side slope net and unmanned aerial vehicle continuation of the journey mileage, formulate unmanned aerial vehicle according to unmanned aerial vehicle basic station position and highway side slope net and patrol and examine the route, it is preferred, the optimal position of setting of unmanned aerial vehicle basic station is located the center of highway side slope net is qualified, and the distance of unmanned aerial vehicle basic station and the highway side slope of farthest is not more than the half of the unmanned aerial vehicle farthest continuation of the journey mileage, unmanned aerial vehicle patrols and examines the route for annular unmanned aerial vehicle patrols and examines the route, avoids unmanned aerial vehicle unable return journey because of continuation of the journey mileage is not enough, shortens unmanned aerial vehicle's stroke, and unmanned aerial vehicle can all patrol and examine the photo on the way of going and returning, makes unmanned aerial vehicle's utilization ratio reach the maximize, improves and examines efficiency.
2. Make unmanned aerial vehicle automatic patrol and examine the route and patrol and examine the sampling position of mark for the first time according to the unmanned aerial vehicle of setting for and shoot the highway side slope, will shoot the image and send the information of unmanned aerial vehicle basic station and standard state image and compare the processing, the information of standard state image includes standard state image contour line and standard state image colour, can judge whether slope landslide and tree damage phenomenon appear through the contrast of contour line, can judge the growth situation of bank protection vegetation through the contrast of colour, set up the maximum deviation threshold value and the minimum deviation threshold value of standard state image contour line and standard state image colour through PLC control module, adopt the fixed point to shoot and be favorable to improving the efficiency of image contrast, reduce the error.
3. If the contour line and the color of the current state image are consistent with those of the standard state image, the PLC control module controls the unmanned aerial vehicle to carry out inspection on the next highway slope along the unmanned aerial vehicle inspection route through the wireless data transmission module; if the contour line and the color of the current state image are not consistent with those of the standard state image, the PLC control module controls the unmanned aerial vehicle to record a video on the highway slope through an image acquisition module of the unmanned aerial vehicle through the wireless data transmission module, and sends the recorded video to a data storage module and an alarm module inside an unmanned aerial vehicle base station to respectively process different inspection results, when the information deviation of the current state image and the standard state image is greater than a set maximum threshold value, the control module controls the red-yellow-green three-color alarm lamp to emit red light, and when the information deviation of the current state image and the standard state image is between the set maximum threshold value and the set minimum threshold value, the PLC control module controls the red-yellow-green three-color alarm lamp to emit yellow light to alarm instructions of different grades for a worker to rapidly take correct and reasonable measures, the efficiency of highway side slope maintenance is improved.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present embodiment provides a technical solution: a highway slope maintenance inspection method comprises the following steps:
a: the method comprises the steps that a man-made driving vehicle patrols along a highway to obtain highway slope position information, and the obtained highway slope position information is input into an unmanned aerial vehicle internal navigation system;
b: marking the position information of the highway side slope to be inspected on a map to generate a highway side slope grid;
c, determining the optimal position set by the unmanned aerial vehicle base station according to the expressway slope grid and the unmanned aerial vehicle endurance mileage, setting an unmanned aerial vehicle inspection route according to the unmanned aerial vehicle base station position and the expressway slope grid, searching the optimal path for the unmanned aerial vehicle inspection, shortening the stroke of the unmanned aerial vehicle, improving the inspection efficiency, preferably, the optimal position set by the unmanned aerial vehicle base station is positioned at the center of the expressway slope grid, the distance between the unmanned aerial vehicle base station and the farthest expressway slope is not more than half of the farthest endurance mileage of the unmanned aerial vehicle, avoiding the situation that the unmanned aerial vehicle cannot return due to insufficient endurance mileage, the unmanned aerial vehicle inspection route is an annular unmanned aerial vehicle inspection route, the unmanned aerial vehicle can perform inspection and photographing on the way of the journey and the return route, and the utilization rate of the unmanned aerial vehicle is maximized, and a solar power supply system, a PLC control module, a wireless data transmission module and a wireless data transmission module are arranged in the unmanned aerial vehicle base station, The system comprises an image processing module, a data storage module, a magnetic type charging system and an alarm module, wherein the solar power supply system converts solar energy into electric energy and stores the electric energy in a storage battery of a base station, the input end of the magnetic type charging system is electrically connected with the output end of the storage battery of the base station, a magnetic type charging head of the magnetic type charging system can enable the unmanned aerial vehicle to automatically charge, the manual workload is reduced, the automation degree is improved, a wireless data transmission module is connected with a data transmission module in the unmanned aerial vehicle through a wireless signal and is in bidirectional electrical connection with a PLC (programmable logic controller) control module, the PLC control module is respectively in bidirectional electrical connection with the wireless data storage module and the image processing module and establishes wireless communication with the unmanned aerial vehicle, so that the received collected image is processed and analyzed, the unmanned aerial vehicle starts from the base station of the unmanned aerial vehicle and firstly patrols and patrols along a set unmanned aerial vehicle patrols and examines route, the unmanned aerial vehicle utilizes the image acquisition module to take a photograph of a highway slope at a fixed point and sample when patrolling for the first time, the unmanned aerial vehicle records the sampling position into an internal navigation system and sends the photographed image to the wireless data transmission module of the unmanned aerial vehicle base station, the wireless data transmission module sends the image information to the image processing module through the PLC control module, and the image processing module extracts a standard state image contour line and a standard state image color and stores the standard state image contour line and the standard state image color through the data storage module;
the unmanned aerial vehicle carries out fixed-point photographing and sampling on the highway slope during the first inspection, the unmanned aerial vehicle records the sampling position and sends the photographed image to the unmanned aerial vehicle base station for storage, and the unmanned aerial vehicle base station extracts the information of the standard state image to establish a standard image information database for convenient comparison;
e, enabling the unmanned aerial vehicle to automatically photograph the expressway slope according to the set unmanned aerial vehicle routing and the sampling position of the first routing inspection mark, sending the photographed image to an unmanned aerial vehicle base station to be compared with the information of the standard state image, wherein the information of the standard state image comprises a standard state image contour line and a standard state image color, judging whether slope landslide and tree damage phenomena occur or not through the contrast of the contour lines, judging the growth condition of slope protection vegetation through the color contrast, setting a maximum deviation threshold value and a minimum deviation threshold value of the standard state image contour line and the standard state image color through a PLC control module, improving the image contrast efficiency by adopting fixed-point photographing, reducing errors, automatically photographing the expressway slope according to the set unmanned aerial vehicle routing and the sampling position of the first routing inspection mark by the unmanned aerial vehicle, and sending the photographed image to a wireless data transmission module of the unmanned aerial vehicle base station, the wireless data transmission module is sent to the image processing module through the PLC control module for comparison, and whether the contour line and the color of the current state image are consistent with those of the standard state image or not is judged;
if the contour line and the color of the current state image are consistent with those of the standard state image, the PLC control module controls the unmanned aerial vehicle to carry out inspection on the next highway slope along the unmanned aerial vehicle inspection route through the wireless data transmission module;
if the contour line and the color of the current state image are not consistent with those of the standard state image, the PLC control module controls the unmanned aerial vehicle to record a video on the highway slope through an image acquisition module of the unmanned aerial vehicle through a wireless data transmission module, and sends the recorded video to a data storage module and an alarm module inside an unmanned aerial vehicle base station to respectively process different inspection results, the alarm module is a red-yellow-green three-color alarm lamp, the PLC control module judges the maintenance damage grade of the highway slope according to the information deviation of the current state image and the standard state image, when the information deviation of the current state image and the standard state image is greater than a set maximum threshold value, the control module controls the red-yellow-green three-color alarm lamp to emit red light, and when the information deviation of the current state image and the standard state image is between the set maximum threshold value and the set minimum threshold value, the PLC control module controls the red, yellow and green three-color alarm lamp to emit yellow light, and different levels of alarm indication are emitted to workers through different inspection results.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A highway slope maintenance inspection method is characterized by comprising the following steps: the method comprises the following steps:
a: the method comprises the steps that a manually driven vehicle patrols along a highway to obtain the position information of the highway slope;
b: marking the position information of the highway side slope to be inspected on a map to generate a highway side slope grid;
determining the optimal position set by the unmanned aerial vehicle base station, and formulating an unmanned aerial vehicle routing inspection route;
the unmanned aerial vehicle carries out fixed-point photographing and sampling on the highway slope during the first inspection, the unmanned aerial vehicle records the sampling position and sends the photographed image to an unmanned aerial vehicle base station for storage, and the unmanned aerial vehicle base station extracts the information of the standard state image;
and E, enabling the unmanned aerial vehicle to automatically photograph the highway slope according to the set unmanned aerial vehicle routing inspection route and the sampling position of the first routing inspection mark, and sending the photographed image to the unmanned aerial vehicle base station to be compared with the information of the standard state image.
2. The highway slope maintenance inspection method according to claim 1, wherein the method comprises the following steps: the utility model discloses an unmanned aerial vehicle base station, including unmanned aerial vehicle base station, wireless data transmission module, image processing module, data storage module, magnetism formula charging system and alarm module, solar energy power supply system turns into the electric energy with solar energy and stores inside the battery at the base station, and the battery output end of base station is connected to magnetism formula charging system's input electricity, and wireless data transmission module passes through wireless signal with the inside data transmission module of unmanned aerial vehicle and is connected, and wireless data transmission module is connected with PLC control module two-way electricity, and PLC control module is connected with wireless data storage module and image processing module two-way electricity respectively.
3. The highway slope maintenance inspection method according to claim 2, wherein the method comprises the following steps: the optimal position set by the unmanned aerial vehicle base station is determined according to the highway slope grid and the cruising mileage of the unmanned aerial vehicle, and the routing of the unmanned aerial vehicle is established according to the position of the unmanned aerial vehicle base station and the highway slope grid.
4. The highway slope maintenance inspection method according to claim 1, wherein the method comprises the following steps: the optimal setting position of the unmanned aerial vehicle base station is located at the center of the highway slope grid, and the distance between the unmanned aerial vehicle base station and the farthest highway slope is not more than half of the farthest cruising mileage of the unmanned aerial vehicle.
5. The highway slope maintenance inspection method according to claim 1, wherein the method comprises the following steps: the unmanned aerial vehicle routing inspection route is an annular unmanned aerial vehicle routing inspection route.
6. The highway slope maintenance inspection method according to claim 2, wherein the method comprises the following steps: the information of the standard state image includes a standard state image contour line and a standard state image color.
7. The highway slope maintenance inspection method according to claim 6, wherein the method comprises the following steps: unmanned aerial vehicle is followed unmanned aerial vehicle basic station and is patrolled and examined for the first time along the unmanned aerial vehicle route of patrolling and examining of setting for, unmanned aerial vehicle utilizes image acquisition module to take a photograph the sampling to the highway side slope fixed point when patrolling and examining for the first time, unmanned aerial vehicle types the inside navigation of sampling position and will shoot the wireless data transmission module of image transmission to unmanned aerial vehicle basic station, wireless data transmission module sends image information for image processing module through PLC control module, image processing module draws standard state image contour line and standard state image colour and saves through data storage module, set up the maximum deviation threshold value and the minimum deviation threshold value of standard state image contour line and standard state image colour through PLC control module.
8. The highway slope maintenance inspection method according to claim 7, wherein the method comprises the following steps: the unmanned aerial vehicle automatically takes a picture of the highway slope according to the set unmanned aerial vehicle routing inspection route and the sampling position of the first routing inspection mark and sends the taken picture to a wireless data transmission module of an unmanned aerial vehicle base station, the wireless data transmission module sends the picture to an image processing module through a PLC (programmable logic controller) control module for comparison, and whether the contour line and the color of the current state picture are consistent with those of the standard state picture or not is judged;
if the contour line and the color of the current state image are consistent with those of the standard state image, the unmanned aerial vehicle patrols the next highway slope along the unmanned aerial vehicle patrolling route;
if the contour line and the color of the current state image are not consistent with those of the standard state image, the unmanned aerial vehicle records a video of the highway slope through an image acquisition module of the unmanned aerial vehicle, and sends the recorded video to a data storage module and an alarm module in the unmanned aerial vehicle base station.
9. The highway slope maintenance inspection method according to claim 8, wherein the method comprises the following steps: the alarm module is red, yellow and green three-color alarm lamp, the PLC control module judges the maintenance damage grade of the highway side slope according to the information deviation of the current state image and the standard state image, when the information deviation of the current state image and the information deviation of the standard state image are larger than a set maximum threshold value, the PLC control module controls the red, yellow and green three-color alarm lamp to emit red light, and when the information deviation of the current state image and the information deviation of the standard state image are located between the set maximum threshold value and the set minimum threshold value, the PLC control module controls the red, yellow and green three-color alarm lamp to emit yellow light.
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