CN106054916A - Unmanned aerial vehicle (UAV) bridge inspection tour system and inspection tour method - Google Patents
Unmanned aerial vehicle (UAV) bridge inspection tour system and inspection tour method Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims description 12
- 230000007547 defect Effects 0.000 claims description 15
- 238000000547 structure data Methods 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 230000007797 corrosion Effects 0.000 claims description 6
- 238000005260 corrosion Methods 0.000 claims description 6
- 210000003205 muscle Anatomy 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000005336 cracking Methods 0.000 claims description 3
- 230000032798 delamination Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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Abstract
The invention provides an unmanned aerial vehicle (UAV) bridge inspection tour system. An on-site control platform sets an unmanned aerial vehicle (UAV) flight route instruction and sends the UAV flight route instruction to an unmanned aerial vehicle (UAV) aerial platform, the UAV aerial platform flies according to the flight route instruction, the on-site control platform sends an information acquisition instruction to the UAV aerial platform when the UAV aerial platform flies to a specified position, and the UAV aerial platform completes bridge information acquisition through an information acquisition business terminal and saves the bridge information data; and the UAV aerial platform sends the bridge information data to a remote monitoring center, and the remote monitoring center analyzes and releases the bridge information data. The system achieves a function of an on-line implementation of autonomous route planning of a to-be-inspected bridge, has the advantage of a wide cover range, has the advantages of being simple, portable, flexible and so on, and can be widely applied to bridge floor inspection tour and other related industries.
Description
Technical field
The present invention relates to bridge maintenance regulation technique field, particularly a kind of unmanned plane bridge cruising inspection system and the side of patrolling and examining
Method.
Background technology
Along with the fast development of China's highway, and country's 12 trunk lines of national expressways of five national trunk highways running from north to south and seven running from west to east all build up, public
Road industry development center of gravity gradually will be turned to " pipe is supported " by " newly-built ".But much the most traditional bridge machinery is that utilization is relevant special
Each position of bridge is measured, records, adds up by instrument.In the process, attendant needs operation on bridge floor, unavoidably
Ignore some details positions, time and effort consuming, inefficient, block traffic, there is potential safety hazard and personnel are difficult to the region that arrives
Deng.Therefore a kind of unmanned inspection device simple, portable, based on contexture by self course line of research and development is needed badly.This device can be according to certainly
The course line instruction of master program, can perform task flexibly, not only save human cost, ensure the life of bridge operation maintenance personnel
Life safety, it is also possible to be greatly improved the efficiency that bridge is patrolled and examined, and improve bridge and patrol and examine the accuracy of information, and patrol and examine for bridge
Digital management provides convenient.Greatly alleviate the working strength of bridge inspection and maintenance personnel, improve bridge machinery maintenance efficiency.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of unmanned plane bridge cruising inspection system, it includes field control
Platform, unmanned plane aerial platform and remote monitoring center；
The flight path that described field control platform arranges unmanned plane instructs and sends to described unmanned plane aerial platform, institute
State unmanned plane aerial platform receive the instruction of described flight path and fly according to the instruction of described flight path, described unmanned plane
Aerial platform flight is to when specifying position, and described field control platform sends information gathering instruction and puts down in the air to described unmanned plane
Platform, described unmanned plane aerial platform is completed to bridge information gathering and by described bridge Information Number by information gathering service terminal
According to preserving；
Described bridge information data is sent to described remote monitoring center, described long-range prison by described unmanned plane aerial platform
Described bridge information data is analyzed and issues by control center.
It is preferred that comprise the following steps:
S1: set the flight path of unmanned plane aerial platform by described field control platform, described unmanned plane is put down in the air
Platform is according to the flight path flight set to when specifying position, and described field control platform is sent out to described information gathering service terminal
Delivering letters breath acquisition instructions, described information gathering service terminal receives described information gathering and instructs and gather bridge information；
The bridge information collected is carried out caching and being believed by the bridge of described caching by S2: described information gathering service terminal
Breath transmission is to described remote monitoring center, and described bridge information is processed, obtains bridge state by described remote monitoring center
Information, and described bridge status information is issued；
S3: described field control platform obtains the geographical location information of described unmanned plane aerial platform, and described scene is aerial
Platform obtains contexture by self course line [how planning] data according to described geographical location information, and to described unmanned plane aerial platform
Transmission is maked a return voyage instruction and contexture by self course data, and described unmanned plane aerial platform receives the data by contexture by self course line of making a return voyage
Landing, execution task completes.
It is preferred that described information gathering service terminal includes high-definition camera, described information gathering service terminal is by height
Clear photographic head obtains the video image data of bridge.
It is preferred that described remote monitoring center storage has the bridge prototype structure data, described bridge prototype structure data to be
Structured data during Bridge Design；Described remote monitoring center extracts bridge real-time architecture data from described video image data,
And compare with described bridge prototype structure data, obtain the architectural difference feature of bridge various location, and by described difference
Different feature is mated with bridge defect data base, obtains the bridge defect kind of bridge relevant position.
It is preferred that the bridge structure patrolled and examined includes accessory structure of bridge, bridge superstructure and bridge substructure；
The bridge defect data base of described accessory structure of bridge include the vertical bridge of deck paving to, direction across bridge crack,
Subside, peel off, the blocking of bridge floor spilled water hole, the deformation at expansion joint and Cast-in-place concrete surface localized delamination and breakage, the breakage of guardrail,
Corrosion；
The bridge defect data base of described bridge superstructure includes: the crack of superstructure, subsides, peels off, cavity；Cable
Rope sheath is damaged；Bolt falling；Bent cap seeps water；Bent cap concrete scaling dew muscle；Bearing comes off；
The bridge defect data base of described bridge substructure includes: bridge pier crack, concrete come off, leak muscle, pier top is mixed
Solidifying soil is damaged；The cracking of abutment, steel bar corrosion, abutment body concrete come off, seep water.
The method have the advantages that
Present invention achieves the function of the autonomous flight course planning of the field conduct to bridge to be inspected, have simple, portable, cover
The features such as lid scope is wide, flexible and changeable, can be widely applied to bridge floor and patrol and examine and other relevant industries.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, embodiment will be described required use below
Accompanying drawing is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ability
From the point of view of the those of ordinary skill of territory, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
The unmanned plane bridge cruising inspection system composition schematic diagram that Fig. 1 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all other
Embodiment, broadly falls into the scope of protection of the invention.
Embodiments providing a kind of unmanned plane bridge cruising inspection system, it includes that field control platform, unmanned plane are empty
Middle platform and remote monitoring center；
The flight path that described field control platform arranges unmanned plane instructs and sends to described unmanned plane aerial platform, institute
State unmanned plane aerial platform receive the instruction of described flight path and fly according to the instruction of described flight path, described unmanned plane
Aerial platform flight is to when specifying position, and described field control platform sends information gathering instruction and puts down in the air to described unmanned plane
Platform, described unmanned plane aerial platform is completed to bridge information gathering and by described bridge Information Number by information gathering service terminal
According to preserving；
Described bridge information data is sent to described remote monitoring center, described long-range prison by described unmanned plane aerial platform
Described bridge information data is analyzed and issues by control center.
Embodiment of the present invention one unmanned plane bridge method for inspecting, comprises the following steps:
S1: set the flight path of unmanned plane aerial platform by described field control platform, described unmanned plane is put down in the air
Platform is according to the flight path flight set to when specifying position, and described field control platform is sent out to described information gathering service terminal
Delivering letters breath acquisition instructions, described information gathering service terminal receives described information gathering and instructs and gather bridge information；
The bridge information collected is carried out caching and being believed by the bridge of described caching by S2: described information gathering service terminal
Breath transmission is to described remote monitoring center, and described bridge information is processed, obtains bridge state by described remote monitoring center
Information, and described bridge status information is issued；
S3: described field control platform obtains the geographical location information of described unmanned plane aerial platform, and described scene is aerial
Platform obtains contexture by self course data according to described geographical location information, and described unmanned plane aerial platform is sent the finger that makes a return voyage
Order with contexture by self course data, described unmanned plane aerial platform receive make a return voyage data and by contexture by self course line land, perform
Task completes.The embodiment of the present invention, by the GPS carried on unmanned plane aerial platform, obtains unmanned plane aerial platform place geographical
Positional information, according to the course line of geographical location information planning unmanned plane aerial platform, and the contexture by self course data that will obtain
Transmission is to unmanned plane aerial platform.
Described information gathering service terminal includes that high-definition camera, described information gathering service terminal pass through high-definition camera
Obtain the video image data of bridge.
Described remote monitoring center storage has bridge prototype structure data, and described bridge prototype structure data are Bridge Design
Time structured data；Described remote monitoring center extracts bridge real-time architecture data from described video image data, and with described
Bridge prototype structure data are compared, and obtain the architectural difference feature of bridge various location, and by described difference characteristic with
Bridge defect data base mate, and obtains the bridge defect kind of bridge relevant position.
The bridge structure patrolled and examined includes accessory structure of bridge, bridge superstructure and bridge substructure；
The bridge defect data base of accessory structure of bridge that the present embodiment provides includes that the vertical bridge of deck paving is to, direction across bridge
Crack, subsides, peels off, the blocking of bridge floor spilled water hole, the deformation at expansion joint and Cast-in-place concrete surface localized delamination and breakage, guardrail
Damaged, corrosion；
The bridge defect data base of described bridge superstructure includes: the crack of superstructure, subsides, peels off, cavity；Cable
Rope sheath is damaged；Bolt falling；Bent cap seeps water；Bent cap concrete scaling dew muscle；Bearing comes off；
The bridge defect data base of described bridge substructure includes: bridge pier crack, concrete come off, leak muscle, pier top is mixed
Solidifying soil is damaged；The cracking of abutment, steel bar corrosion, abutment body concrete come off, seep water.
Unmanned plane bridge cruising inspection system that the present invention provides and method for inspecting not only compensate for Traditional Man, and to patrol and examine work strong
Spend big, inefficient, block traffic, there is potential safety hazard and personnel are difficult to the region etc. that arrives, it is also possible to realize to be inspected
The function of the autonomous flight course planning of field conduct of bridge, and there is simple, portable, wide coverage, the feature such as flexible and changeable, can
It is widely used in bridge floor to patrol and examine and other relevant industries.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.Preferred embodiment is the most detailed
Describe all of details, be also not intended to the detailed description of the invention that this invention is only described.Obviously, according to the content of this specification,
Can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is to preferably explain the present invention
Principle and actual application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and four corner thereof and equivalent.
Claims (5)
1. a unmanned plane bridge cruising inspection system, it is characterised in that include field control platform, unmanned plane aerial platform and remote
Range monitoring center；
The flight path that described field control platform arranges unmanned plane instructs and sends to described unmanned plane aerial platform, described nothing
Man-machine aerial platform receives the instruction of described flight path and flies according to the instruction of described flight path, and described unmanned plane is aerial
Platform flight is to when specifying position, and described field control platform sends information gathering instruction to described unmanned plane aerial platform, institute
State unmanned plane aerial platform to complete to enter to bridge information gathering and by described bridge information data by information gathering service terminal
Row preserves；
Described bridge information data is sent to described remote monitoring center by described unmanned plane aerial platform, in described long-range monitoring
Described bridge information data is analyzed and issues by the heart.
2. unmanned plane bridge method for inspecting as claimed in claim 1, it is characterised in that comprise the following steps:
S1: set the flight path of unmanned plane aerial platform by described field control platform, described unmanned plane aerial platform is pressed
According to the flight path flight set to when specifying position, described field control platform sends letter to described information gathering service terminal
Breath acquisition instructions, described information gathering service terminal receives described information gathering and instructs and gather bridge information；
The bridge information collected is carried out caching and the bridge information of described caching being passed by S2: described information gathering service terminal
Transporting to described remote monitoring center, described bridge information is processed by described remote monitoring center, obtains bridge status information,
And described bridge status information is issued；
S3: described field control platform obtains the geographical location information of described unmanned plane aerial platform, described on-the-spot aerial platform
Obtain contexture by self course data according to described geographical location information, and described unmanned plane aerial platform is sent make a return voyage instruction with
Contexture by self course data, described unmanned plane aerial platform receive make a return voyage data and by contexture by self course line land, perform task
Complete.
3. bridge unmanned plane method for inspecting as claimed in claim 1, it is characterised in that described information gathering service terminal includes
High-definition camera, described information gathering service terminal obtains the video image data of bridge by high-definition camera.
4. bridge unmanned plane method for inspecting as claimed in claim 3, it is characterised in that described remote monitoring center storage has bridge
Beam prototype structure data, described bridge prototype structure data are structured data during Bridge Design；Described remote monitoring center from
Described video image data extract bridge real-time architecture data, and compare with described bridge prototype structure data, obtain bridge
The architectural difference feature of beam various location, and described difference characteristic is mated with bridge defect data base, obtain bridge
The bridge defect kind of relevant position.
5. bridge unmanned plane method for inspecting as claimed in claim 1, it is characterised in that the bridge structure patrolled and examined includes that bridge is attached
Belong to structure, bridge superstructure and bridge substructure；
The bridge defect data base of described accessory structure of bridge include the vertical bridge of deck paving to, direction across bridge crack, subside,
Peel off, the blocking of bridge floor spilled water hole, the deformation at expansion joint and Cast-in-place concrete surface localized delamination and breakage, the breakage of guardrail, corrosion；
The bridge defect data base of described bridge superstructure includes: the crack of superstructure, subsides, peels off, cavity；Cable protects
Layer is damaged；Bolt falling；Bent cap seeps water；Bent cap concrete scaling dew muscle；Bearing comes off；
The bridge defect data base of described bridge substructure includes: bridge pier crack, concrete come off, leak muscle, pier top concrete
Damaged；The cracking of abutment, steel bar corrosion, abutment body concrete come off, seep water.
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Cited By (13)
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| CN106959294A (en) * | 2017-02-14 | 2017-07-18 | 国网天津市电力公司检修公司 | A kind of transmission tower defect analysis device and method based on unmanned plane inspection |
| CN107328783A (en) * | 2017-07-31 | 2017-11-07 | 广东容祺智能科技有限公司 | A kind of bridge intelligent checking system based on unmanned plane |
| CN107748572A (en) * | 2017-10-20 | 2018-03-02 | 成都上甲光电科技有限公司 | Unmanned plane available for bridge health state-detection |
| CN107966175A (en) * | 2017-10-31 | 2018-04-27 | 山西路桥集团试验检测中心有限公司 | A kind of road and bridge detecting system and its detection method |
| CN108051450A (en) * | 2017-11-01 | 2018-05-18 | 中铁大桥科学研究院有限公司 | A kind of bridge health monitoring system and method based on unmanned plane |
| CN108171291A (en) * | 2017-12-26 | 2018-06-15 | 深圳供电局有限公司 | A kind of inspection operational method and system based on unmanned plane |
| CN108645360A (en) * | 2018-06-22 | 2018-10-12 | 核工业西南勘察设计研究院有限公司 | A kind of bridge monitoring methods |
| WO2019104678A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Control method, terminal, management platform, system and storage medium |
| CN109901624A (en) * | 2019-04-11 | 2019-06-18 | 株洲时代电子技术有限公司 | A kind of bridge method for inspecting |
| US10423831B2 (en) | 2017-09-15 | 2019-09-24 | Honeywell International Inc. | Unmanned aerial vehicle based expansion joint failure detection system |
| CN111340772A (en) * | 2020-02-24 | 2020-06-26 | 湖北工业大学 | Reinforced concrete bridge damage detection system and method based on mobile terminal |
| CN112327925A (en) * | 2020-11-24 | 2021-02-05 | 天津市公路工程总公司 | Road maintenance patrol cooperative auxiliary system |
| CN114550107A (en) * | 2022-04-26 | 2022-05-27 | 深圳联和智慧科技有限公司 | Bridge linkage intelligent inspection method and system based on unmanned aerial vehicle cluster and cloud platform |
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| CN106959294A (en) * | 2017-02-14 | 2017-07-18 | 国网天津市电力公司检修公司 | A kind of transmission tower defect analysis device and method based on unmanned plane inspection |
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| CN107328783A (en) * | 2017-07-31 | 2017-11-07 | 广东容祺智能科技有限公司 | A kind of bridge intelligent checking system based on unmanned plane |
| US10423831B2 (en) | 2017-09-15 | 2019-09-24 | Honeywell International Inc. | Unmanned aerial vehicle based expansion joint failure detection system |
| CN107748572A (en) * | 2017-10-20 | 2018-03-02 | 成都上甲光电科技有限公司 | Unmanned plane available for bridge health state-detection |
| CN107966175A (en) * | 2017-10-31 | 2018-04-27 | 山西路桥集团试验检测中心有限公司 | A kind of road and bridge detecting system and its detection method |
| CN108051450A (en) * | 2017-11-01 | 2018-05-18 | 中铁大桥科学研究院有限公司 | A kind of bridge health monitoring system and method based on unmanned plane |
| WO2019104678A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Control method, terminal, management platform, system and storage medium |
| CN108171291A (en) * | 2017-12-26 | 2018-06-15 | 深圳供电局有限公司 | A kind of inspection operational method and system based on unmanned plane |
| CN108645360A (en) * | 2018-06-22 | 2018-10-12 | 核工业西南勘察设计研究院有限公司 | A kind of bridge monitoring methods |
| CN109901624A (en) * | 2019-04-11 | 2019-06-18 | 株洲时代电子技术有限公司 | A kind of bridge method for inspecting |
| CN111340772A (en) * | 2020-02-24 | 2020-06-26 | 湖北工业大学 | Reinforced concrete bridge damage detection system and method based on mobile terminal |
| CN112327925A (en) * | 2020-11-24 | 2021-02-05 | 天津市公路工程总公司 | Road maintenance patrol cooperative auxiliary system |
| CN114550107A (en) * | 2022-04-26 | 2022-05-27 | 深圳联和智慧科技有限公司 | Bridge linkage intelligent inspection method and system based on unmanned aerial vehicle cluster and cloud platform |
| CN114550107B (en) * | 2022-04-26 | 2022-07-26 | 深圳联和智慧科技有限公司 | Bridge linkage intelligent inspection method and system based on unmanned aerial vehicle cluster and cloud platform |
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