CN109542116B - Three-dimensional cruising method and system for bridge detection - Google Patents
Three-dimensional cruising method and system for bridge detection Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000009187 flying Effects 0.000 claims abstract description 101
- 230000009194 climbing Effects 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000009193 crawling Effects 0.000 claims description 65
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000007667 floating Methods 0.000 claims description 4
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- 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
- 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
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Abstract
The invention discloses a three-dimensional cruising method for bridge detection, which comprises the steps of establishing a three-dimensional model of a bridge, planning detection points according to the three-dimensional model of the bridge, generating a cruising path according to the detection points, resolving cruising postures according to path points on the cruising path, establishing a corresponding relation between a path point coordinate set and a following attitude set, inputting the corresponding relation to a flying and climbing amphibious robot, and enabling the flying and climbing robot to execute a three-dimensional automatic cruising program to cruise. The invention also discloses a three-dimensional cruise system for bridge detection, which comprises a flying and climbing amphibious robot carrying the bridge detection device and a ground control console capable of carrying out wireless communication with the flying and climbing amphibious robot. The invention solves the technical problems of low detection efficiency, easy missed detection and easy occurrence of safety accidents in the prior art, can realize automatic cruise detection on the bridge and improve the detection efficiency.
Description
Technical Field
The invention relates to the field of bridge detection, in particular to a cruising method and system for detecting a bridge.
Background
With the development of the unmanned aerial vehicle technology, unmanned aerial vehicles are widely used in various engineering technical fields, and the unmanned aerial vehicle technology is gradually adopted in bridge detection, particularly, a flying and climbing amphibious robot has three states of flying, crawling and perching, and can realize switching in the three states, such as a flying and wall-climbing amphibious robot and a control method thereof (publication number CN103192987B) in chinese patent, and a flying wall-climbing robot (publication number CN107539054A) in chinese patent. At present, the bridge is mainly detected in a manual remote control mode, and the defects of high operation difficulty, low efficiency and easiness in missed detection exist. In addition, bridge structures have irregular areas such as trapezoids and arcs, and are not completely flat areas. If the unmanned aerial vehicle completely follows the cruising path planned on the two-dimensional plane, the unmanned aerial vehicle easily collides with the surface of the bridge, cannot stop smoothly, and even falls down and other safety accidents, so that the bridge detection cannot be normally carried out.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the three-dimensional cruising method for bridge detection, solves the technical problems of low detection efficiency, easy missed detection and easy occurrence of safety accidents in the prior art, can realize automatic cruising detection of bridges, and improves the detection efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a three-dimensional method of cruising for bridge detects, adopts to fly to climb amphibious robot, fly to climb amphibious robot and include flight module and the module of crawling, be equipped with adsorption equipment on the module of crawling, the host system who flies to climb amphibious robot is connected with GPS orientation module, it carries with bridge detection device to fly to climb amphibious robot, includes following step:
step 1: establishing a bridge three-dimensional model in a space 3-dimensional coordinate system;
step 2: appointing a to-be-detected area in the bridge three-dimensional model, and planning corresponding detection points on the to-be-detected area according to the geometric shape of the to-be-detected area, the detection requirements and the detection range of the bridge detection device, wherein the detection points are parking points of the flying and crawling amphibious robot;
and step 3: selecting a starting point in a space 3-dimensional coordinate system, and sequentially connecting adjacent detection points from the starting point to obtain a cruise path covering all the detection points;
and 4, step 4: transforming the cruising path in the space 3-dimensional coordinate system into an earth coordinate system, and selecting a plurality of path point coordinates on the cruising path in the earth coordinate system to form a path point coordinate set; the path points comprise all detection points, and parking identification is carried out on the path points serving as the detection points; the distance between the coordinates of the adjacent path points is greater than the precision of the GPS positioning module and less than or equal to the distance between the adjacent detection points;
and 5: traversing the cruise path, and sequentially resolving the motion attitude required by the flying and crawling amphibious robot to reach the next adjacent path point from the previous path point so as to obtain a cruise attitude set; the motion attitude comprises a motion angle, a motion distance and a motion mode, wherein the motion mode comprises a flight mode and a crawling mode;
step 6: establishing a corresponding relation between a path point coordinate set and a cruise attitude set, and inputting the path point coordinate set and the cruise attitude set to the flying and crawling amphibious robot; then, placing the flying amphibious robot to the starting point position, and starting the positioning function of the GPS positioning module by the flying amphibious robot;
and 7: the method comprises the steps that a flying and crawling amphibious robot obtains current positioning coordinates of a current position in an earth coordinate system in real time, traverses a path point coordinate set and judges whether the current positioning coordinates belong to the path point coordinate set or not;
if the current positioning coordinate belongs to the path point coordinate set, the flying and crawling amphibious robot is shown to arrive at the path point, and the step 9 is carried out:
if the current positioning coordinate does not belong to the path point coordinate set, entering step 8;
and 8: continuously keeping the current motion posture of the flying amphibious robot, and returning to the step 7;
and step 9: continuously judging whether the current path point is a detection point or not; if not, the flying and crawling amphibious robot moves by adopting the corresponding movement posture so as to reach the next adjacent path point from the current path point; if yes, stopping the flying and crawling amphibious robot, starting a bridge detection device to detect according to detection requirements, and entering step 10 after detection on a current detection point is finished;
step 10: marking the records of the stopping completion of the current detection points, judging whether all the detection points are stopped or not, and returning to the step 7 if not; and if so, indicating that the three-dimensional automatic cruise detection is finished.
Preferably, the main control module of the flying and crawling amphibious robot is further connected with a remote control instruction receiving module and a wireless communication module; the ground control platform comprises a remote controller for sending a remote control instruction and a computer capable of wirelessly communicating with the flying and crawling amphibious robot; a navigation tracking program is configured in the computer, the navigation tracking program can display the cruising path converted into the earth coordinate system on the bridge three-dimensional model, and the current positioning coordinate of the flying and crawling amphibious robot is displayed on the bridge three-dimensional model in real time; when the current positioning coordinates of the flying and climbing amphibious robot deviate from the cruise path, remote control is carried out, and the flying and climbing amphibious robot returns to the cruise path.
Preferably, the flying and crawling amphibious robot is further provided with an ultrasonic sensor and is used for detecting the distance between the flying and crawling amphibious robot and the surface of the bridge in the flying process, and when the detected distance exceeds a safe distance, the flying and crawling amphibious robot automatically retracts to a safe distance position.
Preferably, the front end of the crawling module of the flying and crawling amphibious robot is further provided with a cleaning device for removing floating ash on the surface of the bridge.
Compared with the prior art, the invention has the following beneficial effects:
1. the flying climbing robot for bridge detection can realize 3-dimensional automatic cruising, the 3-dimensional automatic cruising detection only needs a user to set a detection initial position and a detection area range, the flying climbing robot for bridge detection automatically performs coordinate transformation, 3-dimensional cruising path planning, detection point planning and motion attitude planning, the full coverage of information acquisition of a detection area is realized, the flying precision is high, and the operation is simple.
2. The automatic cruise control system can realize automatic cruise and automatic detection, can also combine remote control on the basis of automatic cruise, correct cruise paths in real time and improve positioning accuracy.
3. The safety of the cruising process can be greatly improved by combining the air pressure sensor, the ultrasonic sensor and the cleaning device.
Drawings
Fig. 1 is a schematic structural diagram of a flying and crawling amphibious robot in the embodiment;
FIG. 2 is a circuit block diagram of a fly-climbing amphibious machine;
fig. 3 is a schematic diagram of a cruising path of a flying amphibious robot on a bridge.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and preferred embodiments.
The utility model provides a three-dimensional method of cruising for bridge detects, adopts and flies to climb amphibious robot, as shown in FIG. 1 and FIG. 2, it includes flight module and module 2 of crawling to fly to climb amphibious robot, be equipped with adsorption equipment on the module 2 of crawling, the main control module who flies to climb amphibious robot is connected with GPS orientation module, it carries with bridge detection device 1 to fly to climb amphibious robot, includes following step:
step 1: establishing a bridge three-dimensional model in a spatial 3-dimensional coordinate system according to a design drawing of the bridge;
step 2: appointing a to-be-detected area in the bridge three-dimensional model, and planning corresponding detection points on the to-be-detected area according to the geometric shape of the to-be-detected area, the detection requirements and the detection range of the bridge detection device, wherein the detection points are parking points of the flying and crawling amphibious robot;
and step 3: selecting a starting point in a space 3-dimensional coordinate system, and sequentially connecting adjacent detection points from the starting point to obtain a cruise path covering all the detection points;
and 4, step 4: transforming the cruising path in the space 3-dimensional coordinate system into an earth coordinate system, and selecting a plurality of path point coordinates on the cruising path in the earth coordinate system to form a path point coordinate set; the path points comprise all detection points, and parking identification is carried out on the path points serving as the detection points; the distance between the coordinates of the adjacent path points is greater than the precision of the GPS positioning module and less than or equal to the distance between the adjacent detection points;
and 5: traversing the cruise path, and sequentially resolving the motion attitude required by the flying and crawling amphibious robot to reach the next adjacent path point from the previous path point so as to obtain a cruise attitude set; the motion attitude comprises a motion angle, a motion distance and a motion mode, wherein the motion mode comprises a flight mode and a crawling mode;
step 6: establishing a corresponding relation between a path point coordinate set and a cruise attitude set, and inputting the path point coordinate set and the cruise attitude set to the flying and crawling amphibious robot; then, placing the flying amphibious robot to the starting point position, and starting the positioning function of the GPS positioning module by the flying amphibious robot;
and 7: the method comprises the steps that a flying and crawling amphibious robot obtains current positioning coordinates of a current position in an earth coordinate system in real time, traverses a path point coordinate set and judges whether the current positioning coordinates belong to the path point coordinate set or not;
if the current positioning coordinate belongs to the path point coordinate set, the flying and crawling amphibious robot is shown to arrive at the path point, and the step 8 is carried out:
if the current positioning coordinate does not belong to the path point coordinate set, entering step 8;
and 8: continuously keeping the current motion posture of the flying amphibious robot, and returning to the step 7;
and step 9: continuously judging whether the current path point is a detection point or not; if not, the flying and crawling amphibious robot moves by adopting the corresponding movement posture so as to reach the next adjacent path point from the current path point; if yes, stopping the flying and crawling amphibious robot, starting a bridge detection device to detect according to detection requirements, and entering step 10 after detection on a current detection point is finished;
step 10: marking the records of the stopping completion of the current detection points, judging whether all the detection points are stopped or not, and returning to the step 7 if not; and if so, indicating that the three-dimensional automatic cruise detection is finished.
In step 10, the parking mark at the current detection point can be deleted to realize the recording of the parking completion, and the parking mark can be added to realize the recording of the parking completion.
As shown in fig. 3, in the present embodiment, a remote control instruction receiving module and a wireless communication module are further connected to the main control module of the flying and crawling amphibious robot; the robot is characterized by further comprising a ground control console 3, wherein the ground control console comprises a remote controller for sending a remote control instruction and a computer capable of wirelessly communicating with the flying and crawling amphibious robot; a navigation tracking program is configured in the computer, the navigation tracking program can display the cruising path converted into the earth coordinate system on the bridge three-dimensional model, and the current positioning coordinate of the flying and crawling amphibious robot is displayed on the bridge three-dimensional model in real time; when the current positioning coordinates of the flying and climbing amphibious robot deviate from the cruise path, remote control is carried out, and the flying and climbing amphibious robot returns to the cruise path. The cruise path is corrected in real time by combining remote control on the basis of automatic cruise, and the positioning precision is improved.
In this specific embodiment, the bridge detection device includes a high-definition camera for surface damage detection and/or a radar flaw detector for internal damage detection. Thus, the bridge surface damage and the bridge internal damage can be detected simultaneously.
In this embodiment, when the surface structure of the bridge between two adjacent waypoints is flat, the movement mode between the two adjacent waypoints may be a crawling mode, a flight mode or a flying crawling mode. When the surface of the bridge between two adjacent path points is convex or concave, the motion mode between the two adjacent path points adopts a flight mode, so that the phenomenon that the bridge climbs on the concave-convex surface of the bridge to cause crash is avoided.
In the specific embodiment, the flying and climbing amphibious robot is further provided with an ultrasonic sensor and is used for detecting the distance between the flying and climbing amphibious robot and the surface of the bridge in the flying process, and when the detected distance exceeds the safe distance, the flying and climbing amphibious robot is controlled to retreat to the safe distance position. The safety of the flight process is improved, and the damage caused by collision between the flying and climbing amphibious robot and the bridge is avoided.
As shown in fig. 1, in this embodiment, the flight module of the amphibious climbing robot includes a flight support, the flight support includes 4 shafts arranged in a cross form, each shaft is provided with a double-layer rotor wing, the upper rotor wing 11 is the same as the lower rotor wing 12 in blade shape, each rotor wing is driven by a respective rotor motor, and the rotor motor is connected with the signal output end of the main control module. Thus, when the upper rotor 11 cannot work normally, normal flight can be ensured by starting the lower rotor 12.
When the flying and climbing amphibious robot carries out flying mode rapid detection on the bridge structure, the upper rotor wings on four shafts of the flying module provide power; if the upper rotor of a certain shaft with overlarge wind power reaches 90% of the rated rotating speed, the power requirement for detecting data acquisition by the flying and crawling amphibious robot in a stable posture still cannot be met, or the upper rotor of a certain shaft breaks down, the lower rotor of the shaft is started. If the upper and lower normal rotors of all shafts are started to reach 90% of rated rotating speed and still cannot meet the power requirement for acquiring detection data in a stable posture, the upper and lower normal rotors are automatically converted into a flight and climb combination mode for detection.
In this specific embodiment, the adsorption device of the crawling module includes 4 negative pressure chucks, each negative pressure chuck includes a centrifugal fan, a current detection device, and a centrifugal fan driving circuit, a pressure sensor is disposed in each negative pressure chuck, and when one negative pressure chuck is disposed in each negative pressure chuck
When, if
Namely, the negative pressure suction cup outlet is consideredAnd (4) marking the sucker as a fault sucker when air leaks, wherein r is the rotating speed of the centrifugal fan and rmaxIs the maximum rotation speed of the centrifugal fan, p is the pressure difference between the inside and the outside of the centrifugal fan, pmaxIs the external pressure.
When D is greater than or equal to 0.5, if
Namely considering the centrifugal fan to be in fault, marking the sucker as a fault sucker, wherein D is the duty ratio of the control signal of the centrifugal fan, I is the driving current of the centrifugal fan, and I ismaxThe maximum driving current of the centrifugal fan.
When the flying and climbing amphibious robot performs adsorption detection on the top surface or the side surface of the bridge structure, fault-free suckers in the 4 negative pressure suckers all work; when the rotating speed of the centrifugal fan in the four sucking disc negative pressure cavities reaches 80% of the rated maximum rotating speed and still cannot provide the suction required by the flying and climbing amphibious robot, the upper-layer rotor wings on the four shafts of the flying module are started to provide power; and if the upper rotor of a certain shaft reaches 90% of the rated rotating speed and cannot meet the requirement or the upper rotor fails, the lower rotor of the shaft is started.
In the specific embodiment, the front end of the crawling module of the flying and crawling amphibious robot is provided with the cleaning device for removing floating dust on the surface of the bridge, and the adsorption force between the crawling module and the bridge can be improved after the floating dust is cleaned through the cleaning device.
A three-dimensional cruise system for bridge detection comprises a flying and climbing amphibious robot carrying a bridge detection device and a ground control console capable of wirelessly communicating with the flying and climbing amphibious robot;
the ground control console comprises a computer, wherein a cruise path generation program and a cruise attitude calculation program are configured in the computer; the cruise path generation program is used for generating a cruise path in a space 3-dimensional coordinate system according to the three-dimensional model of the bridge and the area to be detected, and converting the cruise path in the space 3-dimensional coordinate system into a terrestrial coordinate system; the cruise attitude calculation program is used for generating a plurality of path point coordinates on a cruise path in an earth coordinate system and calculating the motion attitude required by the flying and crawling amphibious robot to reach the next adjacent path point from each path point;
the flying and crawling amphibious robot comprises a flying module and a crawling module, a main control module of the flying and crawling amphibious robot is connected with a GPS positioning module, a three-dimensional automatic cruise program is configured in the main control module of the flying and crawling amphibious robot, the flying and crawling amphibious robot stores the corresponding relation between a path point coordinate set and a cruise attitude set in step 6 of the three-dimensional cruise method for bridge detection in the specific implementation mode, and the three-dimensional automatic cruise program is executed according to steps 7 to 10.
By adopting the flying and crawling power fusion control method, the flying and crawling robot for bridge detection can operate to a position to be detected and complete detection work in a flying, crawling or flying and crawling combined mode, can flexibly switch under various requirements of high-speed flying, resident detection and stable walking, is high in stability and long in endurance time, can reach 60 minutes and can resist wind speed of 15 m/s. The rotors of the aircraft and the sucking discs of the crawling module are designed in a redundant mode so as to ensure the reliability of the system. The flying climbing robot for bridge detection is high in flying precision, simple in operation, capable of achieving 3-dimensional automatic cruising, the 3-dimensional automatic cruising detection only needs a user to set a detection starting position and a detection area range, the flying climbing robot for bridge detection automatically performs coordinate transformation, 3-dimensional cruising path planning, detection point planning and detection attitude planning, full coverage of detection area information collection is achieved, flying precision is high, and operation is simple.
Claims (8)
1. The utility model provides a three-dimensional method of cruising for bridge detects, adopts and flies to climb amphibious robot, it includes flight module and the module of crawling to fly to climb amphibious robot, be equipped with adsorption equipment on the module of crawling, its characterized in that: the main control module of the flying and climbing amphibious robot is connected with a GPS positioning module, the flying and climbing amphibious robot is provided with a bridge detection device, and the method comprises the following steps:
step 1: establishing a bridge three-dimensional model in a space 3-dimensional coordinate system;
step 2: appointing a to-be-detected area in the bridge three-dimensional model, and planning corresponding detection points on the to-be-detected area according to the geometric shape of the to-be-detected area, the detection requirements and the detection range of the bridge detection device, wherein the detection points are parking points of the flying and crawling amphibious robot;
and step 3: selecting a starting point in a space 3-dimensional coordinate system, and sequentially connecting adjacent detection points from the starting point to obtain a cruise path covering all the detection points;
and 4, step 4: transforming the cruising path in the space 3-dimensional coordinate system into an earth coordinate system, and selecting a plurality of path point coordinates on the cruising path in the earth coordinate system to form a path point coordinate set; the path points comprise all detection points, and parking identification is carried out on the path points serving as the detection points; the distance between the coordinates of the adjacent path points is greater than the precision of the GPS positioning module and less than or equal to the distance between the adjacent detection points;
and 5: traversing the cruise path, and sequentially resolving the motion attitude required by the flying and crawling amphibious robot to reach the next adjacent path point from each path point, thereby obtaining a cruise attitude set; the motion attitude comprises a motion angle, a motion distance and a motion mode, wherein the motion mode comprises a flight mode and a crawling mode;
step 6: establishing a corresponding relation between a path point coordinate set and a cruise attitude set, and inputting the path point coordinate set and the cruise attitude set to the flying and crawling amphibious robot; then, placing the flying amphibious robot to the starting point position, and starting the positioning function of the GPS positioning module by the flying amphibious robot;
and 7: the method comprises the steps that a flying and crawling amphibious robot obtains current positioning coordinates of a current position in an earth coordinate system in real time, traverses a path point coordinate set and judges whether the current positioning coordinates belong to the path point coordinate set or not;
if the current positioning coordinate belongs to the path point coordinate set, the flying and crawling amphibious robot is shown to arrive at the path point, and the step 9 is carried out:
if the current positioning coordinate does not belong to the path point coordinate set, entering step 8;
and 8: continuously keeping the current motion posture of the flying amphibious robot, and returning to the step 7;
and step 9: continuously judging whether the current path point is a detection point or not; if not, the flying and crawling amphibious robot moves by adopting the corresponding movement posture so as to reach the next adjacent path point from the current path point; if yes, stopping the flying and crawling amphibious robot, starting a bridge detection device to detect according to detection requirements, and entering step 10 after detection on a current detection point is finished;
step 10: marking the records of the stopping completion of the current detection points, judging whether all the detection points are stopped or not, and returning to the step 7 if not; and if so, indicating that the three-dimensional automatic cruise detection is finished.
2. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: and in step 9, the parking mark of the current detection point is deleted to realize the recording of the completion of parking.
3. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: the main control module of the flying and climbing amphibious robot is also connected with a remote control instruction receiving module and a wireless communication module; the ground control platform comprises a remote controller for sending a remote control instruction and a computer capable of wirelessly communicating with the flying and crawling amphibious robot; a navigation tracking program is configured in the computer, the navigation tracking program can display the cruising path converted into the earth coordinate system on the bridge three-dimensional model, and the current positioning coordinate of the flying and crawling amphibious robot is displayed on the bridge three-dimensional model in real time; when the current positioning coordinates of the flying and climbing amphibious robot deviate from the cruise path, remote control is carried out, and the flying and climbing amphibious robot returns to the cruise path.
4. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: the bridge detection device comprises a high-definition camera for surface damage detection and/or a radar flaw detector for internal damage detection.
5. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: when the surface of the bridge between two adjacent path points is convex or concave, the motion mode between the two adjacent path points adopts a flight mode.
6. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: the flying and climbing amphibious robot is further provided with an ultrasonic sensor and used for detecting the distance between the flying and climbing amphibious robot and the surface of the bridge in the flying process, and when the detected distance exceeds the safe distance, the flying and climbing amphibious robot is controlled to retreat to the safe distance position.
7. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: the flight module that flies to climb amphibious robot includes the flight support, the flight support includes that 4 are the axle that the cross form was arranged, and every is epaxial all to be equipped with one-on-one double-deck rotor, and every layer of rotor all drives through respective rotor motor, and rotor motor is connected with host system's signal output part.
8. The three-dimensional cruising method for bridge inspection, as claimed in claim 1, wherein: and the front end of a crawling module of the flying and crawling amphibious robot is also provided with a cleaning device for removing floating dust on the surface of the bridge.
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| CN109990777B (en) * | 2019-04-11 | 2023-08-01 | 株洲时代电子技术有限公司 | Planning method for inspection route of bridge bottom surface |
| CN111562220A (en) * | 2020-06-02 | 2020-08-21 | 吉林大学 | Rapid and intelligent detection method for bridge diseases |
| CN114062516B (en) * | 2022-01-18 | 2022-09-27 | 中大检测(湖南)股份有限公司 | Tunnel-oriented ultrasonic detection system |
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