CN109612427A - A kind of the unmanned plane highway bridge deformation detecting method and system of multi-sensor cooperation - Google Patents
A kind of the unmanned plane highway bridge deformation detecting method and system of multi-sensor cooperation Download PDFInfo
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- CN109612427A CN109612427A CN201910038074.7A CN201910038074A CN109612427A CN 109612427 A CN109612427 A CN 109612427A CN 201910038074 A CN201910038074 A CN 201910038074A CN 109612427 A CN109612427 A CN 109612427A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The present invention provides the unmanned plane highway bridge deformation detecting method and system of a kind of multi-sensor cooperation, including unmanned plane module and bridge deformation detect work station module.Unmanned plane module is mainly made of the multisensor of unmanned plane and detection bridge deformation.Bridge deformation detects work station module and is made of ground control centre mobile terminal and bridge deformation detection work station module two parts.The work pattern of bridge machinery personnel setting unmanned plane.Unmanned plane obtains the data of bridge machinery by the sensor carried and passes ground moving work station back, the data of acquisition are stored by bridge deformation detection data management system, are managed, are handled, are analyzed, are visualized, in addition utilisation system Bridge risk evaluation model carries out bridge risks assessment, and establishes bridge health archives.The present invention has the characteristics that automation, intelligence degree are high, operating efficiency is high, safety coefficient is high, implementation cost is low, has broad application prospects in terms of the shape changing detection of highway bridge.
Description
Technical field
The content of present invention is related to highway bridge deformation detecting method and system, in particular with a kind of multi-sensor cooperation
Unmanned plane highway bridge deformation detecting method and its unmanned plane highway bridge shape changing detection management system, belong to highway bridge deformation
Detection technique application field.
Background technique
Important infrastructure of the highway bridge as China's modernization construction, plays extremely important work in traffic lines
Influenced for a long time by factors such as environmental factor, natural conditions, load effects after building up with, highway bridge, in addition Bridge Design,
Defect problem during construction, and overload, excess load operation, necessarily cause highway bridge using function reduction with
And the degeneration of service quality, or even occur to collapse, influence the major accidents such as traffic, in order to ensure highway bridge operation security, and
When take effective operation management measure and maintenance scheme, therefore to highway bridge deformation carry out scientific and reasonable detection at
The essential work of department is conserved for highway bridge.
The detection work that highway bridge is carried out during daily operation and maintenance mainly has, to the shape of bridge floor, bridge pier
Become monitoring, the detection to bridge soleplate crack, traditional bridge floor shape changing detection instrument mainly has, and level, total station, GPS connect
Receipts machine, robot measurement etc., conventional method are using these instruments are continuous to bridge progress, regularly Single Point Surveying, acquisition are more
Phase observes data, and the change in displacement of discrete monitoring point, makes evaluation to the security performance of bridge, conventional method is right by analysis
Bridge need to guarantee that vehicle flowrate is small when being detected, and external interference is small, or even sometimes for traffic is blocked, this is affecting people just
Often trip, in addition, the detection to the vital bridge soleplate crack of bridge, relies primarily on bridge inspection car, inspector, is being examined
Inspection car manually will be hung to bridge floor bottom plate in the following, then testing staff by magnifying glass observes bridge by nacelle device during survey
Beam bottom plank split situation, traditional detection method there is safety, convenience, high efficiency, means are single, reliability is low, see
The defect of the globality deficiency of survey etc..
Unmanned plane, sensor technology and the fast development of cloud computing are the operation mode novel we provide one kind,
Enable us to go to complete daily highway bridge shape changing detection work well in conjunction with the plurality of advantages of three, passes through unmanned plane
Flying platform carrying can acquire bridge deformation, the sensor in crack goes data acquisition to work, additionally by unmanned plane
The data of acquisition are handled and are analyzed the detection work for completing bridge, and this operation mode has compared to traditional operation mode
Have；Detection position can be directly reached, other ancillary measures are not necessarily to, (note, bridge herein are examined compared to traditional bridge inspection vehicle
Bridge inspection vehicle in the non-traditional meaning of measuring car, but a kind of convenient and fast, small-sized mobile oa platform) save a large amount of funds and
Human resources can detecte the bridge-checking vehicles such as bridge pier, support, bridge abdomen and be not easy the hazardous area got at, match without built or hanging basket
Conjunction personnel detection, greatly increase the safety of operation, simultaneously for part can not reach or the extremely difficult bridge abdomen detected,
The positions such as drag-line, (note, unmanned plane of the present invention is quadrotor or six rotor wing unmanned aerial vehicles to unmanned plane, when additionally needing continuation of the journey
Between it is long, can effectively carry multiple sensors work, there is extensible modules, the longitude and latitude M200 series of such as big boundary) sight can be approached
Understanding more details are examined, when some high speed overbridges or Urban Bridge carry out periodic detection, are not necessarily to unmanned air vehicle technique
It breaks off a friendship logical, does not interfere with the normal trip of people.
In the prior art, mainly there is following documents related to the present patent application.
1 Zhuzhou Shidi Electronic Technology Co., Ltd. of document applies on January 5th, 2018, and in public affairs on July 27th, 2018
It opens, a kind of Chinese invention patent " bridge cruising inspection system " of Publication No. CN108332926A, which includes unmanned plane, data
Transmission module, ground control centre, and the data acquisition module being equipped on unmanned plane, data acquisition module include laser three-D
The field data of scanner and geological radar, unmanned plane acquisition is sent to ground control centre, ground by data transmission module
The data processing of control centre and fault detection module handle acquisition data, complete the three-dimensional that region is detected to bridge
Modeling, data processing and fault detection module detect bridge by analyzing three-dimensional modeling and radar return data
Position where defect and defect.
2 Wuhan University of document applied on 04 28th, 2015, and, Publication No. open on 04 19th, 2017
The Chinese invention patent " one kind is for bridge tunnel automatic detecting rotor wing unmanned aerial vehicle system and air navigation aid " of CN104843176A,
The bridge tunnel automatic detecting rotor wing unmanned aerial vehicle system of invention description carries out independent navigation by GPS and laser radar, IMU
Rotor wing unmanned aerial vehicle cruising inspection system realizes to utilize to utilize inside GPS navigation system and closing tunnel in spacious bridge area and swash
Optical radar navigation system carries out autonomous inspection, dodges, claps to bridge tunnel and motor vehicle by the realization of automatic obstacle-avoiding system
The image for taking the photograph key area sends back to earth station, and the disease thematic map of bridge tunnel is generated by earth station, uses for related personnel.
Document 3 is applied for University Of Tianjin on January 11st, 2018, and, Publication No. open on May 29th, 2018
A kind of patent of invention " Bridge Crack identification device based on unmanned aerial vehicle onboard imaging " of CN108082515A, which includes keeping away
Thunder needle, screw rod, support rod, cross bar, capping, digital control platform, connecting rod, camera, fixed platform, dynamical system, is led at propeller
Boat system, communication system, control system, imaging system, auxiliary system, wireless network, power supply, LED lamp, alarm system, memory
And voice cue module, the device can be used in thunderstorm weather, have the effect of taking shelter from the thunder, stability is strong, uniform force, identifies function
Can be strong, it is at low cost.
4 Wuhan University of document applied on 2 24th, 2017, and announced on May 10th, 2017, and publication No. is
The Chinese invention patent " a kind of unmanned plane bridge bottom surface crack detecting method and system " of CN106645205A, the content of the invention
Including unmanned generator terminal and ground station, unmanned generator terminal determines unmanned plane using airborne laser radar and Inertial Measurement Unit
Position, and unmanned plane surrounding obstacles object point cloud is formed, avoidance and path planning are carried out, airborne tripod head camera shoots bridge with fixed frequency
Soffit and by high definition image store in memory, ground station end handles the image of shooting, between bridge pier
Image carries out the bridge bottom surface image for being spliced to form large scale, extracts later to image information.
5 Wang Zeqi of document applied on 2 6th, 2018, and announced on July 27th, 2018, and publication No. is
A kind of patent of invention " high-precision Bridge Crack intelligent detection equipment based on Internet of Things " of CN108332928A should be based on Internet of Things
The high-precision Bridge Crack intelligent detection equipment of net, when unmanned plane needs accurately to shoot bridge a part using camera
When, by starting fixed device, fuselage can be fixed on bridge, unmanned plane is avoided to be in the shape shot in flight always
State can be shot under static state, improve the clarity of camera shooting picture, after the completion of shooting, then
The fixed device of secondary starting, can separate fuselage with bridge.
6 Liu Kai of document applied on December 25th, 2014, and announced on April 22nd, 2015, and application publication number is
The Chinese invention patent " the unmanned intelligent measurement machine in crack " of CN104535649A, the detection machine include fuselage, shrink foot prop, damping
Steady holder, air bag packet, motor, battery compartment, slurry, are in addition additionally provided with the ultrasound with flight controller circuit connection on fuselage
Defectoscope, infrared distance measurement sensing instrument, GPS, picture transmitter, front camera, on set camera, laser lamp, motor, motor tune
Fast device, in the complicated place of working environment, automatic discovery water conservancy, bridge, the crack for building each place, carry out accident crack
It accurately measures safely, its result is finally clearly shown by computer.
7 Liuzhou Ouweimu Machinery Co., Ltd of document applied on July 21st, 2016, and on November 16th, 2016
It announces, application No. is the patent of invention of CN106124517A " the multi-rotor unmanned aerial vehicle detection structures of detection structure part surface crack
The method of part surface crack ", a kind of multi-rotor unmanned aerial vehicle detection platform system of detection structure part surface crack, including more rotors
Unmanned plane, control system and wireless communication system, it is described for providing more rotations of mission payload and detection structure part surface crack
Wing unmanned plane includes body, dynamical system and sensor-based system, and the control system includes host computer, slave computer and holds distant
Control device.
Although there is 6 to be proposed the corresponding detecting instrument using UAV flight to bridge, tunnel in above 7 patents
The traffic infrastructures such as road are detected, and still, there is also following apparent scarce in the technical solution of above-mentioned six documents description
It falls into.
The present invention has found some bridges by carrying camera in the experiment of Bridge Crack detection identification using unmanned aerial vehicle platform
The position of beam can not be shot using camera, than place can not be reached if any the position blocked, shady place, light, in addition,
Due to the actual needs of highway bridge shape changing detection precision, the complexity of bridge surrounding enviroment, need to guarantee to acquire bridge cell
The reliability of data simply uses high definition camera and goes to shoot, and there are higher uncertain and low reliabilities, at this moment just needs
It wants us to go to complete by some other sensors, can so embody the advantage of sensor, unmanned plane.
Detection, maintenance, the management of bridge deformation are the work of a system, and the data for needing to be detected in work carry out
Reasonable management and storage, and the processing of data, the identification work in crack are pertained only in six above-mentioned documents, in actual bridge
In beam shape changing detection and maintenance, the detection of bridge deformation is the work for needing periodically to carry out, and is at this moment needed according to be detected
The detection deformation data of bridge carries out bridge risks assessment, the management of bridge health archives.
It is also contemplated that in the detection of bridge, accurate location of the detected deformation phenomenon (crack, breakage) in bridge,
And how to be shown a kind of more intuitive visual mode of detected data one, to facilitate testing agency accurate
Decide through consultation maintenance measure and scheme.
In the practical operation and application environment of unmanned plane, external condition is more complicated, needs to consider, main includes making
The safety for guaranteeing unmanned plane job platform when industry promotes reliability, stability when operation.
In view of some shortcomings and defect in patent described in document above, the present invention has carried out the innovation of the following.
Surrounding enviroment locating for highway bridge are generally all more complicated, this makes with single detection means and method just
It is low with the reliability of detection accuracy, uncertain high to there is detection data, therefore the present invention carries out problems
Innovation carries out mutual test to data collected using multiple groups different types of sensors by carrying multiple groups sensor
Card can effectively improve the reliability and certainty of acquisition data in this way.
For the complexity of unmanned plane operating environmental condition, safety when needing to guarantee unmanned machine operation, and highway bridge
Beam using unmanned plane carry out bridge deformation detection operation when, due to local environment and its bridge structure itself, into
In wind speed compared in overall situation when row bridge lower data acquires, this brings bigger influence to the operation of unmanned plane, in addition to
Outside needing to reinforce unmanned plane self-condition, it is also necessary to wind speed is observed, it is furthermore right to ensure the safety of unmanned plane work
In the more complicated bridge of structure, using unmanned aerial vehicle platform when carrying out approaching observation, also need to guarantee unmanned aerial vehicle platform
Safety, the present invention is guaranteed using laser range finder (113) and laser radar (LiDAR) (1111), passes through sensor
Data collected are transmitted to intelligent alarm sensor (119), and sensor works as unmanned plane by simple logical process and judgement
When within the threshold value in setting, alarmed, intelligent prompt.
The detection work of highway bridge deformation is daily have to do the work of highway bridge detection relevant departments,
The achievement for detecting work can conserve department for highway bridge and provide certain Maintenance Decision making support, so needing to highway bridge
The content of shape changing detection carries out the management of system, needs to carry out risk assessment to highway bridge according to detection data, in addition also need
The management (22113) of health account is carried out to highway bridge.
In the detection of actual highway bridge, detect that the position of bridge deformation, deformation quantity are the cores detected in work
Content, to make the result of highway bridge shape changing detection become more intuitive, visual, being easier to visual experience, the present invention is specially
The emulation three-dimensional that the data that camera (116) acquisition can be measured using three-dimensional laser scanner (111) and high definition carry out bridge is built
Mould, three-dimensional laser scanner (111) obtains data and constructs the fine point cloud model of highway bridge, and high definition can measure camera (116)
The data investigation of acquisition is on the fine point cloud model of highway bridge, so that the emulation threedimensional model of bridge to be detected is formed, it
The data that highway bridge shape changing detection obtains afterwards are superimposed on emulation threedimensional model by rendering, reach good vision effect
Fruit not only ensure that the practicability of bridge deformation detection, but also have aesthetics.
Summary of the invention
The purpose of the present invention is to provide the unmanned plane highway bridge deformation detecting method and system of multi-sensor cooperation, with
Technical problem at high cost in solution existing highway bridge detection, means are single, safety is low, reliability is low.
The purpose of the invention is to overcome in above-mentioned existing highway bridge deformation detection work described in background technology
Deficiency, provide it is a kind of using unmanned plane as flying platform, by carry multiple sensors come to highway bridge deformation into
The method and system of row detection, the invention can overcome existing highway bridge deformation by the advantage using unmanned plane and sensor
Some defects and shortcoming in detection.
To achieve the above object, the present invention provides the following technical solutions, a kind of unmanned plane highway bridge of multi-sensor cooperation
Beam deformation detecting method and system, wherein mainly including unmanned plane module (I) and bridge deformation detection work station module (II).
Unmanned plane module mainly by carry can effectively detect bridge deformation, the sensor of bridge soleplate crack forms, nobody
Machine passes ground control centre mobile terminal (21), the number back by the data acquisition that the sensor carried detects bridge deformation
Mainly include according to acquisition sensor module；Laser 3 d scanner (111), miniature GPS receiver (112), laser ranging sensing
Device (113), small-scale illuminator (114), infrared sensor (115), the photogrammetric camera of high definition (116), gyro posture instrument
(117), air velocity transducer (118), intelligent alarm sensor (119), geological radar (1110), laser radar (LiDAR)
(1111), Inertial Measurement Unit IMU(1112), the sensor of UAV flight data collected pass through data transmission module
(13) it is sent to ground control centre mobile terminal (21), the ground control centre mobile terminal (21) mainly includes bridge inspection
Survey staff (211), unmanned plane highway bridge shape changing detection management system (212), data radio station (213), GPS receiver
(214), GPS signal transmitting antenna (215), storage battery (216), movable bridge detect vehicle (217), mobile office computer (218), nothing
Man-machine hand-held remote controller (219), the plug-in radio station GPS-RTK (2110), binoculars (2111), bridge machinery staff
(211) data of acquisition are managed by bridge deformation detection data management system (212), handled, analyzed, visually, most
Eventually to the bridge of detection carry out risk assessment (22112) and bridge health file administration (22113) (note, in the present invention involved by
Sensor, quantity it is more, need to be guaranteed in terms of two in the specific implementation process, be on the one hand improve nothing
On the other hand man-machine weight bearing power is to reduce mission payload, can carry the acquisition that sensor carries out deformation data in batches,
It can choose suitable scheme in practical applications).
Preferably, the laser 3 d scanner (111) is modeled for the subtle three-dimensional of bridge entirety, modeling contents packet
Bridge exposure is included in earth's surface or exposure in the above intact part of the water surface, furthermore passes through front and back laser 3 d scanner (111) twice
Acquisition data comparison can show the deformation and breakage that bridge is occurred in front and back twice time interval.
Preferably, the miniature GPS receiver (112) is used for a precise positioning of the unmanned plane in operation process,
In addition when using the photogrammetric camera of high definition (116) to entire bridge carry out aerial survey when auxiliary calibration aerial photograph position
It sets, provides support for the processing of follow-up data.
Preferably, laser range sensor (113) placement and unmanned plane top, when unmanned plane is below bridge bottom plate
When operation, so that it may measure the distance between unmanned plane and bridge bottom plate using laser range sensor (113), on the one hand be used for
Industry carries out use when crack identification in the bridge bottom plate photo of shooting, on the other hand when unmanned plane is close apart from bridge bottom plate,
Ensure unmanned plane operation safety.
Preferably, the small-scale illuminator (114) is used for unmanned plane when being observed to bridge bottom concealment part,
To guarantee that photographic intelligence collected can be as normal visible light, for providing auxiliary when shooting for dark position
Light source.
Preferably, the infrared sensor (115) is used for unmanned plane when carrying out the acquisition of bridge bottom data, for acquiring
The temperature of bridge connecting portion concrete uses.
Preferably, the photogrammetric camera of the high definition (116) being taken photo by plane for bridge, data collected can and laser
The data of spatial digitizer (111) acquisition combine, and form bridge and finely emulate threedimensional model, the data taken photo by plane can be with textures line
The form of reason attaches on laser 3 d scanner data.
Preferably, the gyro posture instrument (117) be used to record unmanned plane acquisition data procedures in posture, due to
In actual operation process, unmanned plane is in addition to normally being made the interference out of trade for also suffering external environment, such as biggish wind
Air-flow etc. under speed, bridge can use its acquisition to enable data of the data collected preferably close to true ideal state
Data are corrected other sensors data collected, are corrected.
Preferably, the air velocity transducer (118) is used to be observed wind speed during unmanned plane acquires data,
To guarantee unmanned plane operation safety, when wind speed is more than the threshold value of setting, the intelligent alarm sensor (119) of unmanned plane can be reported
It is alert, control centre (21) message, Suspend Job can be sent to the ground.
Preferably, external environmental condition when the intelligent alarm sensor (119) is for analyzing unmanned plane acquisition data, when
When external condition is more than the environmental condition that unmanned plane can bear, prompting message can be sent to bridge machinery staff (211),
Stop bridge machinery operation.
Preferably, the geological radar (1110) detects for the inside concrete gap of bridge.
Preferably, the laser radar (LiDAR) (1111) obtains unmanned plane surrounding obstacles object point cloud and carries out avoidance and road
Diameter planning.
Preferably, the Inertial Measurement Unit IMU(1112) can with laser radar (LiDAR) (1111) unmanned plane into
Positioning when row bridge machinery does not receive GPS signal when working for unmanned plane itself.
Preferably, the miniature carried SAR sensor (1113) is observed for detecting the deformation of bridge by acquisition
The number of number >=2, the extraction of Lai Jinhang bridge deformation amount.
Detailed description of the invention
It, below will be to embodiment or description of the prior art in order to illustrate more clearly of the technical solution in embodiment or invention
Needed in attached drawing be briefly described.
Fig. 1 is unmanned aerial vehicle body simple structure figure, and A is carrying platform on sensor in Fig. 1, and B is screw blade, and C is nobody
Machine control centre module and sensor download platform, D are unmanned aerial vehicle bodies.
Fig. 2 is the unmanned plane highway bridge deformation detecting method of multi-sensor cooperation and the module composition figure in detail of system,
Wherein I is unmanned generator terminal/module, and II is bridge deformation detection work station module.
Fig. 3 is the detailed structure of composition of the unmanned plane highway bridge deformation detecting method and system of a kind of multi-sensor cooperation
Figure.
Fig. 4 is the unmanned plane highway bridge deformation detecting method and system job flow chart of multi-sensor cooperation.
Fig. 5 is examined using unmanned plane highway bridge shape changing detection management system (212) processing sensor acquisition bridge deformation
The flow chart of measured data.
Fig. 6 Figure of abstract.
Specific embodiment
The present invention provides the unmanned plane highway bridge deformation detecting methods and system of a kind of multi-sensor cooperation, to make this
The purpose of invention, technical solution and effect are clearer, define, below by specific embodiment, and in conjunction with attached drawing, to the present invention
Technical solution further specifically described.
The present invention mainly includes two modules, is examined as shown in Fig. 1 comprising unmanned aerial vehicle platform module (I), bridge deformation
It surveys work station module (II), workflow of the present invention works essentially according to Figure of description 4, and described one kind is more
The unmanned plane highway bridge detection method of sensor synergism mainly comprises the steps of.
Step S100, bridge machinery staff carry unmanned plane, sensing by driving movable bridge detection vehicle (217)
Device etc. reaches bridge area to be detected, carries out field data and acquires preparation.
Step S200 starts this step on the basis for completing step S100, according to the requirement of practical bridge machinery,
Bridge machinery staff (211) and unmanned plane bridge deformation detecting system managerial staff member (222) start to work, unmanned plane
It starts to work, sensor starts to acquire bridge machinery data.
Step S300, when data acquisition finishes, i.e. after completion step S200, so that it may start unmanned plane bridge machinery number
According to interior work.
Unmanned plane module of the invention principally falls into air vehicle technique field, and wherein step S100 belongs to bridge machinery work
Preparation before formal beginning, and step S200 belongs to the sensing data using UAV flight's acquisition testing bridge data
Acquisition, step S300 are the interior industry processing to bridge deformation detection data collected.
Preparation before the bridge machinery, step S100 are specifically included.
Step S101, bridge machinery staff need the case where consulting bridge to be detected (e.g., bridge before normal operation
Beam passage situation, bridge bottom plate hang height, bridge periphery situation, constructionheightofbridge etc.), determine the work of unmanned plane bridge machinery
Mode, in addition be guarantee bridge management data integrality, need to improve bridge attribute data record (such as: date of built is built
If unit, supervisor, designing unit, bridge type and reflection science of bridge building quality-critical parameter).
Step S102 drives, the staff of manipulation unmanned plane, loads corresponding bridge machinery sensor to unmanned plane.
Step S103, bridge machinery management system staff start bridge deformation detection management system, check system work
Make situation, in addition start GPS reference station, finally checks linking for bridge deformation detection management system and unmanned plane module.
Step S104 starts to carry out next step work when above-mentioned work is completed and ensures that there is no problem.
It is described using unmanned plane as flying platform, start the acquisition work of bridge machinery data by the sensor of carrying
Make, step S200 is specifically included.
Step S201, unmanned plane module (I) and ground control centre mobile terminal (21) are started to work.
Step S202, bridge machinery staff (unmanned plane manipulation hand) check unmanned plane real-time status data.
Step S203, unmanned plane Detection System for Bridge managerial staff member (22110) check real-time returned data.
Step S204, the flight of unmanned plane side, side acquire data, and it is mobile that the data in addition acquired are transmitted back to ground control centre
In the unmanned plane highway bridge shape changing detection management system (221) for holding (21), system staff checks the number of unmanned plane acquisition
According to situation, if complete.
Step S205 needs to mend survey when finding that data acquisition is imperfect.
Step S206, after the completion of data acquisition, unmanned plane is recycled, and unmanned plane bridge machinery field process is completed.
Bridge deformation detection field data acquisition finishes, and step S300 specifically includes following work.
Step S301, bridge deformation detection field data acquisition finish, and work later is bridge deformation detection data
The processing of interior industry, the data processing of interior industry, the main backup including data, storage.
Step S302 needs to utilize laser 3 d scanner (111) acquisition when the storage and backup for completing acquisition data
Data and the emulation threedimensional model that the photogrammetric camera of high definition (116) building bridge entirety can be measured.
Step S303 needs to start the work of Crack Detection and deformation quantity extraction after having constructed threedimensional model.
Step S304, the detection and identification in crack are needed by being mutually authenticated and cooperating between multiple sensors,
The reliability and accuracy of work can be ensured to detect in this way, also can quickly determine bridge problem areas on the other hand.
Step S305 needs to provide bridge machinery report behind the crack and shape changing detection for completing bridge machinery
(22114).
Step S306 needs to carry out risk to the safety of bridge according to detection data after completing above-mentioned work
It assesses (22112), and assessment data is stored in the health control archives of corresponding bridge.
Now unmanned plane highway bridge shape changing detection management system (221) is described in further detail.
Unmanned plane highway bridge shape changing detection management system mainly have in this patent of both content, be on the one hand
Real time inspection unmanned plane acquires the case where data when field process, checks whether data collected are complete and unmanned plane is made
The positioning work of the record, unmanned plane of the track data passed by when industry, be on the other hand when field data acquire complete after,
In interior industry for the processing of data, analysis, visual work.
Now the acquired data of sensor are stored in unmanned plane highway bridge shape changing detection management system (221),
Processing, analysis and visualization related work do an explanation, are the detailed supplements of step S301-S306, and specific flow chart can be with
Referring to Figure of description 5.
When unmanned plane is when carrying sensor acquisition bridge machinery data, bridge machinery staff (211) passes through nobody
Machine highway bridge shape changing detection management system (221) checks that passback, the inspection of unmanned plane working condition, sensor acquisition data are adopted
Collect the integrality of data, in addition sensor data collected respectively imported into bridge multisensor thematic data base first
(22115) in, thematic data base installs the good special topic of sensor type point in advance before building library, when acquisition finishes, i.e. data
At this moment end of transmission has existed the data of acquisition in database, mistake occur in the treatment process to guarantee data and lose original
Begin acquisition data, backs up first to data collected.In addition, also need will be prior by bridge machinery staff (211)
Unmanned plane highway bridge shape changing detection Management System Data library (bridge to be detected) is entered by the bridge background data of inquiry
In.
After data backup, start multi-sensor cooperation data processing, as shown in Fig. 5, wherein working as three-dimensional laser
Just it can be analyzed and be handled when the data observation number of scanner (111) and SAR sensor (1113) >=2, but other are passed
The data of sensor can start for the first time, in addition three-dimensional laser scanner (111) and SAR sensor (1113) data collected
Can be mutually authenticated, but the processing of data be it is separated, can be by being collected firstly, for the bridge of primary detection
Three-dimensional laser point cloud data and the high definition photograph taken photo by plane build the emulation threedimensional model of bridge, later, geological radar
(1110) data, high definition measured by are taken photo by plane crack that photograph detects, coagulation soil temperature detected by infrared sensor (115)
Degree abnormal data three can be mutually authenticated.
Bridge is carried out by bridge risks assessment models then according to the bridge deformation data (being mutually authenticated) detected
Risk assessment (22112), formed bridge shape changing detection report (22114), finally in the form of archives to bridge deformation examine
Measured data is managed.
Otherness existing for the data format collected by different sensors, in order to reach last visualization
Effect needs to carry out different sensors data measured the conversion of format, is converted into unified format, finally will convert into unification
The deformation data of format is rendered, and before making an addition on established highway bridge emulation threedimensional model, realizes testing number
According to visualization.
Claims (3)
1. the unmanned plane highway bridge deformation detecting method and system of a kind of multi-sensor cooperation, which is characterized in that more sensings
Device collaboration unmanned plane highway bridge deformation detecting method and system include for detecting highway bridge deformation, bridge bottom plate is split
Seam, damaged unmanned aerial vehicle platform module (I), bridge deformation detection work station module (II)；
Unmanned plane module (I) packet of the multi-sensor cooperation for detecting highway bridge deformation and bridge soleplate crack
It includes, acquires the sensor platform (11) of bridge deformation detection data, the dynamical system (12) of support unmanned plane during flying, for receiving
Ground control centre mobile terminal (21) instruction, the number biography of real-time Transmission unmanned plane acquisition data and receiving module (13), unmanned plane
Onboard control module (14), unmanned aerial vehicle body (15)；
Bridge deformation detection work station module (II) includes the detection of ground control centre mobile terminal (21) and bridge deformation
Center (22)；
The sensor that the sensor platform (11) of the acquisition bridge deformation detection data carries includes laser 3 d scanner
(111), miniature GPS receiver (112), laser range sensor (113), small-scale illuminator (114), infrared sensor
(115), the photogrammetric camera of high definition (116), gyro posture instrument (117), air velocity transducer (118), intelligent alarm sensor
(119), geological radar (1110), laser radar (LiDAR) (1111), Inertial Measurement Unit IMU(1112), minitype airborne SAR
Sensor (1113)；
The dynamical system (12) of the support unmanned plane during flying includes, motor (121), blade (122), battery (123), spare
Battery (124)；
The described number for receiving ground control centre mobile terminal (21) instruction and real-time Transmission unmanned plane acquisition data pass and
Receiving module (13) includes signal center (131), receiving and transmitting signal antenna (132)；
The ground control centre mobile terminal (21) includes bridge machinery staff (211), unmanned plane highway bridge deformation
Detection management system (212), data radio station (213), GPS receiver (214), GPS signal transmitting antenna (215), storage battery
(216), movable bridge detection vehicle (217), mobile office computer (218), unmanned plane hand-held remote controller (219), GPS-RTK are plug-in
Radio station (2110), binoculars (2111)；
The bridge deformation inspection center (22) includes unmanned plane highway bridge shape changing detection management system (221) and bridge
Shape changing detection care workers (222)；
The unmanned plane highway bridge shape changing detection management system (221) includes that UAV flight's sensor acquires data
Import (2211), UAV flight's sensor acquires the storage (2212) of data, UAV flight's sensor acquires the pre- of data
Handle (2213), UAV flight's sensor acquisition processing (2214) of data, the building (2215) of bridge model, SAR sensing
The processing (2216) of device data, bridge floor deformation analysis extract (2217), the processing (2218) of bridge bottom plate deformation data, bridge
The identification (2219) of face soleplate crack, unmanned plane highway bridge shape changing detection management system staff (22110), bridge risks
The life that assessment models (22111), bridge risks assessment (22112), bridge health file administration (22113), bridge machinery are reported
At (22114), the thematic data base (22115) of multisensor, the backup (22116) of sensor acquisition data, various kinds of sensors
The visualization (22118) of the mutual co-verification (22117), shape changing detection data of shape changing detection data.
2. the unmanned plane highway bridge deformation detecting method and system of a kind of multi-sensor cooperation according to claim 1,
It is characterized in that the unmanned aerial vehicle platform module (I) of detection highway bridge bridge floor deformation and bridge soleplate crack is by being mounted in acquisition
The sensor of the sensor platform (11) of bridge deformation detection data carries out the data acquisition of bridge deformation and soleplate crack, nobody
Machine platform module (I) by ground control centre mobile terminal (21) bridge machinery staff (211) by being controlled, the public affairs of acquisition
Road and bridge beam shape changing detection data import (2211) unmanned plane highway bridge shape changing detection management system (221), more sensings of importing
Device data collected are stored in the thematic data base (22115) of multisensor, unmanned plane highway bridge shape changing detection management
System (221) imports the storage (2212), pretreatment (2213), processing (2214), bridge of data to UAV flight's sensor
The building (2215) of model, SAR sensing data processing (2216), bridge floor deformation analysis extract (2217), bridge bottom plate
Data processing (2218), bridge floor soleplate crack identification (2219), and then reach the extraction to bridge deformation and the knowledge of soleplate crack
It does not work, finally completes bridge risks assessment (22112), bridge health file administration (22113), ultimately form highway bridge shape
Become examining report (22114).
3. a kind of unmanned plane highway bridge detection method of -2 described in any item multi-sensor cooperations according to claim 1 and being
The application method of system, which is characterized in that mainly include the following steps that (flow chart in relation to implementation steps is referring to Figure of description
4),
Step A, according to the requirement of practical bridge machinery, bridge machinery staff (221) detects vehicle by driving movable bridge
(217) it reaches near bridge to be detected, movable bridge detection vehicle (217) is parked in the glitch-free open flat terrain in top,
Bridge machinery staff (211) assembling, debugging unmanned aerial vehicle platform module (I), will need to be equipped on what unmanned plane was observed
Sensor is placed on unmanned plane sensor carrying platform (11), before carrying out formal operation, tests unmanned aerial vehicle platform mould
Can whether block (I) and ground control centre mobile terminal (21) can work normally, carry out normal data transmission, when fulfiling assignment
Start next step after preceding preparation；
Step B starts this step on the basis for completing step A, and bridge machinery staff (211) passes through unmanned plane hand
It holds remote controler (219) to operate the data collection task of unmanned aerial vehicle platform module (I), first by unmanned aerial vehicle platform module
(I) it is elevated above bridge depth of beam to be detected, the detection data on bridge floor is obtained, then, bridge machinery work people
Member (211) delimit unmanned plane job area, i.e. unmanned aerial vehicle platform module (I) operation area by unmanned plane hand-held remote controller (219)
Unmanned machine operation course line is arranged, then according to the operating area of delimitation and job area in domain in the regional scope of delimitation later
This is instructed to number biography and receiving module (13) that unmanned plane is sent to by ground control centre mobile terminal (21), unmanned plane is certainly
Dynamic to start to acquire bridge floor detection data, if bridge periphery to be detected situation is more complicated, unmanned plane automatic cruising is detected
When the acquisition of data has very big risk, needs bridge machinery staff (211) oneself to manipulate unmanned plane and carry out bridge deformation
The acquisition of detection data；
Step C needs to carry out this step operation, unmanned plane highway bridge shape changing detection management among the process for carrying out step B
System staff (22110) opens mobile office computer (218) and logs in unmanned plane highway bridge shape changing detection management system
(221), check that unmanned aerial vehicle platform module (I) is transmitted back to the bridge machinery data come, bridge machinery staff (211) passes through
Unmanned plane hand-held remote controller (219) checks unmanned plane working condition, in addition irregular to be checked using binoculars (2111)
Unmanned plane is the location of in operation process, it is ensured that unmanned aerial vehicle platform module (I) can not be by outer in data collection task
Boundary's burst factor interference, operation can smoothly be withdrawn when completing；
Step D carries out this step operation, unmanned plane highway bridge shape changing detection management system on the basis for completing step C
Staff (22110) adopts unmanned aerial vehicle platform module (I) by unmanned plane highway bridge shape changing detection management system (221)
The data of collection are pre-processed (2213), check whether data acquisition is normal, whether acquisition data are comprehensive；
Step E carries out this step operation, unmanned plane highway bridge shape changing detection management system on the basis for completing step D
When staff (22110) checks that unmanned aerial vehicle platform module (I) data acquire perfect mistake, bridge machinery staff is notified
(211) unmanned plane is withdrawn by unmanned plane hand-held remote controller (219), when discovery data lacked, acquire it is imperfect
When determine and need to resurvey the regions of data, it is hand-held using unmanned plane manually to inform that bridge machinery staff (211) pass through
Remote controler (219) controls the benefit survey work that unmanned plane completes data；
Step F carries out this step operation, bridge machinery staff (221) passes through nobody on the basis for completing step E
Machine hand-held remote controller (219) withdraws unmanned plane, and unmanned plane highway bridge shape changing detection work field operation is so far completed；
Step G carries out this step operation, unmanned plane highway bridge shape changing detection management system on the basis for completing step F
Staff (22110) adopts unmanned aerial vehicle platform module (I) by unmanned plane highway bridge shape changing detection management system (221)
The data of collection carry out the processing of data using unmanned plane highway bridge shape changing detection management system (221).
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