CN109695260A - High Side Slope of Highway inspection method based on unmanned plane - Google Patents
High Side Slope of Highway inspection method based on unmanned plane Download PDFInfo
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- CN109695260A CN109695260A CN201811562341.2A CN201811562341A CN109695260A CN 109695260 A CN109695260 A CN 109695260A CN 201811562341 A CN201811562341 A CN 201811562341A CN 109695260 A CN109695260 A CN 109695260A
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- Prior art keywords
- unmanned plane
- side slope
- slope
- flight
- range
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The present invention relates to the High Side Slope of Highway inspection methods based on unmanned plane.Heavy workload existing for existing artificial detection is mainly solved, risk is high, low, the at high cost technical problem of the detection frequency.The technical solution of the present invention is as follows: a kind of High Side Slope of Highway inspection method based on unmanned plane, comprising the following steps: (1) location information acquisition to the high slope of initial examination is carried out by unmanned plane, realize the automation metaplasia of flight path at；(2) it is managed using the flight path that mobile device generates automation, and by network and database, path is subjected to persistent storage, be multiplexed for the later period；(3) unmanned plane implements the automation shooting, collecting operation to high slope, for subsequent analysis according to flight path.
Description
Technical field
The present invention relates to high slopes to check field more particularly to a kind of unmanned plane paths planning method, is specifically based on nothing
Man-machine High Side Slope of Highway inspection method.
Background technique
The current domestic inspection to high slope is generally divided into current check, inspects periodically, special examination and displacement monitoring etc.
Several forms, method, measuring tool, key content and the effect purpose that these types of form uses all are not quite similar: current check
Based on range estimation, simple instrument is cooperated to be measured, checks that frequency is higher, but inspection requirements is lower；It inspects periodically to estimate knot
It closes based on instrument, each position of side slope is needed to carry out detailed inspection, check that frequency is lower but more fully, reliably；Special examination master
If current check and inspect periodically middle discovery, be difficult to and distinguish reason and degree of danger aiming at the problem that checked or root
According to actual conditions it is necessary to when just implement inspection.Displacement monitoring is based on instrument monitoring, not according to stability of high slope degree
It is same to take different monitoring method and monitoring frequency.
With the continuous improvement of highway maintenance mileage and maintenance grade, managing feeding technical staff and detection device also seems opposite
Lack, daily maintenance checks that work can not be completed fully according to specification.And for high slope, by general range estimation+simple
The measurement of instrument is difficult to carry out entire side slope comprehensive, careful inspection and leaves the inspection of data of complete specification,
Tens meters easily of the high slope of highway at present, rice high then up to a hundred, if manually carrying out current check and inspecting periodically, both
Time-consuming and laborious, especially many high slope topographies are dangerously steep, cause people and equipment that can not carry out relevant data acquisition, in face of
Landslide, the disasters such as collapse sign early period can not know in advance and early warning, daily Inspection and maintenance work are difficult to complete, this
And some slope failures, landslide the reason of causing major accident to occur.
In current check, the feedback operation of side slope information is relatively complicated, and management link is easy to appear in practical development engineering
Loophole etc..The work of Artificial Side-slope inspection at present has the following disadvantages or disadvantage:
(1) heavy workload is checked, inspection personnel's working environment is more dangerous；
(2) it checks that the frequency is relatively low, cannot achieve the uninterrupted inspection of Slope Stability state；
(3) since highway route is longer, manual inspection will be taken considerable time；
(4) long-term manual inspection, expense cost are higher.
Summary of the invention
The High Side Slope of Highway inspection method based on unmanned plane that the object of the present invention is to provide a kind of mainly solves existing artificial
Existing heavy workload is detected, risk is high, low, the at high cost technical problem of the detection frequency.
The technical solution of the present invention is as follows: a kind of High Side Slope of Highway inspection method based on unmanned plane, comprising the following steps:
(1) location information acquisition is carried out by high slope of the unmanned plane to initial examination, realizes the automation metaplasia of flight path
At；
(2) it is managed using the flight path that mobile device generates automation, and by network and database, by path
Persistent storage is carried out, is multiplexed for the later period；
(3) unmanned plane implements the automation shooting, collecting operation to high slope, for subsequent analysis according to flight path.
Specific implementation of the invention includes 5 sub-steps: in step 1, one high slope of initial examination is selected one and is risen
Flying spot carries out long-term fixed point label, then executes step 2；In step 2, it takes off from takeoff point by unmanned plane, acquisition is high
The bottom edge of side slope, top margin coordinate range；Together by other key parameters (camera parameter, Duplication, starting altitude are poor) simultaneously
It is submitted to database server, carries out backstage path computing, then executes step 3；In step 3, system platform is according to flash
Slope range, camera parameter, Duplication, starting altitude are poor, calculate flight path automatically, then execute step 4；In step 4,
Unmanned plane is placed on takeoff point by inspection personnel, and unmanned plane, from flight path is obtained from the background, is prepared by manipulation unmanned plane terminal
It takes off, then executes step 5；In steps of 5, it after unmanned plane takes off, automates and flies according to flight path, carry out the bat of side slope
It takes the photograph；After completing shooting, the photo of shooting is subjected to sorting and file, this inspection data Collecting operation of completion.It is secondary and after
Continuous high slope inspection, from step A, 4,5: in step, finding the takeoff point label of last time inspection, then execute step 4, step
Rapid 5.
The present invention is existed the high slope range of initial examination, key parameter by digitized mode by unmanned machine equipment
Database server backstage is stored, and routing information is then calculated by above- mentioned information, and calculated result stores simultaneously, and
Return to unmanned plane terminal；Unmanned plane terminal realizes the inspection of high slope using flight path.
Unmanned plane during flying path generating method of the present invention the following steps are included:
(1) key parameter is inputted: including camera parameter (focal length f, size sensor SensorH x SensorW), overlapping of taking photo by plane
Rate is (course HCR, other to SCR), starting altitude difference Δ H and high slope range collection point B={ b1, b2 ..., bn }；
(2) longitude and latitude turns plane coordinates: range collection point being converted to by latitude and longitude coordinates (longitude, latitude) flat
Areal coordinate (x, y)；
(3) it calculates rectangle flight range: being basic side with side slope bottom edge, minimum rectangle range is generated, as target flight region
FlightH x FlightW；
(4) calculate average side slope angle: since direction of taking pictures is perpendicular to side slope, camera is from the rotation angle [alpha] under horizontal direction
Side slope angle, θ.The average camera rotation angle of range collection point can be approximately equal to average side slope angle；
；
(5) it calculates maximum enroute I. F. R. altitude: taking the height Δ h that range collection point is nearest apart from side slope inclined-plane, pacify as maximum
Full flying height FH；
；
(6) it calculates the side slope size in single photo: according to camera parameter and flying height, calculating the side slope ruler in single photo
Very little SingleH x SingleW；
；
(7) course spacing and course line spacing are calculated: according to individual size and Duplication, calculating course spacing IntervaHl, course line
Spacing IntervalS, boat number of lines RouteNum, single course line shoot number PhotoNum；
；
(8) shooting point flight parameter (plane coordinates turns longitude and latitude) is calculated: according to rectangle flight range, course/track spacing, line
Property interpolation generate shooting point plane coordinates (x, y), and change into latitude and longitude coordinates (longitude, latitude)；By side slope angle
It is poor with starting altitude, shooting point height is calculated, with reference to the formula of step 5；Camera rotation angle is average side slope angle；Unmanned plane
Posture axis is perpendicular to bottom of slope, along course line horizontal flight；
(9) output unmanned plane during flying shoots track: shooting point is generated unmanned plane during flying and is shot track by the preferential S type arrangement in course.
Compared with prior art, the invention has the following advantages: the digitlization storage of 1, inspection record, does not need to carry
A large amount of paper document data are for recording；2, high slope inspection acquisition automation, improves the safety coefficient of inspection personnel；3, it reduces
Manually, the investment of time cost；4, it realizes the wireless data transmission of mobile device and server database, and passes through database pair
The management of flight path；5, it is flown by the repetition in same section path, facilitates the comparison of tracking high slope different times photo.
Detailed description of the invention
Fig. 1 is work flow diagram of the present invention.
Fig. 2 is invention system control figure.
Fig. 3 is unmanned plane during flying path generation program control block diagram of the present invention.
Fig. 4 is rectangle flight range schematic diagram of the present invention.
Fig. 5 is side slope angle of the present invention and enroute I. F. R. altitude schematic diagram.
Fig. 6 is flight path schematic top plan view of the present invention.
Fig. 7 is flight path right side view of the present invention.
Specific embodiment
Referring to Fig.1, a kind of High Side Slope of Highway inspection method based on unmanned plane, including 5 steps, in step 1, for the first time
It checks a high slope, selectes a takeoff point, carry out long-term fixed point label, then execute step 2；In step 2, from
Takeoff point takes off by unmanned plane, acquires the bottom edge of high slope, the coordinate range of top margin；By other key parameters, (camera is joined simultaneously
Number, Duplication, starting altitude are poor) it is submitted to database server together, backstage path computing is carried out, step 3 is then executed；?
In step 3, system platform is poor according to high slope range, camera parameter, Duplication, starting altitude, calculates flight path automatically,
Then step 4 is executed；In step 4, unmanned plane is placed on takeoff point by inspection personnel, and unmanned plane passes through manipulation unmanned plane terminal
From flight path is obtained from the background, then standby for takeoff executes step 5；In steps of 5, after unmanned plane takes off, according to flight path
Automation flight, carries out the shooting of side slope；After completing shooting, the photo of shooting is subjected to sorting and file, this inspection of completion
Look into data Collecting operation.Secondary and subsequent high slope inspection, from step A, 4,5: in step, finding taking off for last time inspection
Point label, then executes step 4, step 5.
The present invention is existed the high slope range of initial examination, key parameter by digitized mode by unmanned machine equipment
Database server backstage is stored, and routing information is then calculated by above- mentioned information, and calculated result stores simultaneously, and
Return to unmanned plane terminal；Unmanned plane terminal realizes the inspection of high slope using flight path.
As shown in Fig. 2, the high slope range of initial examination, key parameter are passed through number by unmanned machine equipment by the present invention
The mode of change is stored in background server, and routing information is then calculated by above- mentioned information, and calculated result stores simultaneously
Come, and returns to unmanned machine equipment；The inspection of unmanned plane equipment utilization flight path realization high slope.
Referring to Fig. 3, unmanned plane during flying path generating method of the present invention the following steps are included:
(1) key parameter is inputted: including camera parameter (focal length f, size sensor SensorH x SensorW), overlapping of taking photo by plane
Rate is (course HCR, other to SCR), starting altitude difference Δ H and high slope range collection point B={ b1, b2 ..., bn }；
(2) longitude and latitude turns plane coordinates: range collection point being converted to by latitude and longitude coordinates (longitude, latitude) flat
Areal coordinate (x, y)；
(3) it calculates rectangle flight range: being basic side with side slope bottom edge, minimum rectangle range is generated, as target flight region
FlightH x FlightW；Referring to Fig. 4；
(4) calculate average side slope angle: since direction of taking pictures is perpendicular to side slope, camera is from the rotation angle [alpha] under horizontal direction
Side slope angle, θ.The average camera rotation angle of range collection point can be approximately equal to average side slope angle；
；Referring to Fig. 5；
(5) it calculates maximum enroute I. F. R. altitude: taking the height Δ h that range collection point is nearest apart from side slope inclined-plane, pacify as maximum
Full flying height FH；
；Referring to Fig. 5；
(6) it calculates the side slope size in single photo: according to camera parameter and flying height, calculating the side slope ruler in single photo
Very little SingleH x SingleW；
；
(7) course spacing and course line spacing are calculated: according to individual size and Duplication, calculating course spacing IntervaHl, course line
Spacing IntervalS, boat number of lines RouteNum, single course line shoot number PhotoNum；
；
(8) shooting point flight parameter (plane coordinates turns longitude and latitude) is calculated: according to rectangle flight range, course/track spacing, line
Property interpolation generate shooting point plane coordinates (x, y), and change into latitude and longitude coordinates (longitude, latitude)；By side slope angle
It is poor with starting altitude, shooting point height is calculated, with reference to the formula of step 5；Camera rotation angle is average side slope angle；Unmanned plane
Posture axis is perpendicular to bottom of slope, along course line horizontal flight；
(9) output unmanned plane during flying shoots track: shooting point is generated unmanned plane during flying and is shot track by the preferential S type arrangement in course.
Referring to Fig. 6, Fig. 7.
Claims (3)
1. a kind of High Side Slope of Highway inspection method based on unmanned plane, it is characterized in that: the following steps are included:
(1) location information acquisition is carried out by high slope of the unmanned plane to initial examination, realizes the automation metaplasia of flight path
At；
(2) it is managed using the flight path that mobile device generates automation, and by network and database, by path
Persistent storage is carried out, is multiplexed for the later period；
(3) unmanned plane implements the automation shooting, collecting operation to high slope, for subsequent analysis according to flight path.
2. the High Side Slope of Highway inspection method according to claim 1 based on unmanned plane, it is characterized in that: specifically including 5
Step:
Step 1, one high slope of initial examination selectes a takeoff point, carries out long-term fixed point label, then executes step
2；
Step 2, it takes off from takeoff point by unmanned plane, acquires the bottom edge of high slope, the coordinate range of top margin；Simultaneously by other keys
Parameter is submitted to database server together, carries out backstage path computing, then executes step 3；
Step 3, system platform is poor according to high slope range, camera parameter, Duplication, starting altitude, calculates flight road automatically
Then diameter executes step 4；
Step 4, unmanned plane is placed on takeoff point by inspection personnel, and unmanned plane is by manipulation unmanned plane terminal from being flown from the background
Then path, standby for takeoff execute step 5；
Step 5, it after unmanned plane takes off, automates and flies according to flight path, carry out the shooting of side slope；After completing shooting, it will clap
The photo taken the photograph carries out sorting and file, this inspection data Collecting operation of completion.
3. the High Side Slope of Highway inspection method according to claim 1 based on unmanned plane, it is characterized in that: the flight road
Diameter its obtain the following steps are included:
(1) key parameter is inputted: including camera parameter, Duplication of taking photo by plane, starting altitude difference Δ H and high slope range collection point B=
{b1,b2,…,bn}；
(2) longitude and latitude turns plane coordinates: range collection point is converted to plane coordinates (x, y) by latitude and longitude coordinates；
(3) it calculates rectangle flight range: being basic side with side slope bottom edge, minimum rectangle range is generated, as target flight region
FlightH x FlightW；
(4) calculate average side slope angle: since direction of taking pictures is perpendicular to side slope, camera is from the rotation angle [alpha] under horizontal direction
Side slope angle, θ.The average camera rotation angle of range collection point can be approximately equal to average side slope angle；
；
(5) it calculates maximum enroute I. F. R. altitude: taking the height Δ h that range collection point is nearest apart from side slope inclined-plane, pacify as maximum
Full flying height FH；
；
(6) it calculates the side slope size in single photo: according to camera parameter and flying height, calculating the side slope ruler in single photo
Very little SingleH x SingleW；
；
(7) course spacing and course line spacing are calculated: according to individual size and Duplication, calculating course spacing IntervaHl, course line
Spacing IntervalS, boat number of lines RouteNum, single course line shoot number PhotoNum；
；
(8) calculate shooting point flight parameter: according to rectangle flight range, course/track spacing, it is flat that linear interpolation generates shooting point
Areal coordinate (x, y), and change into latitude and longitude coordinates；It is poor by side slope angle and starting altitude, shooting point height is calculated, according to step 5
Formula；Camera rotation angle is average side slope angle；UAV Attitude axis is perpendicular to bottom of slope, along course line horizontal flight；
(9) output unmanned plane during flying shoots track: shooting point is generated unmanned plane during flying and is shot track by the preferential S type arrangement in course.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112904894A (en) * | 2021-01-19 | 2021-06-04 | 招商局重庆交通科研设计院有限公司 | Slope live-action image acquisition method based on unmanned aerial vehicle oblique photography |
| CN114281107A (en) * | 2021-12-21 | 2022-04-05 | 河南高建工程管理有限公司 | Highway slope maintenance inspection method |
| CN114295069A (en) * | 2021-12-09 | 2022-04-08 | 宏大爆破工程集团有限责任公司 | Side slope deformation monitoring method and system for unmanned aerial vehicle carrying three-dimensional laser scanner |
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| CN114295069B (en) * | 2021-12-09 | 2023-10-03 | 宏大爆破工程集团有限责任公司 | Slope deformation monitoring method and system for unmanned aerial vehicle-mounted three-dimensional laser scanner |
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Application publication date: 20190430 |