CN109901624A

CN109901624A - A kind of bridge method for inspecting

Info

Publication number: CN109901624A
Application number: CN201910289523.5A
Authority: CN
Inventors: 颜琼; 李华伟; 王文昆; 罗梓河; 王贤; 朱义明; 廖时才
Original assignee: Zhuzhou CSR Times Electric Co Ltd
Current assignee: Zhuzhou CRRC Times Electric Co Ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2019-06-18

Abstract

The invention discloses a kind of bridge method for inspecting, comprising the following steps: S10) three-dimensional map is established to detected bridge；S20 base station) is set up, manual operation unmanned plane plans corresponding inspection course line to each position of detected bridge；S30 it) is detected after the completion of the inspection flight course planning at each position of bridge, to the winged corresponding inspection course line of control module loading, carries out automatic detecting to control unmanned plane；S40) the data sent in earth station's acquisition, processing and management unmanned plane automatic detecting operation process, and defect existing for detected bridge is detected；S50) defect existing for detected bridge is positioned according to the data that earth station receives in unmanned plane automatic detecting operation process.The present invention is able to solve existing unmanned plane bridge routine inspection mode and relies primarily on manual operation unmanned plane acquisition bridge surface data, and the degree of automation is low, heavy workload, obtains the technical problem that data stability is poor, safety is low.

Description

A kind of bridge method for inspecting

Technical field

The present invention relates to engineering Inspection Technique fields, realize railway, highway using unmanned vehicle more particularly, to a kind of The method of equal bridges inspection.

Background technique

To the end of the year 2017, china railway revenue kilometres reach 12.7 ten thousand kilometers, wherein 2.5 ten thousand kilometers of high-speed rail, if pressing bridge The ratio on beam the line is busy road 52% calculates, and there are about 10,000 Yu Gongli for China's high-speed rail bridge.As Beijing-Tianjin inter-city bridge cumulative length accounts for entirely The ratio of line main track overall length is 86.6%, and Beijing-Shanghai express railway 80.5%, intercity wide pearl is 94.0%, and military wide visitor aims at 48.5%, Harbin-to-Dalian visitor aims at 74.3%.Bridge machinery generally includes bridge as engineering field one routine work type, detection range Face system, superstructure and substructure.The type of bridge machinery is divided into regular detection, periodic detection and three kinds of special detection. Regular detection detects people by section or bridge maintenance personnel carry out patrol and detection.Periodic detection is the quality shape to bridge structure The complete detection that condition is periodically tracked.Special detection is by brainstrust because of various cause specifics according to certain physics, chemistry No damage survey means are watched comprehensively to what bridge carried out, survey strong and are surveyed scarce, it is intended to find out clear reason, degree and the model of damage It encloses, consequence caused by analysis damage and latent defect may be dangerous to structure bring.The main body of the meaning of bridge machinery Now following aspects:

First, by regularly being detected to bridge, it can establish and perfect the associated profiles of bridge technology situation；

Second, by regularly being detected to bridge, it can detecte the health status of bridge, and then find disease in time Or the development of control disease；

Third can carry out technology state evaluating to bridge, be formed objective full and accurate by regularly being detected to bridge Statistics, so as to provide important reference for the maintenance, reinforcing and technological transformation etc. of bridge；

4th, by regularly being detected to bridge, it can find the security risk of bridge, timely so as to have Effect prevents the generation of safety accident.

In general, the concrete position of bridge machinery specifically includes that bridge bottom surface, outer face, pedestal, pavement, pier shaft, sidebar Equal regions, as shown in Figure 1 and Figure 2.As shown in Fig. 2, G is the pavement of bridge, and H is track.For a long time, bridge Detection is main to detect the methods of vehicle or small-sized assisted detector device using visual detection or by large bridge to determine bridge With the presence or absence of defect, but this mode needs that personnel are more, artificial participation ratio is big, the time is long, large labor intensity, low efficiency, At high cost, detection effect is directly related with the experience of patrolman and sense of responsibility, therefore is unable to satisfy growing bridge Maintenance needs.And with the development of unmanned air vehicle technique, unmanned plane provides a kind of high as a kind of novel device for bridge machinery The method of effect, safety, can substitute traditional detection means and be widely used in terms of bridge machinery.Usually in unmanned plane Upper carrying high-definition camera equipment, operator's far distance control unmanned plane are acquired bridge appearance face data, recycle bridge Beam data management software is managed acquisition data, analyzes, handles, and carries out automatic detection to defect and check with artificial, energy Enough complete the detection of the various defects of bridge.The bridge of unmanned plane inspection at this stage relies primarily on staff's remote controlled drone, exists The technical issues of the following aspects:

1, environment where bridge is complicated, much across river, river, lake, valley, operates unmanned plane to staff and brings Inconvenience；

2, bridge structure is complicated, needs the part of inspection very much, includes pier shaft, outer face, railing, pier, bridge bottom surface Deng, heavy workload, cause unmanned plane is complicated for operation to need very high skill；

3, there is a continuing need for manual operation unmanned plane, low efficiencys for inspection process, and unmanned plane during flying safety guarantee all relies on The qualification and working attitude of operator, is easy to appear safety accident；

4, bridge bottom surface GNSS signal is blocked, and unmanned plane flies under no GNSS signal, navigate and position completely according to By staff's remote control operation, unmanned plane inspection bridge technology difficulty, security risk be will increase dramatically, and be easy to appear unmanned plane pendant Ruin accident；

5, staff operates unmanned plane and brings shaking, it is unintelligible, stable to bring the image data of acquisition, and then influence Subsequent data analysis, defects detection；

6, the illumination of bridge base area is blocked, and it is not clear enough, bright to collect image data, is subsequent image procossing And defect analysis detection brings difficulty.

In the prior art, Chinese invention application CN105551108A and CN105501248A individually discloses a kind of railway Line data-logging method and system.Further, CN104762877A, CN106645205A, CN204833672U, CN104843176A、CN105460210A、CN106054916A、CN205366074U、CN106320173A、 The documents such as CN107748572A, CN108051450A, CN108284953A, CN108177787A, CN207173986U also all mention Go out using unmanned plane as platform, has carried high definition camera and acquire bridge data, and complete the technical solution to bridge machinery.However, There is following distinct disadvantage in these technical solutions:

1, the above application relies primarily on staff and operates unmanned plane acquisition bridge surface data, and the degree of automation is low, work Work amount is big, the stability of acquisition data is poor, safety is low；

2, bridge structure is complicated, and different parts shape difference is very big, and different parts detection needs the ways and means of profession, The above application does not propose targetedly detection method for each position of bridge；

3, it will appear failures, the above applications such as low battery, communication loss in unmanned plane detection process and do not propose failure feelings Processing method under condition；

4, environment is complicated under bridge bottom surface, there are various barriers, needs effectively to be evaded, the above application does not mention Effective method out.

Summary of the invention

In view of this, being patrolled the purpose of the present invention is to provide a kind of bridge method for inspecting with solving existing unmanned plane bridge Procuratorial organ's formula relies primarily on manual operation unmanned plane acquisition bridge surface data, and the degree of automation is low, heavy workload, obtains data The technical problem that stability is poor, safety is low.

In order to achieve the above-mentioned object of the invention, the present invention specifically provides a kind of technic relization scheme of bridge method for inspecting, Bridge method for inspecting, comprising the following steps:

S10 three-dimensional map) is established to detected bridge；

S20 base station) is set up, manual operation unmanned plane is directed to the corresponding inspection boat of each position planning for being detected bridge Line；

S30 it) is detected after the completion of the inspection flight course planning at each position of bridge, to the corresponding inspection boat of winged control module loading Line carries out automatic detecting operation to control the unmanned plane；

S40) the data sent in earth station's acquisition, processing and management unmanned plane automatic detecting operation process, and to tested Defect existing for bridge is surveyed to be detected；

S50) data received in unmanned plane automatic detecting operation process according to the earth station are to detected bridge Existing defect is positioned.

Further, the step S10) include following procedure:

S11) by the linear data of bridge route, III coordinate data of CP and Bridge Design drawing, bridge edge plane is obtained Coordinate, bridge edge elevation coordinate and pier shaft centre coordinate；

S12 each building block of bridge) is decomposited from Bridge Design drawing；

S13) according to the dimension data and facade diagram data on Bridge Design drawing, using three-dimensional graphics software to bridge Building block is modeled；

S14 it) is combined each building block together according to the location data of pier shaft centre coordinate, is formed and be detected bridge Threedimensional model；

S15) threedimensional model of detected bridge is imported in map software to the three-dimensional map for obtaining being detected bridge.

Further, the step S20) include following procedure:

S21 base station) is set up；

S22) prepare unmanned plane, and prohibited flight area is arranged by earth station；

S23) unmanned plane described in manual operation includes bottom surface, outer face, pavement bottom surface, bottom to the bridge of inspection is needed Region including seat, pier shaft and sidebar carries out inspection operation for the first time, and plans for each position of bridge and patrol accordingly respectively Examine course line.

Further, the step S30) include following procedure:

S31 base station) is set up；

S32 unmanned plane) is placed in takeoff point；

S33 communication antenna) is connected, the software in the earth station is opened；

S34 inspection course line plan) is loaded, after determining that inspection course line is errorless, execution unmanned plane takes off operation；

S35) unmanned plane carries out automatic detecting operation according to the inspection course line of load.

Further, the step S40) include following procedure:

Merge the positioning coordinate of the unmanned plane present position, the attitude angle of holder camera, course line, bridge when having image taking The candid photograph image of beam and shooting time information generates corresponding file according to the bridge surface data of different inspection course lines acquisition The data of folder, same inspection course line acquisition are stored in individual file；The inspection data of detected bridge are directed into described After earth station, according to bridge bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar management, and according to shooting date, quilt Detection position type is shown, while can be browsed, inquired, searched for detection data, and is carried out to history detection data Comparative analysis；By carrying out automatic detection of the intelligent image identification completion to defect to candid photograph image, while passing through staff Based on display interface, raw sensor data is checked, carry out artificial defect detection to image is captured, complete the mark to defect, divide Class and proving operation.

Further, the step S50) include following procedure:

S51 Primary Location) is carried out to image is captured by bridge title and route information；

S52) according to the positioning coordinate of unmanned plane present position when capturing image, the attitude angle of holder camera, course line, Bridge and shooting time information calculate and capture coordinate of each pixel under earth coordinates in image；When defect is in When bridge bottom surface is without positioning signal, the unmanned plane is calculated big by inertia measuring module, vision module and laser radar Coordinate under ground coordinate system, and obtain capturing coordinate of each pixel under earth coordinates in image；

S53) when needing to repair bridge defect, the positioning coordinate and azimuth information of defect present position are sent out It send into hand-held position indicator, operating personnel is quickly found out defect position according to the information in the hand-held position indicator.

Further, unmanned plane described in manual operation carries out inspection operation for the first time to the bridge that needs detect, by described Holder camera carries out Image Acquisition, and generates inspection course line according to the positioning signal that the locating module obtains.The unmanned plane Automatic detecting operation is carried out according to the inspection course line that write-in flies control module, the on-board data processing unit is according to the avoidance mould The data that block is sent are handled, and are controlled the unmanned plane by the winged control module and carried out automatic obstacle-avoiding emergency processing.Institute It states holder camera and video acquisition and video capture, the earth station is carried out according to the parameter of setting in automatic detecting operation process Carry out defects detection and positioning according to the image of candid photograph, the video of the holder camera acquisition be sent to the ground end system into Row display.The video data of holder camera acquisition is conducted electricity platform real-time Transmission by the first figure, and the video data is by the second figure Display monitoring is carried out by the first display screen after the platform that conducts electricity reception.Pass through the first number between the UAV system and ground end system The platform that conducts electricity with the second data radio station realizes that the control instruction of the unmanned plane and Flight Condition Data interact.For carrying out defect inspection The image data of survey is stored into the stored on-board module, again by described airborne after unmanned plane completes automatic detecting operation Memory module is transferred to earth station.It is shown by the image data of the stored on-board module unloading by second display screen.

Further, the inertia measuring module, vision module and laser radar provide for the unmanned plane and believe without positioning Navigation information under number environment, the on-board data processing unit pass through to inertia measuring module, vision module and laser radar The data of acquisition are calculated, and are generated to the positioning of itself present position of the unmanned plane, posture and scene cartographic information, thus Realize that the unmanned plane completes autonomous positioning and navigation under no positioning signal environment.Supplementary lighting module is institute under low-light (level) environment It states holder camera and light source is provided.The on-board data processing unit controls the posture and shooting of the holder camera, the holder The image data of camera acquisition is stored into the on-board memory devices.What earth station's real-time reception was sent by locating module Coordinate setting data, and the barrier data sent by the obstacle avoidance module, and with combining the three-dimensional electronic for being detected bridge Diagram data, the location of unmanned plane described in real-time display.

Further, the bridge that the unmanned plane detects needs during manual operation includes bottom surface, outer face, people Region including trade bottom surface, pedestal, pier shaft and sidebar carries out inspection operation for the first time, while the on-board data processing unit control Holder camera processed adjusts shooting angle, and imaging is made to reach optimum efficiency.Holder camera is included attitude angle, shooting by the earth station Angle, frame per second, focal length and the information including the time for exposure merge in the line of flight of the unmanned plane, generate inspection boat Line.Three-dimensional map environment of the earth station based on detected bridge carries out simulated flight to the inspection course line of generation, with verifying Whether inspection course line meets the inspection requirement of setting, if meeting inspection requirement, saves the inspection course line qualified by verifying, And the qualified inspection course line of verifying is written in the winged control module, to realize the automatic detecting operation of unmanned plane.

Further, in automatic detecting operation process, the holder camera carries out video acquisition according to the parameter of setting And video capture, capture the positioning coordinate of unmanned plane present position when image co-registration shooting, the attitude angle of holder camera, boat Line, bridge and shooting time information are stored into the on-board memory devices, after the completion of bed rearrangement is detected bridge inspection operation, Data conversion storage in the on-board memory devices is into the earth station.When the unmanned plane is positioned at no positioning signal region, The UAV system obtains the unmanned plane Distance positioning signal by inertia measuring module, vision module and laser radar and loses The three-dimensional coordinate of point position is lost, and altitude data is obtained by altimeter, to realize without the navigation under positioning signal environment.Simultaneously The UAV system generates the three-dimensional point cloud that bridge is detected region by inertia measuring module, vision module and laser radar Data are to realize that scene builds figure.

By implementing the technical solution for the bridge method for inspecting that aforementioned present invention provides, have the following beneficial effects:

(1) bridge method for inspecting of the present invention is patrolled accordingly using each position planning that unmanned plane is directed to detected bridge Course line is examined, then to the winged corresponding inspection course line of control module loading, carries out automatic detecting operation to control unmanned plane, entire bridge patrols Inspection process automation degree, stability and safety are high, and the bridge surface data quality obtained is high, after being very beneficial for Continuous image procossing and defects detection and positioning；

(2) bridge method for inspecting of the present invention, using unmanned plane sectional inspection flight course planning, while the side of multistage course line fusion Method carries out course line fusion in spacious and strong GNSS signal region, reduces the difficulty of manual inspection flight course planning, improve nothing The accuracy in man-machine inspection course line, greatly improves the degree of automation of unmanned plane bridge inspection；

(3) bridge method for inspecting of the present invention, by carrying inertia measuring module, vision module on unmanned aerial vehicle platform and swashing Optical radar realizes unmanned plane positioning and navigation under no GNSS signal environment；

(4) bridge method for inspecting of the present invention is provided with the safe net that makes a return voyage for bridge inspection, guarantees unmanned plane in urgent feelings It can fast and safely make a return voyage under condition, it is ensured that the safety during bridge inspection；

(5) fusing image data of bridge method for inspecting of the present invention, unmanned plane acquisition acquires moment unmanned plane present position The information such as GNSS information, acquisition time, shooting angle and inspection course line, provide for subsequent defective positioning and accurately position Data；

(6) bridge method for inspecting of the present invention, by by inspection Bridge Design three-dimensional map, so that unmanned plane inspection bridge Process can carry out simulative display in the three-dimensional map software virtual environment of earth station, unmanned plane can be monitored in real time in inspection Specific location between Cheng Zhongyu bridge and apart from situation, greatly improves the safety and automation journey of unmanned plane bridge inspection Degree.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Other embodiments are obtained according to these attached drawings.

Fig. 1 is the structural schematic diagram for being detected bridge；

Fig. 2 is to be detected structural schematic diagram of the bridge under another visual angle；

Fig. 3 is a kind of program flow diagram of specific embodiment of bridge method for inspecting of the present invention；

Fig. 4 is the program flow of unmanned plane inspection flight course planning method in a kind of specific embodiment of bridge method for inspecting of the present invention Cheng Tu；

Fig. 5 be the method for the present invention based on bridge cruising inspection system system structure diagram；

Fig. 6 be the method for the present invention based on bridge cruising inspection system operation principle schematic diagram；

Fig. 7 is the structure composition block diagram of UAV system in bridge method for inspecting of the present invention；

Fig. 8 is the functional block diagram of image data localization method in a kind of specific embodiment of bridge method for inspecting of the present invention；

Fig. 9 is the functional block diagram that defect positioning method is overhauled in a kind of specific embodiment of bridge method for inspecting of the present invention；

Figure 10 is a kind of functional block diagram of specific embodiment Bridge data management of bridge method for inspecting of the present invention；

Figure 11 be the method for the present invention based on bridge cruising inspection system using railcar as the structural representation front view of platform；

Figure 12 be the method for the present invention based on bridge cruising inspection system using railcar as the structural representation top view of platform；

Figure 13 be the method for the present invention based on bridge cruising inspection system using motor vehicle as the structural schematic diagram of platform；

Figure 14 is that song is mitigated in a kind of specific embodiment Bridge three-dimensional map establishment process of bridge method for inspecting of the present invention Line computation schematic illustration；

Figure 15 be the method for the present invention based on bridge cruising inspection system in base station structure composition schematic diagram；

Figure 16 is a kind of flight course planning schematic diagram of specific embodiment jackshaft of bridge method for inspecting soffit inspection of the present invention；

Figure 17 is that a kind of flight course planning of specific embodiment jackshaft of bridge method for inspecting soffit inspection of the present invention is overlooked Schematic diagram under visual angle；

Figure 18 is that fusion schematic diagram in course line is segmented in a kind of specific embodiment of bridge method for inspecting of the present invention；

Figure 19 is a kind of unilateral flight course planning of bridge method for inspecting specific embodiment Bridge outer of the present invention face inspection Schematic diagram；

Figure 20 is a kind of bridge soffit boat of bridge method for inspecting specific embodiment Bridge outer of the present invention face inspection Line merges schematic diagram；

Figure 21 is a kind of flight course planning signal of bridge method for inspecting specific embodiment Bridge outer of the present invention face inspection Figure；

Figure 22 is flight course planning schematic diagram of the face inspection of bridge outer shown in Figure 21 under another visual angle；

Figure 23 is a kind of flight course planning schematic diagram of specific embodiment Bridge pedestal inspection of bridge method for inspecting of the present invention；

Figure 24 is a kind of flight course planning schematic diagram of specific embodiment Bridge pier shaft inspection of bridge method for inspecting of the present invention；

Figure 25 is the flight course planning signal of bridge method for inspecting another kind specific embodiment Bridge pier shaft inspection of the present invention Figure；

Figure 26 is flight course planning schematic diagram of the inspection of bridge pier shaft shown in Figure 29 process under another visual angle；

Figure 27 is that a kind of unilateral flight course planning of specific embodiment Bridge sidebar inspection of bridge method for inspecting of the present invention is shown It is intended to；

Figure 28 is a kind of bridge soffit course line of specific embodiment Bridge sidebar inspection of bridge method for inspecting of the present invention Merge schematic diagram；

Figure 29 is a kind of flight course planning schematic diagram of specific embodiment Bridge sidebar inspection of bridge method for inspecting of the present invention；

Figure 30 is that inspection is maked a return voyage safely the setting schematic diagram of net in a kind of specific embodiment of bridge method for inspecting of the present invention；

In figure: 1- UAV system, the ground 2- end system, 3- hold position indicator, 4- base station, 5- host, the radio station 6-, 7- Transmitting antenna, 8- foot prop, 9- battery, 10- unmanned plane, 11- on-board data processing unit, 12- holder camera, the number of 13- first pass Radio station, the first figure of 14- conduct electricity platform, 15- stored on-board module, and 16- flies control module, 17- inertia measuring module, 18- vision module, 19- laser radar, 110- obstacle avoidance module, 111- locating module, 112- supplementary lighting module, 113- barometer, 20- earth station, 21- One display screen, the second data radio station of 22-, the second figure of 23- conduct electricity platform, 24- second display screen, 100- railcar, 101- drivers' cab, The compartment 102-, 103- scaling platform, 200- motor vehicle, 201- driver's cabin, 202- container.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only It is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field Art personnel all other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.

As shown in attached drawing 3 to attached drawing 30, the specific embodiment of bridge method for inspecting of the present invention is given, with reference to the accompanying drawing The invention will be further described with specific embodiment.

Embodiment 1

As shown in Fig. 3, a kind of embodiment of bridge method for inspecting of the present invention, specifically includes the following steps:

S10 three-dimensional map) is established to detected bridge；

S20) setting up base station 4 (can such as use GNSS-RTK base station, GNSS:Global Navigation Satellite System, the abbreviation of Global Navigation Satellite System；RTK:Real Time Kinematic, real-time dynamic positioning Abbreviation), manual operation unmanned plane 10, which is directed to, to be detected each position of bridge and plans corresponding inspection course line, base station 4 Structure composition is as shown in Fig. 15；

Inspection flight course planning (calibration) process carries out three-dimensional measurement, modeling first against the bridge for needing to carry out inspection, raw At bridge three-dimensional map；Then, manual operation unmanned plane 10 is to bridge bottom surface, outer face, pavement bottom surface, pedestal, bridge pier (pier Body), the regions such as sidebar carry out inspection operation for the first time, while adjusting the shooting angle of holder camera 12, so that imaging is reached best effective Fruit, and will be under the information preservations such as operating angle, shooting frame rate, the time for exposure of the line of flight of unmanned plane 10 and holder camera 12 It is merged, generates inspection course line, be then based under bridge three-dimensional map environment, to generation in the software of earth station 20 Inspection course line carries out simulated flight, and whether verifying inspection course line is correct, if meets inspection requirement, and saves patrolling for verifying qualification Examine course line；

S30 it) is detected after the completion of the inspection flight course planning at each position of bridge, loads corresponding inspection to winged control module 16 Course line carries out automatic detecting operation to control unmanned plane 10；

S40) the data sent in the acquisition of earth station 20, processing and management 10 automatic detecting operation process of unmanned plane, and it is right Defect existing for bridge is detected to be detected；

S50) data received in 10 automatic detecting operation process of unmanned plane according to earth station 20 are to detected bridge Existing defect is positioned.

Data processing during automatic detecting is to complete acquisition data by the bridge data management software of earth station 20 Identification, management, defects detection, defect location the processing such as resolve, and detailed report generated according to defect classification, grade, with Guide maintenance operation.

Wherein, it in above-mentioned steps S20), sets up base station 4 and generally uses two ways: first is that unknown point frame station, passes through Three ginseng of setting (X translation, Y translation, Z translation), four ginsengs (X translation, Y translation, A rotation, K scale) or seven ginsengs (X translation, Y translation, Z Translation, X rotation, Y rotation, Z rotation, K scale), by movement station in known point check and correction or printenv, directly use movement station In several known point coordinate acquisitions, GPS (Global Positioning System, global location (are then utilized by handbook The abbreviation of system) measurement when the included tool of equipment, be substantially carried out parameter setting and measurement data save) Survey Software carry out Parameter calculates.Second is that carrying out frame station in known point, emitted by known parameters and base station coordinates, movement station can direct work Make.

In entire bridge cruising inspection system, GNSS-RTK base station is base station 4, and unmanned plane 10 is rover station, the work of RTK It is that a receiver is placed on base station 4 as principle, another or several receivers are placed in carrier (referred to as rover station, at this It is unmanned plane 10 in embodiment) on.Base station 4 and rover station receive the signal of same time, the transmitting of same GPS satellite simultaneously, The observation obtained of base station 4 is compared with known position information, obtains GPS differential correcting value.Then this is corrected Value is transmitted to the total rover station (i.e. unmanned plane 10) depending on satellite by wireless software download radio station 6 in time and refines its GPS observation (corrected value is sent to the locating module 111 carried on rover station, that is, unmanned plane 10 by base station 4, amendment unmanned plane 10 Measured value, to reduce error, improve measurement accuracy), to obtain the accurate real time position of unmanned plane 10 after differential correcting.

Step S10) further comprise following procedure:

Since bridge inspection operation is over the horizon flight, it is mostly in outside sighting distance in operation process, to make operator The position of bridge where monitoring 10 inspection of unmanned plane in real time guarantees safety during inspection, and earth station 20 arrives according to real-time reception GNSS coordinate data, the data of obstacle avoidance module 110 of unmanned plane 10, and combine the bridge being directed into 20 software of earth station three-dimensional Electronic map, the location of 10 inspection of real-time display unmanned plane.

First to by the bridge of inspection, bridge three-dimensional map is established, the barrier comprising bridge near its circumference.Railroad bridge Three-dimensional map establishes input data, and comprising route line style data, CP III, (CP III: Chinese is foundation pile control net, for along route cloth If three dimensional control network, plane control rise closes in basic plane control net CP I or Control networks for lines CP II, high process control rise close in Along the second-class level web of route arrangement, testing after the completion of general engineering construction lower online, for non-fragment orbit laying and operation maintenance Benchmark) data, Bridge Design drawing.Highway bridge three-dimensional map method for building up uses RTK measurement pattern, measures bridge two sides The longitude and latitude and altitude data at edge calculate the threedimensional model of bridge then in conjunction with Bridge Design drawing.Bridge near its circumference High bar barrier also by RTK mode, measure its longitude and latitude, it is finally that the barrier within tens meters of bridge and surrounding is whole It is included in three-dimensional map.

The process that bridge three-dimensional map is established includes: by the linear data of route, III coordinate data of CP and Bridge Design figure Paper obtains bridge edge plane coordinate, bridge edge elevation coordinate, bridge pier centre coordinate.It is decomposed from Bridge Design drawing again All parts out.According to the dimension data and facade diagram data on Bridge Design drawing, chart using AutoCAD or other is three-dimensional Component modeling of the software to bridge.Then, it is combined all parts together according to the location data of bridge pier centre coordinate, that is, is formed One bridge block model.Bridge threedimensional model is imported such as again: obtaining bridge three-dimensional map in Google Earth map software.

Calculate that the programmed algorithm of bridge edge plane coordinate is specific as follows by route design document:

(1) incoming line design document.Including left line plane curve element table, the vertical curve element table of the left line of route, such as Shown in the following table 1 and table 2, data are merely illustrative in table.The expression of curve element point are as follows: HZ (point of spiral to tangent), ZH (point of tangent to spiral), QZ (Qu Zhongdian), HY (point of spiral to curve), YH (point of curve to spiral).

1 plane curve element table of table

Serial number	Want vegetarian refreshments	The east GPS coordinate	The north GPS coordinate	Slow length/radius	Mileage	It is super flat
							1	HZ	519727.7025	2987514.077	-10000	292977.1271	0
2	ZH	520638.8586	2987167.297	260	293952.044	0
							3	HY	520880.6744	2987071.815	-3495.48	294212.044	-90
4	YH	521295.5548	2986862.435	260	294677.108	-90
							5	HZ	521516.0072	2986724.622	-3495.48	294937.108	0

2 vertical curve element table of table

Serial number	Mileage	Elevation	Radius of vertical curve
				1	291250.969	98.662	0
2	292349.099	88.998	15000
				3	293859.978	90.509	15000
4	294598.326	96.862	15000

(2) the mileage file of certain intervals is inputted.Mileage interval is indicated with letter J.If mileage is set to 5 meters, then Whole 5 meters of point mileages of this section of bridge as a file and are inputted.It is subsequent to be illustrated with being divided into 5 meters between mileage.

(3) according to Bridge Design file, the offset of the left station track center line of bridge Edge Distance bridge is calculated, will be deviated In the disalignment amount of amount input program.Offset is indicated with letter Y.Big mileage direction is faced, is indicated with parameter B at center The line left side or the right (B value range is 1 or -1).Left edge distance center line plan range indicates with Y_Z, right hand edge distance Center line plane distance is indicated with Y_Y.

It can be obtained according to Bridge Design file, bridge left edge distance center line plan range is 3750mm, right hand edge plane Distance is 8150mm, i.e. Y_Z=3750, Y_Y=8150.It should be noted that if bridge section is not needed simultaneously to inhomogeneity The bridge section segment processing of type.

(4) it indicates to indicate the starting point mileage of bridge, with alphabetical QD when front left station track center line mileage with ZD with alphabetical A_Z Indicate the end mileage of bridge.First whole 5 meters of point is indicated after QD with Q, then have A_Z=Q+5*i (value of i be 0,1,2, 3 ...), until A_Z is greater than bridge and terminates to terminate to calculate when mileage ZD.

Corresponding theoretical coordinate (the X of A_Z is carried out below_i,Y_i) calculate, wherein X_iIndicate the east GPS coordinate, Y_iIndicate that the north GPS is sat Mark.

Firstly, judging A_Z corresponding circuit types (straightway, preceding slow length, circular curve in design document in a program Section, rear slow length).

Then (X is calculated using different calculation formula according to different circuit types_i,Y_i):

A) straightway: in the straightway, HZ point setting coordinate is (X_HZ,Y_HZ), ZH point setting coordinate is (X_ZH,Y_ZH), solution Obtaining its distance is D, another a=X_ZH-X_HZ, b=Y_ZH-Y_HZThen there is unit vectorHZ point mileage is with alphabetical A_HZ table Show, then (X_i,Y_i)=(X_HZ,Y_HZ)+n₁*(A_Z-A_HZ)。

B) delay length before: using ZH point as coordinate origin, the tangent line grown in ZH point slow in the past is x-axis, establishes plane rectangular coordinates System.There is formula in easement curve part:

As shown in Fig. 14, wherein R indicates the sweep of circular curve segment, l_iFor unknown point to ZH point distance, l₀It is slow With the slow length of curve, β₀For easement curve drift angle, m is to cut to hang down away from P is shifting value in curve, i₁,i₂It respectively indicates in preceding slow length Two points of section and circular curve segment, l₁,l₂Respectively indicate i₁,i₂To the distance of ZH point), in the coordinate system, i₁Coordinate representation For (x_i1,y_i1), i₂Coordinate representation be (x_i2,y_i2)。

Easement curve refers in horizontal alignment, the curvature being arranged between straight line and circular curve, circular curve and circular curve The curve of consecutive variations.Easement curve is one of road plane alignment elements, it is to be arranged between straight line and circular curve or half Diameter differs a kind of curve of biggish two continual curvature turned between identical circular curve variations.It is corresponding in easement curve Preceding easement curve section, obtains: i₁=A_Z-A_HZ, from reckoning i in formula (1-1)₁Coordinate (x_i1,y_i1).According to the flat square The deflection angle of coordinate system horizontal axis in earth coordinates obtains i after carrying out rotation calculating₁Coordinate (X in earth coordinates_i1, Y_i1), it is superimposed ZH point coordinate (X_ZH,Y_ZH) A_Z can be obtained in (the X of preceding easement curve section_i,Y_i)=(X_ZH+X_i1,Y_ZH+Y_i1)。

C) circular curve: according to formula (1-2)

Wherein, l₂Indicate i₂To the distance of ZH point, l₀For slow length, β₀For easement curve drift angle, m is to cut to hang down away from P is curve Interior shifting value, ρ are the constant of radian degree of turning to.

In the corresponding circular curve segment of easement curve, obtain: i₂=A_Z-A_HZ, from reckoning i in formula (1-2)₂Coordinate (x_i2,y_i2).After deflection angle according to plane right-angle coordinate horizontal axis in earth coordinates carries out rotation calculating, A_Z can be obtained In (the X of circular curve segment_i,Y_i)。

D) delay length afterwards: the rear calculation for delaying length is similar with preceding slow length.It is later slow to grow in HZ point using HZ point as coordinate origin Tangent line be x-axis, establish plane right-angle coordinate.X is calculated in plane right-angle coordinate₁Shi Gaiwei-x₁, i.e.,To obtain i₁Coordinate (x_i1,y_i1).According to the plane right-angle coordinate in the earth The deflection angle of horizontal axis obtains i after carrying out rotation calculating in coordinate system₁Coordinate (x in earth coordinates_i1,y_i1), it is superimposed HZ point Coordinate (X_HZ,Y_HZ) A_Z can be obtained in (the X of preceding easement curve section_i,Y_i)=(X_ZH+X_i1,Y_ZH+Y_i1)。

(5) calculate A_Z tangential direction to further obtain the normal direction of A_Z and obtain left avertence move when unit to Measure n₂And unit vector n when right avertence shifting₃.Big mileage direction is faced, route left-hand bend is indicated with letter w or (W value of turning right Range is -1 or 1), should be noted the symbol of normal unit vector.

(6) coordinate of the A_Z after normal direction offset is calculated.

(7) output bridge edge coordinate.

Bridge edge altitude data obtains

The height accuracy of no-manned plane three-dimensional map can be kept off on Zha Qiang in 20cm or so, bridge edge altitude data according to bridge CPIII point height calculated, by difference in height of the CPIII point apart from bridge edge known to in-site measurement, to obtain every Bridge edge elevation at a CPIII point mileage, then the elevation of the every 5m spacing in bridge edge is obtained by linear interpolation method.

Bridge pier centre coordinate obtains

The mileage that each bridge pier is obtained from design drawing, according to bridge pier center on the right side of the left station track center line of route Bridge pier and mileage can be made table as input file, the input of stitch seam leans out line amount can be obtained in each bridge pier by 2200mm Heart position coordinates.

Process is as follows:

1) bridge pier number and mileage are obtained from design data, and bridge pier and mileage are fabricated to excel file；

2) bridge edge plane coordinate programmed algorithm is calculated by route design document, mileage and center offset is inputted In program；

3) it can be calculated the coordinate of each bridge pier central point by program.

Step S20) further comprise following procedure:

S21 base station 4) is set up；The specific steps are in having set up foot prop 8 on known point, centering is flattened (if be erected at It in unknown point, then substantially flattens)；Power supply line and transmitting antenna 7 are connected, and notices that the positive and negative anodes of power supply are correct (red just It is black negative)；Host 5 and radio station 6 are opened, host 5 starts auto-initiation and search of satellite, wants when satellite number and satellite quality reach After asking (about 1 minute), the DL indicator light on host 5 starts 5 seconds quick flashing 2 times, while the TX indicator light on radio station 6 starts often Second dodge 1 time；This shows that the differential signal of base station 4 starts to emit, and entire base station 4 starts to work normally；

S22) prepare unmanned plane 10, and prohibited flight area is arranged by earth station 20；The specific steps are by unmanned plane 10 It is placed on depletion region, the software in earth station 20 is opened, has set up communication antenna, connected the communication antenna of earth station 20, Then it is powered on for unmanned plane 10, sets prohibited flight area for region more than bridge floor side rod in the software map of earth station 20 Domain guarantees that operator will not fly unmanned plane 10 and arrives bridge floor area above；Whether effective test no-fly region setting, nobody 10 standing start of machine quickly pushes away elevator, and whether test unmanned plane 10, which can be broken through, is forbidden height；

S23) 10 pairs of the manual operation unmanned plane bridges for needing inspection include bottom surface, outer face, pavement bottom surface, pedestal, Region including pier shaft and sidebar carries out inspection operation for the first time, and plans corresponding inspection boat respectively for each position of bridge Line.

Step S30) further comprise following procedure:

S31 base station 4) is set up；

S32 unmanned plane 10) is placed in takeoff point X；

S33 communication antenna) is connected, the software in earth station 20 is opened；

S34 inspection course line plan) is loaded, after determining that inspection course line is errorless, execution unmanned plane 10 takes off operation；

S35) unmanned plane 10 carries out automatic detecting operation according to the inspection course line of load.

The qualified inspection course line of verifying is written to the winged control module 16 of UAV system 1 by the software of earth station 20, with It controls unmanned plane 10 and carries out automatic detecting, obstacle avoidance module 110 guarantees the safety during 10 inspection of unmanned plane, in emergency circumstances not Bridge can be caused to damage.During inspection, holder camera 12 carries out video acquisition according to the parameter set, image is grabbed It claps.Video data is shown by radio station's real-time Transmission to ground end system 2.When the high-definition image of candid photograph merges shooting GNSS coordinate, camera posture, course line, bridge and shooting time information store to stored on-board module 15, bed rearrangement bridge inspection Data conversion storage is to earth station 20 after the completion.The fusing image data acquisition moment unmanned plane present position that unmanned plane 10 acquires The information such as GNSS information, acquisition time, shooting angle and inspection course line provide for subsequent defective positioning and accurately position number According to.

Step S40) further comprise following procedure:

The positioning coordinate of 10 present position of unmanned plane, the attitude angle of holder camera 12, course line, bridge when fusion has image taking The candid photograph image of beam and shooting time information generates corresponding file according to the bridge surface data of different inspection course lines acquisition The data of folder, same inspection course line acquisition are stored in individual file.The inspection data for being detected bridge are directed into ground It stands after 20, according to bridge bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar management, and according to shooting date, tested It surveys position type to be shown, while detection data can be browsed, inquired, searched for, and history detection data is carried out pair Than analysis.By carrying out automatic detection of the intelligent image identification completion to defect to candid photograph image, while passing through staff's base In display interface, raw sensor data is checked, carry out artificial defect detection to image is captured, complete the mark to defect, classification And proving operation.

Step S50) further comprise following procedure:

S51 Primary Location) is carried out to image is captured by bridge title and route information, as shown in Fig. 8；

S52) according to the positioning coordinate, the attitude angle of holder camera 12, course line of 10 present position of unmanned plane when capturing image Information, bridge information and shooting time calculate and capture coordinate of each pixel under earth coordinates in image；Work as defect When in bridge bottom surface without positioning signal, nobody is calculated by inertia measuring module 17, vision module 18 and laser radar 19 Coordinate of the machine 10 under earth coordinates, and obtain capturing coordinate of each pixel under earth coordinates in image；

S53) when needing to repair bridge defect, the positioning coordinate and azimuth information of defect present position are sent out It send into hand-held position indicator 3, operating personnel is quickly found out defect position according to the information in hand-held position indicator 3.

10 pairs of the manual operation unmanned plane bridges for needing to detect carry out inspection operation for the first time, carry out figure by holder camera 12 Inspection course line is generated as acquisition, and according to the positioning signal that locating module 111 obtains.Unmanned plane 10 flies control module 16 according to write-in Inspection course line carry out automatic detecting operation, at the data that on-board data processing unit 11 is sent according to obstacle avoidance module 110 Reason, and automatic obstacle-avoiding emergency processing is carried out by flying the control control unmanned plane 10 of module 16.Holder camera 12 is in automatic detecting operation Video acquisition and video capture are carried out according to the parameter of setting in the process, earth station 20 carries out defects detection according to the image of candid photograph And positioning, the video that holder camera 12 acquires are sent to ground end system 2 and are shown.The video data that holder camera 12 acquires It is conducted electricity 14 real-time Transmission of platform by the first figure, which is conducted electricity after platform 23 receives by the second figure and carried out by the first display screen 21 Display monitoring.Nothing is realized by the first data radio station 13 and the second data radio station 22 between UAV system 1 and ground end system 2 Man-machine 10 control instruction and Flight Condition Data interaction.Image data for carrying out defects detection is stored to stored on-board mould In block 15, earth station 20 is transferred to by stored on-board module 15 again after unmanned plane 10 completes automatic detecting operation.By airborne The image data of 15 unloading of memory module is shown by second display screen 24.

Inertia measuring module 17, vision module 18 and laser radar 19 are that unmanned plane 10 is provided under no positioning signal environment Navigation information, on-board data processing unit 11 is by acquiring inertia measuring module 17, vision module 18 and laser radar 19 Data are calculated, and are generated to the positioning of itself present position of unmanned plane 10, posture and scene cartographic information, to realize nobody Machine 10 completes autonomous positioning and navigation under no positioning signal environment.Supplementary lighting module 112 is holder camera under low-light (level) environment 12 provide light source.On-board data processing unit 11 controls the posture and shooting of holder camera 12, the image that holder camera 12 acquires Data are stored into on-board memory devices 15.The coordinate setting data that 20 real-time reception of earth station is sent by locating module 111, with And the barrier data sent by obstacle avoidance module 110, and combine be detected bridge electronic three-dimensional map data, real-time display without The location of man-machine 10.By enabling 10 inspection bridge process of unmanned plane on ground to by inspection Bridge Design three-dimensional map Carry out simulative display in the three-dimensional map software virtual environment at face station 20, can monitor in real time unmanned plane 10 during inspection with Specific location between bridge and apart from situation, greatly improves the safety and the degree of automation of unmanned plane bridge inspection.

The bridge that unmanned plane 10 detects needs during manual operation includes bottom surface, outer face, pavement bottom surface, bottom Region including seat, pier shaft and sidebar carries out inspection operation for the first time, while on-board data processing unit 11 controls holder camera 12 Shooting angle is adjusted, imaging is made to reach optimum efficiency.Earth station 20 by holder camera 12 include attitude angle, shooting angle, frame per second, Focal length and the information including the time for exposure merge in the line of flight of unmanned plane 10, generate inspection course line.Earth station 20 Three-dimensional map environment based on detected bridge carries out simulated flight to the inspection course line of generation, to verify whether course line meets The inspection requirement of setting saves the inspection course line qualified by verifying, and patrolling verifying qualification if meeting inspection requirement It examines course line write-in to fly in control module 16, to realize the automatic detecting operation of unmanned plane 10.

In automatic detecting operation process, holder camera 12 carries out video acquisition and video capture according to the parameter of setting, The positioning coordinate of 10 present position of unmanned plane when capturing image co-registration shooting, the attitude angle of holder camera 12, course line, bridge and Shooting time information is stored into on-board memory devices 15, and after the completion of bed rearrangement is detected bridge inspection operation, stored on-board is set Data conversion storage in standby 15 is into earth station 20.When unmanned plane 10 is positioned at no positioning signal region, UAV system 1 passes through used Property measurement module 17, vision module 18 and laser radar 19 obtain the three-dimensional of 10 Distance positioning dropout point position of unmanned plane and sit Mark, and altitude data is obtained by altimeter 113, to realize without the navigation under positioning signal environment.Meanwhile UAV system 1 Bridge, which is generated, by inertia measuring module 17, vision module 18 and laser radar 19 is detected the three dimensional point cloud in region with reality Live Jing Jiantu.

The bridge method for inspecting of the present embodiment description gives accurately unmanned plane during flying boat for each position of bridge Line and data acquisition modes, and only need to carry out manual intervention operation to the line of flight for the first time, the inspection course line planned for the first time is protected It leaves and, later operation only needs the inspection course line of preservation to be loaded onto unmanned plane 10, it will be able to realize full-automatic inspection bridge Each position.

Embodiment 2

As shown in Fig. 5, a kind of embodiment of the bridge cruising inspection system based on embodiment the method, specifically includes: nothing Man-machine system 1 and ground end system 2.UAV system 1 further comprises unmanned plane 10, and is mounted in airborne on unmanned plane 10 Data processing unit 11, holder camera 12 fly control module 16, obstacle avoidance module 110 and locating module 111, ground end system 2 into one Step includes earth station 20.Unmanned plane 10 carries out inspection operation for the first time to the bridge that needs detect under manual operation, passes through holder Camera 12 carry out the acquisition of bridge surface data, and according to locating module 111 obtain positioning signal (such as: use GNSS signal, Global Navigation Satellite System, the abbreviation of Global Navigation Satellite System, as GPS, Glonass, Galileo, Beidou satellite navigation system etc. are all one of Global Navigation Satellite System) generate inspection course line.Unmanned plane 10 Automatic detecting operation is carried out according to the inspection course line that write-in flies control module 16, on-board data processing unit 11 is according to obstacle avoidance module 110 data sent are handled, and carry out automatic obstacle-avoiding emergency processing by flying the control control unmanned plane 10 of module 16.Bridge patrols Check system is according to the contour structures for being detected bridge, and for the design of each position, accurately unmanned plane inspection course line and data are acquired Method and safety failure treatment mechanism.Holder camera 12 is regarded in automatic detecting operation process according to the parameter of setting Frequency acquisition and video capture, the video that holder camera 12 acquires are sent to ground end system 2 and are shown, earth station 20 is according to certainly The image captured in dynamic inspection operation process carries out defects detection and positioning, as shown in Fig. 6.Wherein, holder camera 12 can be with Using integral structure, it is also possible to using the split type structure being mounted on camera on holder.Holder camera 12 is with equidistant Or constant duration acquires data, guarantees all standing of bridge surface data acquisition.

As shown in Fig. 7, on unmanned plane 10 also equipped with inertia measuring module 17, vision module 18, laser radar 19 and Supplementary lighting module 112, inertia measuring module 17, vision module 18, laser radar 19 and supplementary lighting module 112 are handled with on-board data Unit 11 is connected.Inertia measuring module 17, vision module 18 and laser radar 19 are that unmanned plane 10 provides no positioning signal environment Under navigation information, on-board data processing unit 11 passes through to inertia measuring module 17, vision module 18 and laser radar 19 Data are acquired and calculate, and generate to the positioning of itself present position of unmanned plane 10, posture and scene cartographic information, thus real Existing unmanned plane 10 completes autonomous positioning and navigation under no positioning signal environment.Supplementary lighting module 112 is cloud under low-light (level) environment Platform camera 12 provides light source.

The positioning coordinate data that 20 real-time reception of earth station is sent by locating module 111, and sent by obstacle avoidance module 110 Barrier data, and the location of combine the electronic three-dimensional map data for being detected bridge, real-time display unmanned plane 10.Ground Three-dimensional map environment of the face station 20 based on detected bridge carries out simulated flight to the inspection course line of generation, to verify inspection boat Whether line meets the inspection requirement of setting, if meeting inspection requirement, saves the inspection course line qualified by verifying, and will test The qualified inspection course line write-in of card flies in control module 16, to realize the automatic detecting operation of unmanned plane 10.

Also equipped with stored on-board module 15 on unmanned plane 10, on-board data processing unit 11 complete to holder camera 12, Inertia measuring module 17, vision module 18, laser radar 19, the data acquisition of obstacle avoidance module 110 and locating module 111 and place Reason.On-board data processing unit 11 controls the posture and shooting of holder camera 12, and the image data that holder camera 12 is captured passes through On-board data processing unit 11 is stored into on-board memory devices 15, after unmanned plane 10 completes automatic detecting operation, picture number Earth station 20 is transferred to according to stored on-board module 15 is passed through again.Ground end system 2 further includes that second to be connected with earth station 20 shows Display screen 24, (such as: SD card can be used, i.e. Secure Digital Memory Card, secure digital is deposited by stored on-board module 15 Card storage) image data of unloading shown by second display screen 24.In automatic detecting operation process, 12, holder camera Video acquisition and video capture are carried out according to the parameter of setting, the positioning of 10 present position of unmanned plane is sat when capturing image co-registration shooting Mark, the attitude angle of holder camera 12, course line, bridge and shooting time information are stored into on-board memory devices 15.Route information The main position (such as: bridge bottom surface, outer face, pedestal, pier shaft, sidebar) comprising bridge title, the course line inspection bridge.

After the completion of bed rearrangement bridge automatic detecting operation, the data conversion storage in on-board memory devices 15 is into earth station 20. Unmanned plane 10 during manual operation to the bridge that detects of needs include bottom surface A, outer face B, pavement bottom surface C, pedestal D, Region including pier shaft E and sidebar F carries out inspection operation for the first time, while on-board data processing unit 11 controls holder camera 12 and adjusts Whole shooting angle makes imaging reach optimum efficiency.Holder camera 12 is included attitude angle, shooting angle, frame per second, coke by earth station 20 Away from and the time for exposure including information merge in the line of flight of unmanned plane 10, generate inspection course line.On unmanned plane 10 Also equipped with altimeter 113, when unmanned plane 10 is positioned at no positioning signal region, UAV system 1 passes through inertia measuring module 17, vision module 18 and laser radar 19 obtain the three-dimensional coordinate of 10 Distance positioning dropout point position of unmanned plane, and pass through Altimeter 113 obtains altitude data, to realize without the navigation under positioning signal environment.Meanwhile UAV system 1 is surveyed by inertia It measures module 17, vision module 18 and laser radar 19 and generates the three dimensional point cloud in the detected region of bridge to realize that scene is built Figure.

It also conducts electricity platform 14 equipped with the first data radio station 13 and the first figure on unmanned plane 10, earth station system 2 further includes One display screen 21, the second data radio station 22 and the second figure conduct electricity platform 23.The video data that holder camera 12 acquires passes through airborne number According to processing unit 11 be sent to the first figure conduct electricity platform 14 carry out real-time Transmission, the video data by the second figure conduct electricity platform 23 receive after Display monitoring is carried out by the first display screen 21, the compressed video flowing of real-time Transmission acquires picture convenient for video monitoring and data Adjustment.First data radio station 13 is connected with on-board data processing unit 11, and the second data radio station 22 is connected with earth station 20.Work as nothing After man-machine 10 complete automatic detecting operation, image data passes through stored on-board module 15 again and is transferred to earth station 20.Pass through number Image procossing carries out intelligent measurement defects detection to image is captured, very high to the resolution requirement of image, image transmission system (including the One figure conducts electricity platform 14 and the second figure conducts electricity platform 23) can not real-time Transmission to earth station 20, can only store to on-board memory devices 15 In (such as: airborne SD card), it is then transferred to earth station 20 again.It is passed between UAV system 1 and ground end system 2 by the first number Radio station 13 and the second data radio station 22 realize the control instruction and Flight Condition Data alternating transmission of unmanned plane 10.First number conducts electricity Interaction data between platform 13 and the second data radio station 22 mainly includes upstream data and downlink data, wherein upstream data master It include: telecommand data, course line upload data, holder camera parameter setting data, data etc. are arranged in unmanned plane during flying, under Row data specifically include that altimeter data, battery allowance data, holder status data, GNSS satellite data, obstacle avoidance module number According to, inertia measurement (IMU, Inertial Measurement Unit) data, laser radar data, Flight Condition Data, flight Mileage etc..

Obstacle avoidance module 110 further uses millimetre-wave radar, ultrasonic sensor, infrared distance sensor, laser ranging The combination of any one or more in sensor is mentioned for the barrier around sensorcraft 10, and for 10 avoidance of unmanned plane For range data.Locating module 111 uses the real-time dynamic positioning based on carrier phase observation data, to provide unmanned plane 10 in real time Three-dimensional localization information in specified coordinate system.

As shown in Fig. 9, bridge cruising inspection system further includes hand-held position indicator 3, when needing to repair bridge defect, Ground end system 2 sends the positioning coordinate and azimuth information of defect present position to hand-held position indicator 3.

As shown in Fig. 10, bridge data management module 201 is further provided in earth station 20, bridge data manages mould Block 201 further comprises:

Basic data input submodule 202, for inputting the essential information of detected bridge；Bridge essential information includes: The title of bridge, type, length, route, bridge pier (pier shaft) quantity, the north GPS, the east GPS, GPS high, bridge initial position GPS are sat Mark；

Detection data manages submodule 203, for the acquisition and importing of detection data, detection data according to bridge bottom surface, Outer face, pavement bottom surface, pedestal, pier shaft and sidebar Classification Management, while detection data can be browsed, inquired, searched for, And history detection data is compared and analyzed；

Data analyze submodule 204, and for realizing dysnusia detection and artificial defect detection, dysnusia detection passes through The automatic detection to defect is completed in intelligent image identification, and artificial defect detection is based on display interface by staff, checks original Beginning detection data is completed to the mark of defect, classification and proving operation；

Patrol task plans submodule 205, for arranging the bridge patrol plan in range of management, and prompts staff Inspection progress.

Embodiment 3

A kind of embodiment of the patrol unmanned machine system of bridge applied to 1 the method for embodiment, specifically includes: unmanned plane 10, and the on-board data processing unit 11, holder camera 12, the first data radio station 13 and the first figure that are mounted on unmanned plane 10 Conduct electricity platform 14.In automatic detecting operation process, on-board data processing unit 11 sends bridge surface data to holder camera 12 Acquisition control signal, on-board data processing unit 11 send flight control signal to unmanned plane 10.Holder camera 12 obtains bridge The high-definition data on surface, the bridge video data that holder camera 12 acquires are sent to the first figure by on-board data processing unit 11 Conduct electricity platform 14, which is sent to ground end system 2 and is carried out display monitoring by the first figure platform 14 that conducts electricity.First number passes Radio station 13 is connected with on-board data processing unit 11, and UAV system 1 is realized and ground end system 2 by the first data radio station 13 Between the control instruction of unmanned plane 10 and the alternating transmission of Flight Condition Data.

As shown in Fig. 7, the patrol unmanned machine system of bridge further comprises being mounted on unmanned plane 10, and and on-board data The connected locating module 111 of processing unit 11, on-board data processing unit 11 obtain determining for unmanned plane 10 by locating module 111 Position information.Locating module 111 specifically uses difference RTK (Real Time Kinematic, real-time dynamic positioning) module, can Guarantee high-precision navigation and positioning of the unmanned plane 10 in the case where there is GNSS signal.RTK is a kind of GNSS measuring technique, and RTK positions skill Real-time dynamic positioning of the art based on carrier phase observation data, it can provide tested website (unmanned plane 10) in real time and sit specified Three-dimensional localization in mark system is as a result, and reach a centimetre class precision.

The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Obstacle avoidance module 110 even, on-board data processing unit 11 are that unmanned plane 10 provides the distance letter of barrier by obstacle avoidance module 110 Breath.Obstacle avoidance module 110 can further use millimetre-wave radar, ultrasonic sensor, infrared distance sensor, laser ranging to pass The combination of any one or more in sensor guarantees that the safety of unmanned plane 10 flies for the barrier around sensorcraft 10 Row.

The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Inertia measuring module 17 (i.e. IMU, Inertial Measurement Unit) even.Inertia measuring module 17 is to measure nobody The device of 10 triaxial attitude angle of machine (or angular speed) and acceleration.On-board data processing unit 11 passes through inertia measuring module 17 Obtain the acceleration and angular speed signal of unmanned plane 10.

The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Vision module 18 even.Vision module 18 and inertia measuring module 17 form vision SLAM (i.e. Simultaneous Localization And Mapping, positions and builds figure functional unit), for providing no positioning signal environment for unmanned plane 10 Under vision guided navigation information.The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and at on-board data Manage the connected laser radar 19 of unit 11.Laser radar 19 and inertia measuring module 17 form laser SLAM (i.e. SimultaneousLocalization And Mapping, positions and builds figure functional unit), for providing nothing for unmanned plane 10 Three-dimensional point cloud information under positioning signal environment.

Inertia measuring module 17, vision module 18 and laser radar 19 provide high-precision under no GNSS signal for unmanned plane 10 Degree positioning and navigation information.Inertia measuring module 17 and vision module 18 constitute vision SLAM, inertia measuring module 17 and laser Radar 19 constitutes laser SLAM.On-board data processing unit 11 uses embedded data processing center, by sensing data It is acquired and calculates, the positioning to its own position and attitude and scene cartographic information are generated, to make unmanned plane 10 in nothing GNSS signal completes autonomous positioning and navigation.SLAM (Simultaneous Localization and Mapping, it is immediately fixed Position with build figure) main function be to make unmanned plane 10 in unknown environment, complete position (Localization), build figure (Mapping) and path planning (Navigation).Laser SLAM uses laser radar 19, the collected object of laser radar 19 Information shows a series of dispersions, point with precise angle and range information, referred to as point cloud.In general, laser SLAM is logical It crosses the matching to different moments two panels point cloud and compares, calculate the change of the distance and posture of 19 relative motion of laser radar, with Complete the positioning to unmanned plane 10 itself.19 ranging of laser radar is more accurate, and error model is simple, other than strong light direct beam Stable in environment, the processing for putting cloud is simple, while point cloud information itself includes direct geometrical relationship, so that unmanned plane 10 Path planning and navigation become intuitive.And texture information that vision SLAM can obtain magnanimity from environment, being imbued with redundancy, Possess superpower scenery identification ability.Vision SLAM identified using texture information abundant, can be relatively easy to by with To track and predict the dynamic object in scene.Vision SLAM the operation is stable in the dynamic environment of texture-rich, and can be sharp Light SLAM provides very accurate point cloud matching, and the accurate direction of the offer of laser radar 19 and range information are correct matched Point Yun Shangye is capable of providing strong support.In the environment that illumination wretched insufficiency or texture lack, laser SLAM positioning can Vision SLAM is allowed to carry out scene record by few information.The two fusion use can learn from other's strong points to offset one's weaknesses, and greatly improve The positioning accuracy of unmanned plane 10.

The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Supplementary lighting module 112 even.On-board data processing unit 11 control supplementary lighting module 112 be holder camera 12 under low-light (level) environment into The acquisition of row data provides light source, and the position inadequate to illumination carries out light filling, guarantees the clear, bright of acquisition image.

The patrol unmanned machine system of bridge further comprise be arranged on unmanned plane 10, and with 11 phase of on-board data processing unit Stored on-board module 15 even.It is captured by holder camera 12 and the bridge surface image data for carrying out defects detection passes through machine Data processing unit 11 is carried to store into stored on-board module 15.After unmanned plane 10 completes inspection operation, the image data is again Earth station 20 is transferred to by stored on-board module 15.

The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Winged control module 16 even.The inspection course line generated by earth station 20 is sent to the first data radio station by the second data radio station 22 13, on-board data processing unit 11 is transmitted to after being received by the first data radio station 13, then write by on-board data processing unit 11 Enter to fly to control module 16.Unmanned plane 10 carries out automatic detecting according to the inspection course line that write-in flies control module 16.

The patrol unmanned machine system of bridge further comprise be mounted on unmanned plane 10, and with 11 phase of on-board data processing unit Barometer 113 even.When unmanned plane 10 is positioned at no positioning signal region, on-board data processing unit 11 passes through altimeter 113 The altitude data of 10 present position of unmanned plane is obtained, to cooperate inertia measuring module 17, vision module 18 and laser radar 19 real Now without the navigation under positioning signal environment.

Equipped with on-board data processing unit 11, holder camera 12, stored on-board module 15, winged control module on unmanned plane 10 16, inertia measuring module 17, vision module 18, laser radar 19, obstacle avoidance module 110, locating module 111 and supplementary lighting module 112 Deng.And according to specific needs, body top, bottom or the front of unmanned plane 10 can carry out operation with carry holder camera 12. On-board data processing unit 11 is the data acquisition and processing center of unmanned plane 10, is completed to holder camera 12, inertia measurement mould The acquisitions of module datas such as block 17, vision module 18, laser radar 19, obstacle avoidance module 110, locating module 111 and in real time processing, Controlling supplementary lighting module 112 simultaneously is that holder camera 12 acquires data progress light filling.On-board data processing unit 11 controls holder phase The posture and shooting of machine 12 obtain camera data and store into stored on-board module 15.

The patrol unmanned machine system of bridge of the present embodiment description, with high degree of automation, safety is good and does not influence to arrange Vehicle operation, can all-weather operation the advantages that, the efficiency and safety of unmanned plane inspection bridge can be greatly improved.

Embodiment 4

As shown in attached drawing 11 and attached drawing 12, the patrol unmanned machine system of bridge is carrier with railcar 100, and railcar 100 is wrapped Include drivers' cab 101 and compartment 102.Ground end system 2 is set in drivers' cab 101, and UAV system 1 is set in compartment 102, The conduct electricity communication antenna of platform 23 of second data radio station 22 and the second figure is set to outside the vehicle body of railcar 100, is convenient for data receiver.

Unmanned plane 10 is mounted in railcar 100, UAV system 1 is transported to by detected bridge by railcar 100 Beam.On the route of bridge two sides, with one or more concrete curing platform, the fixation landing as unmanned plane 10 is flat Platform.When the patrol unmanned machine system job of bridge, railcar 100, which reaches, is detected bridge, first by staff by unmanned plane 10 are placed on landing platform.Then GNSS-RTK base station (i.e. base station 4) is placed, and controls 10 landing of unmanned plane, worked Personnel can be controlled by the first display screen 21 of ground end system 2 in the drivers' cab 101 of railcar 100 and monitor unmanned plane 10 state of flight, and complete subsequent inspection operation.Or it can be stretched using the setting in 102 two sides of the compartment of railcar 100 Contracting platform 103.It is detected bridge when railcar 100 reaches, unclamps the fixed device of body of unmanned plane 10, then controls scaling platform 103 extend out to unmanned plane 10 in the outside of bridge sidebar.Then GNSS-RTK base station is placed, then controls 10 landing of unmanned plane, Staff can be controlled by the first display screen 21 of ground end system 2 in the drivers' cab 101 of railcar 100 and monitor nothing Man-machine 10 state of flight, and complete subsequent inspection operation.

Embodiment 5

As shown in Fig. 13, the patrol unmanned machine system of bridge is carrier with motor vehicle 200, and motor vehicle 200 includes driver's cabin 201 and container 202.Ground end system 2 is set in driver's cabin 201, and UAV system 1 is set to the goods at 200 rear portion of motor vehicle In case 202, the conduct electricity communication antenna of platform 23 of the second data radio station 22 and the second figure is set to outside the vehicle body of motor vehicle 200.

Unmanned plane 10 is mounted on motor vehicle 200, UAV system 1 is transported to by detected bridge by motor vehicle 200 The lower section of beam.Open place near bridge, using concrete curing one or more platforms, the fixation as unmanned plane 10 is risen Platform drops.It is detected bridge when motor vehicle 200 reaches, unmanned plane 10 is placed on landing platform by staff first.Then It places GNSS-RTK base station (i.e. base station 4), and controls 10 landing of unmanned plane, staff can driving in motor vehicle 200 The state of flight for controlling and monitoring unmanned plane 10 in room 201 by the first display screen 21 of ground end system 2 is sailed, and is completed subsequent Inspection operation.Or it can landing platform by the container 202 at 200 rear portion of motor vehicle as unmanned plane 10.When UAV system 1 It is transported to tested bridge, unclamps the fixed device of body of unmanned plane 10.Then GNSS-RTK base station is placed, and controls nobody 10 landing of machine.Staff can be controlled in the driver's cabin 201 of motor vehicle 200 by the first display screen 21 of ground end system 2 It makes and monitors the state of flight of unmanned plane 10, and complete subsequent inspection operation.

Embodiment 6

As shown in Fig. 4, a kind of embodiment of 1 the method Bridge inspection flight course planning method of embodiment is specific to wrap Include following steps:

S100 base station 4) is set up；

S200) prepare unmanned plane 10, and prohibited flight area is arranged by earth station 20；

S300 it includes bottom surface, outer face, pedestal, pier shaft and sidebar that) 10 pairs of manual operation unmanned plane, which need the bridge of inspection, Region inside carries out inspection operation for the first time, and plans corresponding inspection course line respectively for each position of bridge；

S400 it) is detected after the completion of the inspection flight course planning at each position of bridge, loads to winged control module 16 and patrol accordingly Course line is examined, carries out automatic detecting operation to control unmanned plane 10.

Step S100) further comprise following procedure:

S101) foot prop 8 of base station 4 is set up on known point and centering flattens；

S102 the power supply line and transmitting antenna 7 of base station 4) are connected；

S103 host 5 and the radio station 6 of base station 4) are opened, host 5 starts auto-initiation and search of satellite, when satellite number After reaching requirement with satellite quality, the differential signal of base station 4 starts to emit, and base station 4 starts to work normally.

Step S200) further comprise following procedure:

S201 unmanned plane 10) is placed in depletion region, the software in earth station 20 is opened, sets up and connect earth station Then 20 connection powers on for unmanned plane 10；

S202 no-fly region) is set by region more than bridge floor sidebar in the software of earth station 20, to ensure Operator will not fly unmanned plane 10 to region more than bridge floor；

S203 it whether effective) tests no-fly region setting, operates 10 standing start of unmanned plane, quickly push away remote controler lifting Whether rudder, test unmanned plane 10 can break through no-fly height.

Step S300) further comprise following procedure:

S301 three-dimensional measurement, modeling) are carried out for the bridge for needing to carry out inspection, generates bridge three-dimensional map；

S302) operation unmanned plane 10 is to bridge including bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar Region carry out inspection operation for the first time, while adjusting the shooting angle of holder camera 12, imaging made to reach optimum efficiency；

S303) by the line of flight of unmanned plane 10 and holder camera 12 include attitude angle, shooting angle, frame per second, focal length and Information preservation including time for exposure, which is got off, to be merged, and inspection course line is generated.

The bridge inspection flight course planning method of the present embodiment description separately designs corresponding patrol for each position of bridge Course line is examined, it is described that specific step is as follows.

1, bridge bottom surface inspection flight course planning

Step S300) it include bridge bottom surface inspection flight course planning process, which further includes steps of

Operating descender line road length direction progress inspection of the unmanned plane 10 in bridge bottom surface, (inspection direction is bridge pier shaft N1 The direction → N3), Image Acquisition is carried out to bridge bottom surface by holder camera 12, while by the line of flight and holder of unmanned plane 10 Camera 12 is merged including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure, generates inspection course line. During inspection, navigated by inertia measuring module 17, vision module 18 and laser radar 19, unmanned plane 10 is in bridge (vision module, laser radar, there are cumulative errors for IMU module fusion airmanship, therefore for every flight a distance under bottom surface In the presence of under no GNSS signal, aerial flight operating distance S in allowable range of error, flight operation within this distance is It is feasible) after fly out bridge bottom surface receive positioning signal carry out position checking.Since the width of bridge bottom surface is greater than 6 meters, according to The developed width of the acquisition data of holder camera 12, it is therefore desirable to operate unmanned plane 10 under bridge bottom surface under along its line length side To two course lines of L inspection, and continue after completing the bottom surface inspection of single hop bridge the inspection of next section of bridge bottom surface.Entire bridge Soffit inspection course line is as shown in attached drawing 16 and attached drawing 17.

Detailed step is as follows:

1) firstly, unmanned plane 10 is placed on the spacious level land other than bridge bottom surface as takeoff point X, by holder camera 12 are installed on the top or front of unmanned plane 10.

2) the relative elevation height of bridge bottom surface is obtained according to the threedimensional model of bridge, on the basis of this relative elevation height The shooting distance value for subtracting unmanned plane 10 obtains the inspection operation height above sea level of unmanned plane 10.Wherein, bridge bottom surface is relatively extra large Degree of lifting (as shown in H2 in attached drawing 2) is that the relative elevation height value at pedestrian way of bridge edge subtracts the beam body height of bridge (such as In attached drawing 2 shown in H1).

3) operation 10 standing start of unmanned plane is to inspection operation height above sea level, then towards the bridge bottom surface side close to pier shaft To flight, until reaching the inner side position in bridge bottom surface and keeping safe distance with bridge bottom surface, beats remote controler and turn to rudder to nothing Man-machine 10, towards bridge line length direction L, then fix tentatively, and adjust attitude angle, shooting angle and the focal length value of holder camera 12, Ensure shooting picture all covering bridge bottom surfaces.

4) remote controler advance rudder is pushed away, 10 low-speed forward of unmanned plane is made, while guaranteeing that inspection operation height above sea level is constant.When arriving When up to next pier shaft, the direction of unmanned plane 10 is adjusted, makes unmanned plane 10 towards bridge inside bottom surface flight set distance, then adjust Perfect square flies to towards a upper pier shaft direction.After reaching a upper pier shaft, then unmanned plane 10 is adjusted towards bridge bottom surface Flight set distance in outside beats remote controler and turns to rudder to unmanned plane 10 towards bridge line length direction L, then fixes tentatively, adjust Attitude angle, shooting angle and the focal length value of holder camera 12, it is ensured that shooting picture all covers bridge bottom surface.Push away remote controler advance Rudder carries out inspection to the other side of bridge bottom surface, and when unmanned plane 10 reaches next pier shaft, the bridge bottom surface that flies out receives positioning Calibration signal then proceeds by the inspection operation of next section of bridge bottom surface.Here, unmanned plane 10 can also be patrolled using others Flight path is examined, as long as ensuring under bridge bottom surface along its two course line of line length direction L inspection to cover entire bridge The surface data of bottom surface.

5) in inspection operation process, when alarming when the battery dump energy of unmanned plane 10 is insufficient, nobody is operated Machine 10 stops operation, and finds spacious place landing, to replace battery.

6) after the inspection that entire bridge route is completed in segmentation, then by all segmentation course lines close to duplicate local connection Get up, landing course line therein is removed, merging point is the region that 10 flight position of unmanned plane has positioning signal and spaciousness, with shape At a complete inspection course line.It is to consider to lean on without unmanned plane under GNSS signal that segmentation course line, which carries out fusion in the case where there is GNSS signal, Vision and laser will appear error when being navigated after a certain distance.Therefore, melted under the conditions of GNSS signal is good Conjunction can guarantee flight safety.Course line fusion is completed in the software of earth station 20, and inspection course line is loaded onto unmanned plane system In the winged control module 16 of system 1.Two sections of course lines as shown in Fig. 18, X are takeoff point, and Y is level point, the merging point in two sections of course lines The place good in GNSS signal is needed, two course lines are connected close to duplicate place, and by intermediate landing course line Removal, merging point is the place that there is good GNSS signal in 10 flight service of unmanned plane.When two sections of course lines fusion as described in attached drawing 18 When, the descent in course line 1 and the take-off process in course line 2 can all remove.It is by one by one in the local service for having GNSS signal Coordinate composition, the coordinate in a course line are made of longitude and latitude and altitude data.But the course line coordinate under bridge bottom surface It is not made of longitude and latitude and altitude data, but passes through visual odometry i.e. inertia measuring module 17 and vision module 18 And the fusion of laser radar 19, to carry out the navigation under no GNSS signal.Under the conditions of no GNSS signal, UAV system 1 is logical Cross inertia measuring module 17, vision module 18 and laser radar 19 obtain 10 Distance positioning dropout point position of unmanned plane three Coordinate is tieed up, and obtains by altimeter 113 that altitude data is counter pushes away course line coordinate, to realize without the navigation under positioning signal environment.

2, bridge outer face inspection flight course planning

Step S300) it further include bridge outer face inspection flight course planning process, which further includes steps of

Holder camera 12 is installed on to the top or front of unmanned plane 10, and horizontally toward bridge outer face.Operate nobody Machine 10 carries out inspection (inspection direction is the direction bridge pier shaft N1 → N3) along the outer face of the side route length direction L to bridge, Image Acquisition is carried out to bridge outer face by holder camera 12 simultaneously.After the outer face inspection for completing bridge unilateral side, operation Unmanned plane 10 drops to setting height, and adjustment holder camera 12 carries out image to the pavement bottom surface of the bridge side obliquely and adopts Collection.To bridge unilateral side outer face and pavement bottom surface carry out inspection while by the line of flight of unmanned plane 10 and holder phase Machine 12 is merged including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure, generates the unilateral side of bridge Inspection course line, as shown in Fig. 19.Unmanned plane 10 is operated to bridge along the outer face and pavement of the other side route length direction L Bottom surface carries out inspection, while including attitude angle, shooting angle, frame per second, coke by the line of flight of unmanned plane 10 and holder camera 12 Away from and the time for exposure including information merged, generate the bridge other side inspection course line.There are outer face in the two sides of bridge, Inspection flight course planning is carried out to the outer face of bridge arranged on left and right sides respectively first, it is then manual in the end in two sides inspection course line It flies the course line of an overpass bridge soffit, as shown in Fig. 20.Three course lines are fused into a complete bridge outer again Face inspection course line, as shown in attached drawing 21 and attached drawing 22.

Detailed step is as follows:

1) inspection of bridge outer face includes the inspection of pavement bottom surface, because outer face is there is no blocking, GNSS signal is good, It therefore can be directly in the electronic three-dimensional map for being detected bridge, according to the three-dimensional coordinate at bridge edge, in conjunction with unmanned plane Apart from the optimal position in bridge outer face, (determination of the optimum position can be covered with the image that holder camera 12 acquires for 10 inspections Entire bridge outer face surface data, while the imaging effect of holder camera 12 is best) resolved, obtain entire outer face Inspection course line coordinate.Outer face height be 2.7 meters, the operation height above sea level of unmanned plane 10 preferably at outer face vertically Medium position, horizontal distance considers that the safe distance (such as: safe distance is set as 5 meters) of certain safety, holder camera 12 are pacified Dress is above sets or preposition, and level is aligned inwards outer face.Unmanned plane 10 declines certain distance (such as: 1.7 meters of left sides after the completion of inspection It is right), adjust 12 oblique photographs pavement bottom of holder camera.The first hovering time of initial position setting in inspection course line, Second hovering time was set again when inspection course line drops to setting height, and inspection course line is loaded onto and flies control module 16.

2) after the manual unmanned plane 10 to the height in bridge outer face that takes off, by offline mode by hand pattern switching to course line Mode, unmanned plane 10 fly automatically according to the inspection course line of load.When the starting point of the flight of unmanned plane 10 to inspection course line When, operator adjusts attitude angle, shooting angle and the focal length value of holder camera 12, is directed at bridge outer face, reaches imaging Optimum state.At the end of the face inspection of bridge outer, unmanned plane 10 fixes tentatively (i.e. hovering certain time) after dropping to setting height, Operator adjusts attitude angle, shooting angle and the focal length value of holder camera 12, and alignment pavement bottom surface is shot, and is recorded Attitude angle, shooting angle and focal length value of the holder camera 12 in tentative point adjustment.

3) after the completion of inspection flight course planning, by the offline mode of unmanned plane 10 by course line pattern switching to manual mode, Then unmanned plane 10 is drop to takeoff point X.

4) check whether the data of entire inspection flight course planning process acquisition meet the requirements, it is unclear for there is shooting image The incorrect position of clear or shooting angle is flown again to be finely adjusted.

5) when the operation for adjusting entire inspection course line and holder camera 12 reaches optimum state, entire inspection operation is recorded The movement of the course line coordinate and holder camera 12 of unmanned plane 10, saves as permanent inspection course line in journey, then bridge side is outer It is completed along face inspection flight course planning, the outer face inspection flight course planning of the bridge other side is completed according to identical step.

6) region of the position and spacious clear terminated in two inspection course lines close to bridge two sides is manually operated The inspection course line of bridge soffit of the flight of unmanned plane 10, the process further include steps of

Unmanned plane 10 is operated from the standing start of bridge side inspection course line end position to flying height and bridge outer Face inspection height above sea level is consistent, then towards bridge bottom surface direction flight set distance, drop to bridge bottom surface or less setting away from From (such as: 3 meters), continue to leap after the set distance of the bridge bottom surface until bridge bottom surface that flies out, then unmanned plane 10 is pulled up to bridge Other side outer face inspection height above sea level, to bridge on the outside of after flight set distance, find suitable place landing.

7) bridge is carried out along the outer face inspection course line of the two sides route length direction L and the course line of overpass bridge soffit Mixing operation, and by overpass bridge soffit take off and land course line delete.To the end point of bridge side outer face inspection with The starting point in overpass bridge soffit course line carries out interpolation of coordinate mixing operation, and to the starting point in bridge other side outer face with across More the end point in bridge bottom surface course line carries out interpolation of coordinate mixing operation, finally navigates at a complete bridge outer face inspection Line.

It outer face inspection course line can also be using first inspection pavement bottom surface, then the mode in inspection bridge outer face, specifically It is as follows.

It operates unmanned plane 10 and inspection is carried out along the pavement bottom surface of route length direction side to bridge, while passing through holder Camera 12 carries out Image Acquisition to pavement bottom surface.After the pavement bottom surface inspection for completing bridge unilateral side, unmanned plane 10 is operated Setting height is risen to, the outer face of the adjustment 12 face bridge side of holder camera carries out Image Acquisition.To bridge unilateral side The line of flight of unmanned plane 10 and holder camera 12 are included into attitude angle, bat while pavement bottom surface and outer face carry out inspection It takes the photograph angle, frame per second, focal length and the information including the time for exposure to be merged, generates the unilateral inspection course line of bridge.Operate nobody Machine 10 carries out inspection along the outer face of the route length direction other side and pavement bottom surface to bridge, while unmanned plane 10 being flown Row course line is merged with holder camera 12 including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure, Generate the inspection course line of the bridge other side.It flies manually the course line of an overpass bridge soffit in the end in two sides inspection course line, Three course lines are fused into complete bridge outer face inspection course line again.

Above-mentioned bridge outer face inspection flight course planning method further comprises:

After the manual unmanned plane 10 to the height of pavement bottom surface that takes off, by offline mode by hand pattern switching to course line mould Formula, unmanned plane 10 fly automatically according to the inspection course line of load.When the starting point of the flight of unmanned plane 10 to inspection course line, Operator adjusts attitude angle, shooting angle and the focal length value of holder camera 12, is directed at pavement bottom surface, and imaging is made to reach best State.At the end of the inspection of pavement bottom surface, unmanned plane 10 is fixed tentatively after rising to setting height, and operator adjusts holder camera 12 attitude angle, shooting angle and focal length value, alignment bridge outer face are shot, and are recorded holder camera 12 and adjusted in tentative point Whole attitude angle, shooting angle and focal length value.

3, bridge pedestal inspection flight course planning

Step S300) it further include bridge pedestal inspection flight course planning process, which further includes steps of

Operate unmanned plane 10 carried out at the top of pier shaft under the bridge bottom surface inspection (inspection direction be bridge pier shaft N1 → The direction N3), Image Acquisition is carried out to the surface of bridge pedestal by holder camera 12, while by the line of flight of unmanned plane 10 with Holder camera 12 is merged including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure, generates inspection Course line.Since the inspection of bridge pedestal carries out under bridge bottom surface, due to there is bridge to block, GNSS signal is weaker, therefore During inspection, navigated by inertia measuring module 17, vision module 18 and laser radar 19.Complete single bridge bottom After the inspection of seat, unmanned plane 10 flies along bridge line length direction L continues inspection to next bridge pedestal.Unmanned plane 10 fly out after every flight a distance under bridge bottom surface bridge bottom surface receive positioning signal carry out position checking.

Detailed job step is as follows:

1) takeoff point X is used as on the spacious level land other than unmanned plane 10 being placed in from bridge bottom surface, by holder camera 12 It is installed on the top or front of unmanned plane 10.

2) the relative elevation height of bridge bottom surface is obtained according to the threedimensional model of bridge, on the basis of this relative elevation height The shooting distance value for subtracting unmanned plane 10 obtains the inspection operation height above sea level of unmanned plane 10.Wherein, bridge bottom surface is relatively extra large Degree of lifting is that the relative elevation height value at pedestrian way of bridge edge subtracts the beam body height of bridge.

3) remote controller makes 10 standing start of unmanned plane to inspection operation height above sea level, then towards the bridge close to pier shaft Soffit direction is flown, until the heading of adjustment unmanned plane 10 is wide to be parallel to pier shaft when reaching close to the position of pier shaft It is inside to spend direction, then fixes tentatively, adjusts attitude angle, shooting angle and the focal length value of holder camera 12, opens supplementary lighting module 112, Ensure shooting picture all covering bridge pedestals.Remote controler advance rudder is pushed, guarantees unmanned plane 10 in inspection height above sea level low speed Advance, after reaching the marginal position on the outside of pier shaft, completes the inspection operation in the single face of bridge pedestal.10 turns of unmanned plane are operated again To towards bridge line length direction L, while the attitude angle, shooting angle and focal length value of holder camera 12 are adjusted, surrounds bridge Beam bottom seat repeats inspection operation until completing the inspection operation in four faces, then the bridge bottom surface that flies out receives positioning calibration signal.Nothing Man-machine 10 surround the path of bridge pedestal inspection either quadrangle, is also possible to the types such as annular.

4) remote controler advance rudder is pushed away, 10 low-speed forward of unmanned plane is made, while guaranteeing that inspection operation height above sea level is constant.When arriving When up to next pier shaft, the direction of adjustment unmanned plane 10 is towards pier shaft interior direction.When unmanned plane 10 is outside towards pier shaft inside After flight set distance (such as: 2~3 meters) and close pier shaft, inspection operation is repeated around bridge pedestal until completing four faces Inspection operation, then the bridge bottom surface that flies out receive positioning calibration signal, then remote controler advance rudder are pushed to continue next bridge bottom The inspection operation of seat.

6) after the inspection that entire bridge route is completed in segmentation, then by all segmentation course lines close to duplicate local connection Get up, landing course line therein is removed, merging point is the region that 10 flight position of unmanned plane has positioning signal and spaciousness, with shape At a complete inspection course line, entire bridge pedestal inspection course line is as shown in Fig. 23.

4, bridge pier shaft inspection flight course planning

Step S300) it further include bridge pier shaft inspection flight course planning process, which further includes steps of

It operates unmanned plane 10 and carries out inspection around pier shaft clockwise or counterclockwise under bridge bottom surface, pass through cloud Platform camera 12 carries out Image Acquisition to four sides of entire pier shaft.Unmanned plane 10 is according to vertically up and down reciprocatingly turning back The inspection operation to the single side of pier shaft is completed in path, while including posture by the line of flight of unmanned plane 10 and holder camera 12 Angle, shooting angle, frame per second, focal length and the information including the time for exposure are merged, and inspection course line is generated.Bridge pier inspection is in bridge It is carried out under bottom surface, due to there is bridge to block, GNSS signal is weaker, it is therefore desirable to during pier shaft inspection, pass through inertia Measurement module 17, vision module 18 and laser radar 19 navigate.After completing single pier shaft inspection, unmanned plane 10 is along bridge Line length direction L, which flies, continues pier shaft inspection to next pier shaft.The every flight one under bridge bottom surface of unmanned plane 10 The bridge bottom surface reception positioning signal that flies out after section distance carries out position checking.

Bridge pier shaft inspection needs to complete the data acquisition of the side of bridge front, rear, left and right four, and inspection both can be according to Before, left, rear, right sequence carry out operation, operation can also be carried out according to rear, left, preceding, right sequence.If inspection is from bridge Beam head starts to bridge tail portion to terminate, then carries out operation progress according to preceding, left, rear, right sequence.If inspection is from bridge Tail portion starts to bridge head to terminate, then carries out operation according to rear, left, preceding, right sequence.Holder camera 12 is installed on nobody The bottom of machine 10.

Detailed job step is as follows:

1) takeoff point X is used as on the spacious level land other than unmanned plane 10 being placed in from bridge bottom surface, by holder camera 12 It is installed on the top, bottom or front of unmanned plane 10.

2) the relative elevation height of bridge bottom surface is obtained according to the threedimensional model of bridge, on the basis of this relative elevation height The shooting distance value for subtracting unmanned plane 10 obtains the inspection operation height above sea level of unmanned plane 10.Wherein, bridge bottom surface is relatively extra large Degree of lifting is that the relative elevation height value at pedestrian way of bridge edge subtracts the beam body height of bridge.Ensure in inspection operation process The heading of unmanned plane 10 is consistent with direction of advance.

3) first when unmanned plane 10 carries out inspection around pier shaft (i.e. according to preceding, left, rear, right sequence) in the counterclockwise direction First remote controller makes unmanned plane 10 from standing start to inspection operation height above sea level, then towards bridge bottom surface close to pier shaft Direction flight.When the bottom for entering bridge and close pier shaft, the heading of adjustment unmanned plane 10 is to be parallel to pier shaft width Direction is inside, then fixes tentatively, and adjusts attitude angle, shooting angle and the focal length value of holder camera 12, and finely tunes the position of unmanned plane 10 It sets, guarantees that shooting picture covers the pier shaft of entire bridge.Receive remote controler elevator, it is ensured that 10 low speed of unmanned plane drops to closely The position in face, is then fixed tentatively, and adjustment holder camera 12 is shot downwards, and guarantees that shooting picture covers entire pier shaft bottom, is pushed away Remote controler advance rudder makes 10 advance set distance of unmanned plane, then the posture of holder camera 12 is aligned, and pushes away remote controler elevator, makes 10 low speed of unmanned plane rises to close to bridge basal surface position, controls 10 advance set distance of unmanned plane, draws remote controler elevator, makes 10 low speed of unmanned plane is dropped to close to the position on ground, is then fixed tentatively, and adjustment holder camera 12 is shot downwards, and guarantees to shoot Picture covers entire pier shaft bottom, then pushes away remote controler advance rudder.According to the width of bridge pier shaft, up and down reciprocatingly turn back according to this Complete all standing inspection of entire bridge pier shaft leading flank data in formula path.When unmanned plane 10 along clockwise direction (i.e. according to after, Left, preceding, right sequence) around pier shaft carry out inspection when, operation unmanned plane 10 completed according to identical up and down reciprocatingly Zigzag type path The all standing inspection of side data behind entire bridge pier.It controls unmanned plane 10 again to fly out bridge bottom surface certain distance, then temporarily It is fixed, remote controler elevator is pushed away, unmanned plane 10 is risen into inspection operation height above sea level, positioning signal is received and carries out position correction and school Core, the lower one side for entering back into bridge pier shaft carry out inspection operation.

4) the inspection operation height above sea level of unmanned plane 10 is kept, operation unmanned plane 10 moves backward set distance, to ensure Unmanned plane 10 is in bridge pier shaft left-side center position.Then control 10 low speed of unmanned plane is close to bridge pier shaft, when unmanned plane 10 After reaching suitable picture-taking position, decline 10 low speed of unmanned plane, completes the left side inspection of bridge pier shaft, enter back into bridge pier shaft Lower one side carry out inspection operation.

5) when unmanned plane 10 in counterclockwise direction around pier shaft carry out inspection when, into bridge pier behind side carry out inspection Operation, control unmanned plane 10 are again introduced into the bottom of bridge, complete behind bridge pier according to bridge pier shaft leading flank polling path Side inspection operation.Unmanned plane 10 flies out bridge bottom surface set distance again, then fixes tentatively, pushes away remote controler elevator, by nobody Machine rises to inspection operation height above sea level, receives positioning signal and carries out position correction and check.When unmanned plane 10 along clockwise direction When carrying out inspection around pier shaft, operation unmanned plane 10 completes covering entirely for entire bridge pier shaft leading flank data according to identical path Lid inspection, the lower one side for entering back into bridge pier shaft carry out inspection operation.

6) the operation height above sea level of unmanned plane 10 is kept, operation unmanned plane 10 moves forward set distance, and ensures nobody Machine 10 is in central location on the right side of bridge pier shaft.Then control 10 low speed of unmanned plane is close to bridge pier shaft, when unmanned plane 10 reaches After suitable picture-taking position, operation 10 low speed of unmanned plane decline completes the right side inspection of bridge pier shaft, to complete a pier shaft Inspection operation.Then it according to the electricity of unmanned plane 10, operates unmanned plane 10 and carries out next pier shaft operation.

7) in inspection operation process, when alarming when the battery dump energy of unmanned plane 10 is insufficient, nobody is operated Machine 10 stops operation, and finds spacious place landing, to replace battery.

8) after the inspection that entire bridge route is completed in segmentation, then by all segmentation course lines close to duplicate local connection Get up, landing course line therein is removed, merging point is the region that 10 flight position of unmanned plane has positioning signal and spaciousness, with shape At a complete inspection course line, as shown in Fig. 24.

5, another bridge pier shaft inspection flight course planning

It operates unmanned plane 10 and carries out inspection around the circle of pier shaft at least two from top to bottom or from bottom to up under bridge bottom surface, Image Acquisition carried out to the surface of entire pier shaft by holder camera 12, while by the line of flight of unmanned plane 10 and holder camera 12 are merged including attitude angle, shooting angle, frame per second, focal length and the information including the time for exposure, generate inspection course line.In pier During body inspection, navigated by inertia measuring module 17, vision module 18 and laser radar 19.Complete single pier shaft After inspection, unmanned plane 10 flies along bridge line length direction L continues pier shaft inspection to next pier shaft.Unmanned plane 10 exists The bridge bottom surface reception positioning signal that flies out after every flight a distance under bridge bottom surface carries out position checking.

Detailed job step is as follows:

3) operation unmanned plane 10 flies into bridge bottom surface on the outside of bridge, and keeps set distance between bridge bottom surface, when After pier shaft, remote controler elevator is pushed away, unmanned plane 10 is made to rise to inspection operation height above sea level, adjusts the posture of holder camera 12 Angle, shooting angle and focal length value, alignment pier shaft are shot, and are enclosed according still further to the radius of setting around pier shaft flight one.When nobody After 10 detour pier shaft one of machine circle, setting height is dropped to, then proceedes to one circle of flight.When unmanned plane 10 is down to apart from ground level No longer decline when less than set distance, adjusts attitude angle, shooting angle and the focal length value of holder camera 12, then fly around pier shaft One circle, pier shaft bottom section data are acquired and are completed.

4) operation unmanned plane 10 enters bridge bottom surface from apart from ground setting height, after close to pier shaft, adjusts holder phase Attitude angle, shooting angle and the focal length value of machine 12, alignment pier shaft are shot, and unmanned plane 10 surround pier according still further to the radius of setting One circle of body flight.After 10 detour pier shaft one of unmanned plane circle, set distance is risen to, then continues around one circle of pier shaft flight. No longer rise when unmanned plane 10 rises to apart from bridge floor height lower than setting value, adjusts the attitude angle of holder camera 12, claps Angle and focal length value are taken the photograph, then around one circle of pier shaft flight, pier shaft top area data is acquired and are completed.

5) when the inspection operation for completing entire pier shaft, remote controler elevator is pushed away, unmanned plane 10 is made to rise to inspection operation height above sea level Highly, and the bridge bottom surface that flies out receives positioning signal and carries out position correction and check, then according to the electricity of unmanned plane 10, operation Unmanned plane 10 carries out next pier shaft operation or landing replacement battery.

6) after the inspection that entire bridge route is completed in segmentation, then by all segmentation course lines close to duplicate local connection Get up, landing course line therein is removed, merging point is the region that 10 flight position of unmanned plane has positioning signal and spaciousness, with shape At a complete inspection course line, as shown in attached drawing 25 and attached drawing 26.

6, bridge sidebar inspection flight course planning

Bridge sidebar inspection includes pavement sidebar inspection, because, there is no blocking, GNSS signal is good, therefore can at sidebar With directly in the three-dimensional model, according to the three-dimensional coordinate at bridge edge, in conjunction with unmanned plane inspection apart from the best of bridge sidebar Position is resolved, and the course line coordinate of entire sidebar is obtained, and operation flight height above sea level is consistent with bridge floor height, by holder camera It is set on 12 or preposition and inwardly shoot.

Step S300) it further include bridge sidebar inspection flight course planning process, which further includes steps of

Operating sidebar progress inspection of the unmanned plane 10 to bridge along the side route length direction L, (inspection direction is bridge pier The direction body N1 → N3), Image Acquisition is carried out by sidebar of the holder camera 12 to bridge unilateral side.It is carried out to bridge unilateral side sidebar The line of flight of unmanned plane 10 and holder camera 12 are included into attitude angle, shooting angle, frame per second, focal length and exposure while inspection Information including time is merged, and generates the unilateral sidebar inspection course line of bridge, as shown in Fig. 27.It is right to operate unmanned plane 10 Sidebar of the bridge along the other side route length direction L carries out inspection, carries out Image Acquisition to bridge sidebar by holder camera 12. The line of flight of unmanned plane 10 and holder camera 12 are included into attitude angle, bat while carrying out inspection to another sidebar of bridge It takes the photograph angle, frame per second, focal length and the information including the time for exposure to be merged, generates the inspection course line of another sidebar of bridge.Such as Shown in attached drawing 28, fly manually the course line of an overpass bridge soffit in the end in two sides inspection course line, then three course lines are melted A complete bridge sidebar inspection course line is synthesized, as shown in Fig. 29.

1) electronic three-dimensional map based on detected bridge, according to the three-dimensional coordinate at bridge edge, in conjunction with unmanned plane 10 Apart from the optimal position of bridge sidebar, (determination of the optimum position can be covered entirely with the image that holder camera 12 acquires for inspection Bridge sidebar surface data, while the imaging effect of holder camera 12 is best) resolved, obtain the inspection course line of entire sidebar Coordinate, the initial position setting hovering time in inspection course line, and inspection course line is loaded onto and flies control module 16.If in sidebar Also inspection is carried out to pavement bottom surface before or after inspection, then in initial position first hovering of setting in inspection course line Between, the second hovering time was set again when inspection course line drops to setting height, and inspection course line is loaded onto and flies control module 16.

2) holder camera 12 is installed on to the top or front of unmanned plane 10, operation unmanned plane 10 takes off, when unmanned plane 10 After reaching bridge sidebar inspection height above sea level, by offline mode by hand pattern switching to course line mode.Unmanned plane 10 is according to adding The inspection course line of load is flown automatically, when the starting point of the flight of unmanned plane 10 to inspection course line, manually adjusts unmanned plane 10 Safe distance is kept between bridge sidebar, and adjusts the posture, shooting angle and focal length value of holder camera 12, holder camera 12 Direction is simultaneously directed at sidebar, and imaging is made to reach optimum state.It, can be with before or after unmanned plane 10 carries out the inspection of bridge sidebar Decline certain altitude and inspection is carried out with the pavement bottom surface to bridge.

5) when the operation for adjusting entire inspection course line and holder camera 12 reaches optimum state, entire inspection operation is recorded The movement of the course line coordinate and holder camera 12 of unmanned plane 10, saves as permanent inspection course line, then the side of bridge side in journey Inspection flight course planning in column is completed, and the sidebar inspection flight course planning of the bridge other side is completed according to identical step.

7) after the completion of the inspection of bridge two sides sidebar, unmanned plane 10 is operated from the original place of bridge side inspection course line end position It takes off consistent with bridge sidebar inspection height above sea level to flying height, then towards bridge bottom surface direction flight set distance, under It is down to the following set distance in bridge bottom surface (such as: 3 meters), continues to leap after the set distance of the bridge bottom surface until bridge bottom surface that flies out, Unmanned plane 10 is pulled up to another sidebar inspection height above sea level of bridge again, to bridge on the outside of after flight set distance, find and close Suitable place landing.

The bridge sidebar inspection height above sea level of unmanned plane 10 may be at bridge outer face and outer face up to sidebar Position below, preferably at the middle part of outer face vertically with up to the bridge floor of bridge (i.e. the upper surface of bridge beam body, As shown in I in attached drawing 20 and 30) following position.Bridge sidebar inspection height above sea level, which is located at bridge floor or less, can greatly improve nobody The safety of 10 inspection operation of machine.During inspection, the shooting angle of holder camera 12 is horizontally toward and to be directed at bridge side Column is best.

7, inspection make a return voyage safely network planning draw

The make a return voyage safely setting of net of inspection is that occur dropout, low in inspection operation process in order to ensure unmanned plane 10 Electricity, a urgent key return quickly to takeoff point X when making a return voyage, to guarantee 10 safety work of unmanned plane.

Step S300) it further include that inspection is maked a return voyage safely net planning process, which further includes steps of

Safe landing point Z is set in the two sides perpendicular to bridge line length, and perpendicular to the two of bridge line length The safe net that makes a return voyage of setting in side setting range (such as: 10 meters).Safety make a return voyage net height above sea level be lower than bridge bridge floor height, and Be above the ground level the height of barrier, should not have ground obstacle in this height above sea level region.During guaranteeing that unmanned plane 10 makes a return voyage Safety is maked a return voyage on the net back to safety, and the starting point J that makes a return voyage is arranged perpendicular to the two sides of bridge line length in each bridge pier shaft, It is back to safe make a return voyage on the net, as shown in Fig. 30 safely to ensure unmanned plane 10 during making a return voyage.Process of promptly making a return voyage point Following situations:

When unmanned plane 10 carries out inspection operation under bridge bottom surface, believe during no positioning signal environment Number lose, low battery or a urgent key make a return voyage situation when, drawn high first to the position close to bridge bottom surface, then fly out bridge bottom Face, after receiving positioning signal, unmanned plane 10 is pulled up to the height above sea level of the safe net that makes a return voyage, and then rectilinear flight to safety is maked a return voyage Net makes a return voyage to safe landing point Z.

When unmanned plane 10 inspection operation and in have positioning signal state during occur dropout, low battery or A urgent key make a return voyage situation when, unmanned plane 10 is pulled up to safety and makes a return voyage the height above sea level of net, and then rectilinear flight to safety is maked a return voyage Net makes a return voyage to safe landing point Z.

After the net that makes a return voyage safely is provided with, it is loaded onto together with inspection course line and flies control module 16.When unmanned plane 10 is in inspection Occur in operation process dropout, low battery or a urgent key make a return voyage situation when, flight to the neighbouring starting point J that makes a return voyage, and Safe landing point Z is quickly back to by making a return voyage to net safely.

By implementing the technical solution of the bridge method for inspecting of specific embodiment of the invention description, following technology can be generated Effect:

(1) the bridge method for inspecting of specific embodiment of the invention description, is directed to using unmanned plane and is detected each of bridge Corresponding inspection course line is planned at position, then to the winged corresponding inspection course line of control module loading, is patrolled automatically with controlling unmanned plane Operation is examined, entire bridge inspection process automation degree, stability and safety are high, and the bridge surface data quality obtained It is high, it is very beneficial for subsequent image procossing and defects detection and positioning；

(2) the bridge method for inspecting of specific embodiment of the invention description, using unmanned plane sectional inspection flight course planning, simultaneously The method of multistage course line fusion carries out course line fusion in spacious and strong GNSS signal region, reduces manual inspection course line rule The difficulty drawn, improves the accuracy in unmanned plane inspection course line, greatly improves the degree of automation of unmanned plane bridge inspection；

(3) the bridge method for inspecting of specific embodiment of the invention description, by carrying inertia measurement on unmanned aerial vehicle platform Module, vision module and laser radar realize unmanned plane positioning and navigation under no GNSS signal environment；

(4) the bridge method for inspecting of specific embodiment of the invention description is provided with the safe net that makes a return voyage for bridge inspection, protects Card unmanned plane in case of emergency can fast and safely make a return voyage, it is ensured that the safety during bridge inspection；

(5) when the fusing image data of the bridge method for inspecting of specific embodiment of the invention description, unmanned plane acquisition acquires The information such as GNSS information, acquisition time, shooting angle and the course line of unmanned plane present position are carved, are provided for subsequent defective positioning Accurately location data；

(6) the bridge method for inspecting of specific embodiment of the invention description, by making to by inspection Bridge Design three-dimensional map Simulative display can be carried out in the three-dimensional map software virtual environment of earth station by obtaining unmanned plane inspection bridge process, can be supervised in real time Unmanned plane bridge inspection is greatly improved with the specific location between bridge and apart from situation during inspection depending on unmanned plane Safety and the degree of automation.

Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.

The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though So the present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art Member, in the case where not departing from Spirit Essence of the invention and technical solution, all using in the methods and techniques of the disclosure above Appearance makes many possible changes and modifications or equivalent example modified to equivalent change to technical solution of the present invention.Therefore, Anything that does not depart from the technical scheme of the invention are made to the above embodiment any simple according to the technical essence of the invention Modification, equivalent replacement, equivalence changes and modification still fall within the range of technical solution of the present invention protection.

Claims

1. a kind of bridge method for inspecting, which comprises the following steps:

S10 three-dimensional map) is established to detected bridge；

S20 base station (4)) are set up, each position planning that manual operation unmanned plane (10) is directed to detected bridge is patrolled accordingly Examine course line；

S30 it) is detected after the completion of the inspection flight course planning at each position of bridge, loads corresponding inspection boat to winged control module (16) Line carries out automatic detecting operation to control the unmanned plane (10)；

S40) the data sent in earth station (20) acquisition, processing and management unmanned plane (10) automatic detecting operation process, and it is right Defect existing for bridge is detected to be detected；

S50) data received in unmanned plane (10) automatic detecting operation process according to the earth station (20) are to detected Defect existing for bridge is positioned.

2. bridge method for inspecting according to claim 1, which is characterized in that the step S10) it further comprise following mistake Journey:

S11) by the linear data of bridge route, III coordinate data of CP and Bridge Design drawing, obtain bridge edge plane coordinate, Bridge edge elevation coordinate and pier shaft centre coordinate；

S13) according to the dimension data and facade diagram data on Bridge Design drawing, using three-dimensional graphics software to the composition of bridge Component is modeled；

S14 it) is combined each building block together according to the location data of pier shaft centre coordinate, forms the three-dimensional for being detected bridge Model；

3. bridge method for inspecting according to claim 1 or 2, which is characterized in that the step S20) further comprise with Lower process:

S21 base station (4)) are set up；

S22) prepare unmanned plane (10), and prohibited flight area is set by earth station (20)；

S23) unmanned plane described in manual operation (10) includes bottom surface, outer face, pavement bottom surface, bottom to the bridge of inspection is needed Region including seat, pier shaft and sidebar carries out inspection operation for the first time, and plans for each position of bridge and patrol accordingly respectively Examine course line.

4. bridge method for inspecting according to claim 3, which is characterized in that the step S30) it further comprise following mistake Journey:

S31 base station (4)) are set up；

S32 unmanned plane (10)) is placed in takeoff point；

S33 communication antenna) is connected, the software on the earth station (20) is opened；

S34 inspection course line plan) is loaded, after determining that inspection course line is errorless, execution unmanned plane (10) is taken off operation；

S35) unmanned plane (10) carries out automatic detecting operation according to the inspection course line of load.

5. bridge method for inspecting according to claim 1,2 or 4, which is characterized in that the step S40) further comprise Following procedure:

Fusion has the attitude angle of the positioning coordinate, holder camera (12) of unmanned plane (10) present position when image taking, navigates The candid photograph image of line, bridge and shooting time information generates corresponding according to the bridge surface data of different inspection course lines acquisition The data of file, same inspection course line acquisition are stored in individual file；The inspection data for being detected bridge are directed into After the earth station (20), according to bridge bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar management, and according to bat Take the photograph the date, detection site type is shown, while detection data can be browsed, inquired, be searched for, and history is detected Data compare and analyze；By passing through simultaneously to automatic detection of the image progress intelligent image identification completion to defect is captured Staff is based on display interface, checks raw sensor data, carries out artificial defect detection to image is captured, completes to defect Mark, classification and proving operation.

6. bridge method for inspecting according to claim 5, which is characterized in that the step S50) it further comprise following mistake Journey:

S52) according to the attitude angle of the positioning coordinate, holder camera (12) of unmanned plane (10) present position when capturing image, Course line, bridge and shooting time information calculate and capture coordinate of each pixel under earth coordinates in image；Work as defect When in bridge bottom surface without positioning signal, resolved by inertia measuring module (17), vision module (18) and laser radar (19) Coordinate of the unmanned plane (10) under earth coordinates out, and obtain capture image in each pixel under earth coordinates Coordinate；

S53) when needing to repair bridge defect, the positioning coordinate and azimuth information of defect present position are sent to In hand-held position indicator (3), operating personnel finds defect position according to the information in the hand-held position indicator (3).

7. according to claim 1, bridge method for inspecting described in 2,4 or 6, it is characterised in that: unmanned plane described in manual operation (10) inspection operation for the first time is carried out to the bridge that needs detect, by the holder camera (12) progress Image Acquisition, and according to The positioning signal that the locating module (111) obtains generates inspection course line；The unmanned plane (10) flies control module according to write-in (16) inspection course line carries out automatic detecting operation, and the on-board data processing unit (11) is according to the obstacle avoidance module (110) The data of transmission are handled, and are controlled the unmanned plane (10) by the winged control module (16) and carried out at automatic obstacle-avoiding emergency Reason；The holder camera (12) carries out video acquisition and video capture according to the parameter of setting in automatic detecting operation process, The earth station (20) carries out defects detection and positioning according to the image of candid photograph, and the video of holder camera (12) acquisition is sent It is shown to the ground end system (2)；The video data of the holder camera (12) acquisition is conducted electricity platform by the first figure (14) real-time Transmission, the video data are conducted electricity after platform (23) receive by the second figure and by the first display screen (21) carry out display monitoring； It is real by the first data radio station (13) and the second data radio station (22) between the UAV system (1) and ground end system (2) The control instruction and Flight Condition Data interaction of the existing unmanned plane (10)；Image data for carrying out defects detection store to In the stored on-board module (15), pass through the stored on-board module again after unmanned plane (10) complete automatic detecting operation (15) earth station (20) are transferred to；By stored on-board module (15) unloading image data by second display screen (24) into Row display.

8. bridge method for inspecting according to claim 7, it is characterised in that: the inertia measuring module (17), vision mould Block (18) and laser radar (19) are that the unmanned plane (10) are provided without the navigation information under positioning signal environment, the airborne number It is carried out according to processing unit (11) by the data acquired to inertia measuring module (17), vision module (18) and laser radar (19) It calculates, generates to the positioning of the unmanned plane (10) itself present position, posture and scene cartographic information, to realize the nothing Man-machine (10) complete autonomous positioning and navigation under no positioning signal environment；Supplementary lighting module (112) is under low-light (level) environment institute It states holder camera (12) and light source is provided；The on-board data processing unit (11) controls the posture and bat of the holder camera (12) It takes the photograph, the image data of holder camera (12) acquisition is stored into the on-board memory devices (15)；The earth station (20) The coordinate setting data that real-time reception is sent by locating module (111), and the barrier sent by the obstacle avoidance module (110) Data, and the electronic three-dimensional map data for being detected bridge are combined, the location of unmanned plane (10) described in real-time display.

9. according to claim 1, bridge method for inspecting described in 2,4,6 or 8, it is characterised in that: the unmanned plane (10) is in people In work operating process to the bridge that detects of needs including bottom surface, outer face, pavement bottom surface, pedestal, pier shaft and sidebar Region carries out inspection operation for the first time, while the on-board data processing unit (11) control holder camera (12) adjusts shooting angle Degree makes imaging reach optimum efficiency；Holder camera (12) is included attitude angle, shooting angle, frame per second, coke by the earth station (20) Away from and the time for exposure including information merge in the line of flight of the unmanned plane (10), generate inspection course line；It is described Three-dimensional map environment of the earth station (20) based on detected bridge is carried out simulated flight to the inspection course line of generation, is patrolled with verifying Whether inspection course line meets the inspection requirement of setting, if meeting inspection requirement, saves the inspection course line qualified by verifying, and The qualified inspection course line of verifying is written in the winged control module (16), to realize the automatic detecting operation of unmanned plane (10).

10. bridge method for inspecting according to claim 9, it is characterised in that: in automatic detecting operation process, the cloud Platform camera (12) carries out video acquisition and video capture according to the parameter of setting, captures unmanned plane when image co-registration shooting (10) the positioning coordinate of present position, the attitude angle of holder camera (12), course line, bridge and shooting time information are stored to described Number in on-board memory devices (15), after the completion of bed rearrangement is detected bridge inspection operation, in the on-board memory devices (15) According to being transferred in the earth station (20)；When the unmanned plane (10) is positioned at no positioning signal region, the UAV system (1) unmanned plane (10) Distance positioning is obtained by inertia measuring module (17), vision module (18) and laser radar (19) The three-dimensional coordinate of dropout point position, and altitude data is obtained by altimeter (113), to realize without under positioning signal environment Navigation；The UAV system (1) is raw by inertia measuring module (17), vision module (18) and laser radar (19) simultaneously The three dimensional point cloud in region is detected at bridge to realize that scene builds figure.