CN113552904A - Improved bridge bottom detection system for unmanned aerial vehicle - Google Patents
Improved bridge bottom detection system for unmanned aerial vehicle Download PDFInfo
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- CN113552904A CN113552904A CN202110948538.5A CN202110948538A CN113552904A CN 113552904 A CN113552904 A CN 113552904A CN 202110948538 A CN202110948538 A CN 202110948538A CN 113552904 A CN113552904 A CN 113552904A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application discloses an improved bridge bottom detection system of an unmanned aerial vehicle, which comprises a UWB positioning system, a data processing platform and an unmanned aerial vehicle image acquisition platform; the UWB positioning system is used for positioning the unmanned aerial vehicle image acquisition platform, generating unmanned aerial vehicle position point information and sending the unmanned aerial vehicle position point information to the data processing platform; the unmanned aerial vehicle image acquisition platform is used for polling the bridge bottom, shooting a bridge bottom image and sending the bridge bottom image to the data processing platform; and the data processing platform is used for detecting the abnormal conditions of the bridge bottom according to the image of the bridge bottom and marking the positions of the abnormal conditions of the bridge bottom according to the position point information of the unmanned aerial vehicle. This application has realized the accurate location of unmanned aerial vehicle and bridge bottom damage, but accurate mark damage position looks over the bridge bottom detailed condition in real time, realizes the location and the detection that become more meticulous of the board piece level of bridge bottom plate.
Description
Technical Field
This application belongs to the bridge field of patrolling and examining fast, concretely relates to unmanned aerial vehicle bridge bottom detecting system of modified.
Background
With the progress of infrastructure and the rapid development of public transport, bridge buildings are developed vigorously, and the traffic capacity is greatly improved. Meanwhile, the bridge is affected by factors such as natural aging, wind erosion, corrosion and biological erosion during use, and various safety problems can be caused. The monitoring and analysis of the bridge bottom condition is a basic task of bridge health monitoring. Currently, the bridge bottom detection technology mainly has two modes of manual detection and unmanned aerial vehicle detection. The manual detection is usually completed by suspending maintenance personnel to the bottom of the bridge, but the bridge environment is complex and variable, the working efficiency is not high, and the personal safety of the maintenance personnel is seriously influenced. As a novel device, the unmanned aerial vehicle provides a high-efficiency and safe method for bridge detection, and can replace the traditional detection means to be widely applied to the bridge detection. Through carrying on high definition camera equipment on unmanned aerial vehicle, operating personnel remote control unmanned aerial vehicle gathers bridge surface data, recycles bridge data management software and manages, analysis, handles to the data of gathering, and carries out automated inspection and manual check to the defect, can accomplish the detection of the various defects of bridge. However, the unmanned aerial vehicle detection usually depends on a Global Positioning System (GPS) Positioning device to realize coarse Positioning of detection data (such as detection data frames), and the Positioning method has the disadvantages that the Positioning method is affected by GPS Positioning accuracy, and satellite signals below the bridge are affected, so that the Positioning error is large, and the accuracy is generally in the meter level or ten meters level.
Disclosure of Invention
The application provides a modified unmanned aerial vehicle bridge bottom detecting system, introduces UWB positioning system, through install UWB location label and location basic station respectively in unmanned aerial vehicle and bridge bottom, gather the bridge bottom image in-process at unmanned aerial vehicle, realize unmanned aerial vehicle's accurate location to realize the location of bridge bottom damage with this, realize intelligent, convenient bridge and patrol and examine fast.
In order to achieve the above purpose, the present application provides the following solutions:
an improved bridge bottom detection system of an unmanned aerial vehicle comprises a UWB positioning system, a data processing platform and an unmanned aerial vehicle image acquisition platform;
the UWB positioning system is used for positioning the unmanned aerial vehicle image acquisition platform, generating unmanned aerial vehicle position point information and sending the unmanned aerial vehicle position point information to the data processing platform;
the unmanned aerial vehicle image acquisition platform is used for polling the bridge bottom, shooting a bridge bottom image and sending the bridge bottom image to the data processing platform;
and the data processing platform is used for detecting the abnormal conditions of the bridge bottom according to the image of the bridge bottom and marking the positions of the abnormal conditions of the bridge bottom according to the position point information of the unmanned aerial vehicle.
Preferably, the UWB positioning system comprises a positioning tag, a plurality of positioning base stations, and a positioning server;
the positioning tag is fixedly connected with the unmanned aerial vehicle image acquisition platform, the positioning base station is installed at a preset position of the bridge bottom, the positioning tag is in position data communication with the positioning base station, and the positioning base station sends the position data to the positioning server;
the positioning server is used for generating the unmanned aerial vehicle position point information of the unmanned aerial vehicle image acquisition platform according to the position of the positioning base station and the position data.
Preferably, the unmanned aerial vehicle image acquisition platform comprises an unmanned aerial vehicle, a space radar, a flight control unit, a flight power unit and image acquisition equipment;
the unmanned aerial vehicle is connected with the positioning tag, the space radar, the flight control unit, the flight power unit and the image acquisition equipment;
the space radar is used for collecting peripheral space information of the unmanned aerial vehicle and sending the space information to the flight control unit;
the flight control unit is used for controlling the flight power unit to drive the unmanned aerial vehicle to fly according to the spatial information;
the unmanned aerial vehicle is used for bearing the image acquisition equipment, and the image acquisition equipment is used for acquiring the bridge bottom image and sending the bridge bottom image to the data processing platform.
Preferably, the space radar comprises a top range radar, a bottom range radar and a plane range radar;
the top distance radar is used for detecting space information above the unmanned aerial vehicle;
the bottom distance radar is used for detecting space information below the unmanned aerial vehicle;
the plane distance radar is used for detecting the horizontal plane space information of the unmanned aerial vehicle.
Preferably, a plurality of the positioning base stations are installed on the bottom surface of the bridge according to a predetermined arrangement sequence, the unmanned aerial vehicle flies along the predetermined arrangement sequence of the positioning base stations, and when the spatial information is not enough for the unmanned aerial vehicle to pass through, the unmanned aerial vehicle sends a flight error signal to the data processing platform.
Preferably, the data processing platform comprises a computing unit, a bridge bottom model, a position marking unit and a display terminal;
the bridge bottom model is used for marking the characteristic data of the bridge bottom;
the display terminal is used for displaying the bridge bottom model;
the computing unit is used for comparing the bridge bottom image according to the characteristic data to generate a bridge bottom abnormal mark and displaying the bridge bottom abnormal mark in the bridge bottom model;
the position marking unit is used for receiving the unmanned aerial vehicle position point information and displaying the unmanned aerial vehicle position point information in the bridge bottom model.
Preferably, the feature data includes: flat, curved, gapped, convex and concave.
Preferably, the display terminal comprises a first display and a second display;
the first display is used for displaying the bridge bottom image acquired by the image acquisition equipment in real time in the flight process of the unmanned aerial vehicle;
the second display is used for displaying the bridge bottom model with the bridge bottom abnormal mark and the unmanned aerial vehicle position point information.
The beneficial effect of this application does:
the application discloses modified unmanned aerial vehicle bridge bottom detecting system, introduce UWB positioning system, under the interact of UWB location label and location basic station, the accurate location of unmanned aerial vehicle and bridge bottom damage has been realized, on this basis, gather the bridge bottom image in real time through the image acquisition equipment on the unmanned aerial vehicle, carry out data processing by the data processing platform, mark out the damage position, can also lead to unmanned aerial vehicle's location and the function of hovering in the air, look over the detailed condition of bridge bottom in real time through the data processing platform, realize the location and the detection of becoming more meticulous of bridge bottom plate piece level.
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In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an improved unmanned aerial vehicle bridge bottom detection system in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, an improved bridge bottom detection system for an unmanned aerial vehicle according to an embodiment of the present application includes a data processing platform, an unmanned aerial vehicle image acquisition platform, and a UWB positioning system.
The UWB positioning system is used for positioning the unmanned aerial vehicle image acquisition platform, generating unmanned aerial vehicle position point information and sending the unmanned aerial vehicle position point information to the data processing platform; the unmanned aerial vehicle image acquisition platform is used for polling the bridge bottom, shooting a bridge bottom image and sending the bridge bottom image to the data processing platform; and the data processing platform is used for detecting the abnormal conditions of the bridge bottom according to the image of the bridge bottom and marking the positions of the abnormal conditions of the bridge bottom according to the position point information of the unmanned aerial vehicle.
The UWB positioning system adopted in this embodiment includes a positioning tag, a plurality of positioning base stations, and a positioning server;
the UWB positioning system is applied to small-range and accurate positioning of local areas, is generally applied to buildings, factories, storage, construction sites and the like, calculates the distance and the angle of the same positioning label through a plurality of positioning base stations distributed and arranged to obtain the accurate position of the positioning label, and has the advantages of interference resistance and shielding resistance because the positioning communication is adopted and a multivariate data fusion algorithm is adopted.
In the embodiment, the number of the positioning base stations is four, which are respectively marked as UWB positioning base stations 1-4, and the four positioning base stations are installed at predetermined positions of the bridge bottom, especially near important bridge slab joints, key building parts, flat and non-blocking parts, and the like. In view of the harsh natural environment of the installation position at the bottom of the bridge, a top-suction type waterproof and dustproof design is suggested. The location label is installed in unmanned aerial vehicle image acquisition platform, through the location communication with the location basic station, different location basic stations produce different position data to the location label, and the spatial position of location label is judged according to these position data to the positioning server, and the spatial position of location label, promptly for the spatial position of unmanned aerial vehicle image acquisition platform. The location label can adopt the mode of being convenient for fixed and dismantling to be connected with unmanned aerial vehicle image acquisition platform, for example the draw-in groove is connected, and the type of location label can adopt chest card type, small in size, the installation of being convenient for.
In this embodiment, the unmanned aerial vehicle image acquisition platform comprises an unmanned aerial vehicle, a space radar, a flight control unit, a flight power unit and image acquisition equipment;
wherein location label, space radar, flight control unit, flight power unit and image acquisition equipment all install on unmanned vehicles, adopt fixed connection mode.
The unmanned aerial vehicle is used for bearing image acquisition equipment, and the image acquisition equipment is used for acquiring the bridge bottom image and sending the bridge bottom image to the data processing platform. In the embodiment, the image acquisition device uses a wide-angle camera, and the shooting range defaults to 0-120 degrees of a vertical angle and 120 degrees of a horizontal angle in front of the unmanned aerial vehicle. Further, the camera is connected with the unmanned aerial vehicle through the cloud platform, and through the rotation function of the cloud platform, the camera can adjust the shooting angle through manual control.
The unmanned aerial vehicle is a general unmanned aerial vehicle, and in order to facilitate control of the flight attitude and stable control of hovering capability, the present embodiment uses a four-axis unmanned aerial vehicle.
The space radar is used for acquiring peripheral space information of the unmanned aerial vehicle and sending the space information to the flight control unit; in the present embodiment, the space radar includes a top range radar, a bottom range radar, and a plane range radar; the top is apart from the radar and is used for surveying unmanned aerial vehicle top space information, makes unmanned aerial vehicle and bridge bottom remain throughout predetermined safe distance, for example unmanned aerial vehicle and bridge bottom maintain 50 cm's distance throughout. The bottom distance radar is used for detecting space information below the unmanned aerial vehicle, so that the unmanned aerial vehicle and a lower object always keep a safe distance, such as 30cm, and if the distance between the unmanned aerial vehicle and the lower object is less than 30cm, the unmanned aerial vehicle possibly falls and needs to be lifted; the plane distance radar is used for detecting flight horizontal plane space information of the unmanned aerial vehicle, comprises four parts, namely front, back, left and right, and is used for detecting the surrounding obstacle condition of the unmanned aerial vehicle. The detection results of the six radars are gathered to the flight control unit, and the flight control unit controls the flight power unit to drive the unmanned aerial vehicle to fly safely according to the detection results.
Further, when the perpendicular space of top apart from radar and bottom apart from radar discovery flight is not conform to the safety requirement, perhaps when the plane apart from radar discovery peripheral barrier influences unmanned aerial vehicle safety flight, unmanned aerial vehicle will send the warning through unmanned aerial vehicle's manual control end, accessible manual control mode this moment, the flight of remote control unmanned aerial vehicle.
Further, in order to ensure the flight efficiency and the image acquisition efficiency of the unmanned aerial vehicle, in this embodiment, four positioning base stations are sequentially installed at the bottom of the bridge, the automatic flight planning route of the unmanned aerial vehicle is from the positioning base station 1 to the positioning base station 2 to the positioning base station 3 to the positioning base station 4, and the flight control unit defaults to control the flight according to the route. Meanwhile, in order to ensure the definition of the acquired bridge bottom image, the unmanned aerial vehicle should fly at a constant speed and the flying speed should not be too fast.
In this embodiment, the data processing platform includes a computing unit, a bridge bottom model, a position marking unit, and a display terminal;
the bridge bottom model is used for marking characteristic data of a bridge bottom and comprises the following steps: flat, curved, gapped, convex, concave. These are all normal design and construction characteristics of the bridge bottom, so the first step of carrying out bridge bottom detection by adopting the embodiment is to reasonably determine the installation position of the UWB positioning base station.
The position marking unit is used for receiving the position point information of the unmanned aerial vehicle and displaying the position point information of the unmanned aerial vehicle in the bridge bottom model. And the computing unit is used for comparing the bridge bottom image according to the characteristic data, when the condition that the bridge bottom image is inconsistent with the bridge bottom model is found, indicating that the position is possibly damaged, marking the image, generating a bridge bottom abnormal mark, and displaying the bridge bottom abnormal mark in the bridge bottom model. Since there may be a local appearance change of the bridge bottom due to objective reasons, in order not to generate a false judgment, only image acquisition and marking are performed in the present embodiment, and then a technician performs further confirmation based on the image. For the image with the damage confirmed, specific damage condition data can be obtained by a damage calculation mode. In addition, in this embodiment, in order to facilitate image processing, the bridge bottom model is subjected to meshing, and meanwhile, since the UWB positioning system can display the moving speed of the positioning tag, meshing and position and distance calculation of the abnormal mark can be performed on the bridge bottom image by means of the moving speed and the moving time.
The display terminal is used for displaying the bridge bottom model; in this embodiment, the display terminal includes a first display and a second display;
the first display is used for displaying the bridge bottom image acquired by the image acquisition equipment of the unmanned aerial vehicle in real time in the flying process, the display does not display a bridge bottom model and mark the damage of the bridge bottom, and the first display is just used for flying monitoring of the unmanned aerial vehicle and observing and using the bridge bottom when finding the damage of the bridge bottom, the abnormality of the bridge bottom or carrying out details on key positions of the bridge bottom, and the flying position of the unmanned aerial vehicle can be manually controlled at the moment.
The second display is used for showing the bridge bottom model that has bridge bottom abnormal marking and unmanned aerial vehicle position point information, and is concrete to the bridge bottom model is the background, with unmanned aerial vehicle's position marking in the position that the bridge bottom corresponds, carries out the distinguishing mark with the bridge bottom abnormal conditions again, and technical staff can judge the position of the bridge bottom abnormal conditions according to unmanned aerial vehicle's position, the later maintenance operation of being convenient for.
Further, the position point information of the unmanned aerial vehicle is gathered into the flight path of the unmanned aerial vehicle, and the path is displayed in the bridge bottom model and can be used as a judgment basis for judging whether the flight path of the unmanned aerial vehicle is normal or not.
In the implementation process of the embodiment, the method is developed according to the following steps:
firstly, to determine the installation position of a positioning base station, a key area at the bottom of a bridge, a flat non-shielded area and key building parts can be set as installation positions; the positioning base stations are installed according to a set arrangement sequence so as to facilitate the control of the flight path of the unmanned aerial vehicle;
when the inspection of the bridge bottom is carried out each time, a default flight route of the unmanned aerial vehicle is set according to the installation arrangement sequence of the positioning base stations, and the unmanned aerial vehicle can fly to each positioning base station in sequence from the first positioning base station;
the unmanned aerial vehicle acquires the bridge bottom image through the image acquisition equipment in the flight process, and sends the bridge bottom image back to the data processing platform for image processing; meanwhile, the UWB positioning system generates a plurality of different position data for the same positioning label through a plurality of positioning base stations, and the positioning server can accurately judge the space position of the unmanned aerial vehicle relative to the positioning base stations;
and aiming at each bridge, presetting a bridge bottom model by the data processing platform according to a design drawing and an actual surveying and mapping result, and comparing the bridge bottom image by the data processing platform according to the bridge bottom model. Specifically, with the bridge bottom model as the background, when the inconsistent condition appears in discovery bridge bottom image and bridge bottom model, it means there may be abnormal situation, makes the unusual mark on the bridge bottom model this moment to also mark the position of unmanned aerial vehicle this moment on the bridge bottom model, be convenient for judge the damage position.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (8)
1. An improved unmanned aerial vehicle bridge bottom detection system is characterized by comprising a UWB positioning system, a data processing platform and an unmanned aerial vehicle image acquisition platform;
the UWB positioning system is used for positioning the unmanned aerial vehicle image acquisition platform, generating unmanned aerial vehicle position point information and sending the unmanned aerial vehicle position point information to the data processing platform;
the unmanned aerial vehicle image acquisition platform is used for polling the bridge bottom, shooting a bridge bottom image and sending the bridge bottom image to the data processing platform;
and the data processing platform is used for detecting the abnormal conditions of the bridge bottom according to the image of the bridge bottom and marking the positions of the abnormal conditions of the bridge bottom according to the position point information of the unmanned aerial vehicle.
2. The improved unmanned aerial vehicle underbridge detection system of claim 1, wherein said UWB positioning system comprises a positioning tag, a number of positioning base stations, and a positioning server;
the positioning tag is fixedly connected with the unmanned aerial vehicle image acquisition platform, the positioning base station is installed at a preset position of the bridge bottom, the positioning tag is in position data communication with the positioning base station, and the positioning base station sends the position data to the positioning server;
the positioning server is used for generating the unmanned aerial vehicle position point information of the unmanned aerial vehicle image acquisition platform according to the position of the positioning base station and the position data.
3. The improved unmanned aerial vehicle underbridge detection system of claim 2, wherein the unmanned aerial vehicle image acquisition platform comprises an unmanned aerial vehicle, a space radar, a flight control unit, a flight power unit, an image acquisition device;
the unmanned aerial vehicle is connected with the positioning tag, the space radar, the flight control unit, the flight power unit and the image acquisition equipment;
the space radar is used for collecting peripheral space information of the unmanned aerial vehicle and sending the space information to the flight control unit;
the flight control unit is used for controlling the flight power unit to drive the unmanned aerial vehicle to fly according to the spatial information;
the unmanned aerial vehicle is used for bearing the image acquisition equipment, and the image acquisition equipment is used for acquiring the bridge bottom image and sending the bridge bottom image to the data processing platform.
4. The improved drone underbridge detection system of claim 3, wherein the space radar includes a top range radar, a bottom range radar, and a plane range radar;
the top distance radar is used for detecting space information above the unmanned aerial vehicle;
the bottom distance radar is used for detecting space information below the unmanned aerial vehicle;
the plane distance radar is used for detecting the horizontal plane space information of the unmanned aerial vehicle.
5. The improved unmanned aerial vehicle underbridge detection system of claim 3, wherein a plurality of said positioning base stations are installed on the underbridge surface in a predetermined arrangement sequence, said unmanned aerial vehicle flies along said predetermined arrangement sequence of said positioning base stations, and when said spatial information is insufficient for said unmanned aerial vehicle to pass through, said unmanned aerial vehicle sends a flight error signal to said data processing platform.
6. The improved unmanned aerial vehicle underbridge detection system of claim 1, wherein the data processing platform comprises a computing unit, an underbridge model, a position marking unit and a display terminal;
the bridge bottom model is used for marking the characteristic data of the bridge bottom;
the display terminal is used for displaying the bridge bottom model;
the computing unit is used for comparing the bridge bottom image according to the characteristic data to generate a bridge bottom abnormal mark and displaying the bridge bottom abnormal mark in the bridge bottom model;
the position marking unit is used for receiving the unmanned aerial vehicle position point information and displaying the unmanned aerial vehicle position point information in the bridge bottom model.
7. The improved drone underbridge detection system of claim 6, wherein the characterization data includes: flat, curved, gapped, convex and concave.
8. The improved unmanned aerial vehicle underbridge detection system of claim 6, wherein the display terminal comprises a first display and a second display;
the first display is used for displaying the bridge bottom image acquired by the image acquisition equipment in real time in the flight process of the unmanned aerial vehicle;
the second display is used for displaying the bridge bottom model with the bridge bottom abnormal mark and the unmanned aerial vehicle position point information.
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