CN115421503A - Unmanned aerial vehicle inspection system for bridge - Google Patents
Unmanned aerial vehicle inspection system for bridge Download PDFInfo
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Abstract
The invention relates to the technical field of engineering detection, and particularly discloses an unmanned aerial vehicle inspection system for a bridge, which comprises a ground station and at least two unmanned aerial vehicles; the ground station is used for generating a first inspection route according to a preset bridge three-dimensional model and sending the first inspection route to the first unmanned aerial vehicle; the first unmanned aerial vehicle is used for carrying out primary inspection on the bridge pier according to the first inspection route, acquiring image data and sending the image data to the ground station; the ground station is also used for updating a preset bridge three-dimensional model according to the image data; generating a second inspection route according to the updated bridge three-dimensional model, dividing inspection sections for the second inspection route based on the number of the unmanned aerial vehicles, and sending the corresponding inspection sections to the first unmanned aerial vehicle and the second unmanned aerial vehicle; the first unmanned aerial vehicle and the second unmanned aerial vehicle are further used for surrounding inspection of the bridge pier according to the inspection section. By adopting the technical scheme of the invention, the inspection efficiency can be improved, and the workload of workers can be reduced.
Description
Technical Field
The invention relates to the technical field of engineering detection, in particular to an unmanned aerial vehicle inspection system for a bridge.
Background
Bridge inspection is a type of routine work in the engineering field, the inspection range of which generally includes a deck system, an upper structure and a lower structure. Generally, the specific sites for bridge inspection mainly include: bridge bottom surface, outer edge face, base, pavement, pier shaft, sidebar etc. region. For a long time, the bridge detection mainly adopts visual detection or a method of determining whether the bridge has defects by means of a large bridge detection vehicle or a small auxiliary detection instrument and the like, but the method needs more personnel, has large manual participation ratio, long time, high labor intensity, low efficiency and high cost, and the detection effect is directly related to the experience and responsibility of inspection personnel, so that the increasing bridge maintenance requirements cannot be met.
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle provides a high-efficient, safe method for bridge detection as a novel equipment, can replace traditional detection means to obtain extensive application in the aspect of bridge detection. Carry on high definition camera equipment on unmanned aerial vehicle usually, 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, in the current stage, the unmanned aerial vehicle inspection bridge mainly depends on a worker to remotely control the unmanned aerial vehicle, and the requirement on the operating capability of the worker is high; moreover, the bridge inspection area is large, long-time operation of operators is required, and the workload is large.
For this reason, need one kind can improve and patrol and examine efficiency, reduce the unmanned aerial vehicle system of patrolling and examining for bridge of staff work load.
Disclosure of Invention
The invention provides an unmanned aerial vehicle inspection system for a bridge, which can improve inspection efficiency and reduce workload of workers.
In order to solve the technical problem, the present application provides the following technical solutions:
an unmanned aerial vehicle inspection system for a bridge comprises a ground station and at least two unmanned aerial vehicles;
the ground station is used for generating a first inspection route according to a preset bridge three-dimensional model and sending the first inspection route to the first unmanned aerial vehicle;
the first unmanned aerial vehicle is used for carrying out primary inspection on the bridge pier according to the first inspection route, acquiring image data and sending the image data to the ground station;
the ground station is also used for updating a preset bridge three-dimensional model according to the image data; generating a second inspection route according to the updated bridge three-dimensional model, dividing inspection sections for the second inspection route based on the number of the unmanned aerial vehicles, and sending the corresponding inspection sections to the first unmanned aerial vehicle and the second unmanned aerial vehicle;
the first unmanned aerial vehicle and the second unmanned aerial vehicle are further used for surrounding and inspecting the bridge pier according to the inspection section.
The basic scheme principle and the beneficial effects are as follows:
in this scheme, can patrol and examine the work through many unmanned aerial vehicles, at first the ground station generates the first airline of patrolling and examining, patrol and examine the pier tentatively according to the first airline of patrolling and examining by unmanned aerial vehicle, provide the newest image data of bridge, vegetation cover the condition on every side for example, artificial object condition on every side etc. for judge whether to cause the influence to unmanned aerial vehicle's flight, update predetermined bridge three-dimensional model according to these circumstances, can be when generating the second and patrol and examine the airline, avoid the vegetation, artificial object etc. causes to block to unmanned aerial vehicle. According to unmanned aerial vehicle's quantity, the section is patrolled and examined in the division, is patrolled and examined the pier according to patrolling and examining the section by a plurality of unmanned aerial vehicles and encircleing, compares in single unmanned aerial vehicle and patrols and examines, and the time of cost is still less.
To sum up, this scheme is patrolled and examined the airline through ground station automatic planning, reduces staff's work load, adopts a plurality of unmanned aerial vehicle to patrol and examine, can effectively improve and patrol and examine efficiency.
Further, the first routing inspection route at least comprises one-time integral surrounding flight, and when the integral surrounding flight is carried out, the first routing inspection route flies to the last bridge pier from the first bridge pier along the length direction of the bridge at one side of the bridge, then flies to the other side of the bridge, and flies to the first bridge pier from the last bridge pier along the length direction of the bridge; and hovering the bridge pier at the middle point of the adjacent bridge pier for a preset time.
Through the length direction along the bridge, patrol and examine each pier's both sides, gather image data, be convenient for know each pier and pier peripheral whole condition.
Further, the second inspection route comprises a track for each pier to independently encircle and fly, when the piers singly encircle and fly, the first encircling is completed at the bottom of each pier along the circumferential direction of each pier, then the preset height is raised along the radial direction of each pier to complete the second encircling, and the process is circulated until the second encircling reaches the top of each pier;
wherein, the pier that the section, the independent flight that encircles is patrolled and examined to the difference is different.
The detailed image of each pier can be collected, and subsequent analysis is facilitated.
Further, when the first unmanned aerial vehicle conducts preliminary inspection on the bridge pier according to the first inspection route, flight data are collected and sent to the ground station; the ground station is also used for calculating the ambient wind speed according to the flight data;
the ground station is also used for judging whether the ambient wind speed is within a preset wind speed interval or not, and if so, determining the radius of the flying around the pier and the preset height of radial rising according to the current wind speed.
When the bridge is built in regions such as canyons, canyon wind appears easily, influences the flight of the unmanned aerial vehicle, and the unmanned aerial vehicle hovers at the middle point of the adjacent bridge pier, then the current ambient wind speed can be calculated according to flight data, and the preset height of the radius and radial rising of the flying surrounding bridge pier is planned according to the ambient wind speed so as to guarantee the flight safety of the unmanned aerial vehicle.
Further, when the radius of flying around the pier and the preset height of radial rising are determined according to the current wind speed, the larger the current wind speed is, the smaller the radius of flying around the pier is, and when the current wind speed rises in the radial direction, the unmanned aerial vehicle is positioned on the windward side of the pier.
When the wind speed is large, the surrounding radius is reduced, the time of exposure of the unmanned aerial vehicle between two piers can be shortened, and the unmanned aerial vehicle can fly to the pier to be sheltered from wind by the wind side as soon as possible when encountering sudden strong wind.
Further, the ground station is also used for calculating the ambient wind speed and the wind direction according to the flight data returned by the first unmanned aerial vehicle and the second unmanned aerial vehicle when the second inspection route flies, judging whether the ambient wind speed is greater than a preset wind speed interval, if so, generating a danger avoiding route and sending the danger avoiding route to the first unmanned aerial vehicle and the second unmanned aerial vehicle;
wherein, the risk avoiding route flies to the windward side of the current bridge pier.
Can guarantee unmanned aerial vehicle's flight safety.
Further, the ground station is also used for comparing the ambient wind speeds of the first unmanned aerial vehicle and the second unmanned aerial vehicle when the ambient wind speed is larger than a preset wind speed interval, and selecting the unmanned aerial vehicle with the large ambient wind speed to generate the takeover reminding.
Through generating take-over reminding, the unmanned aerial vehicle is conveniently taken over by the staff subsequently, and the unmanned aerial vehicle is controlled to land safely.
Further, the ground station comprises a network communication module, a storage module, an image processing module and a route planning module;
a preset bridge three-dimensional model is stored in the storage module;
the network communication module is used for establishing connection with the unmanned aerial vehicle and receiving image data and flight data;
the image processing module is used for updating the bridge three-dimensional model according to the image data,
the route planning module is used for calculating the ambient wind speed; and generating a second inspection route according to the updated bridge three-dimensional model, and dividing the second inspection route into inspection sections based on the number of the unmanned aerial vehicles.
Further, the unmanned aerial vehicle comprises an unmanned aerial vehicle body, and a data acquisition module, a flight control module, a shooting module and a communication module which are carried on the unmanned aerial vehicle body;
the data acquisition module is used for acquiring flight data;
the communication module is used for establishing connection with the ground station and receiving the first inspection route and the inspection section;
the analysis control module is used for controlling the unmanned aerial vehicle to fly along a first inspection route or an inspection section according to the flight data;
the shooting module is used for collecting image data in flight.
Drawings
Fig. 1 is a logic block diagram of an unmanned aerial vehicle inspection system for a bridge according to the second embodiment.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
The unmanned aerial vehicle system of patrolling and examining for bridge of this embodiment, including ground station and unmanned aerial vehicle, wherein unmanned aerial vehicle is two at least. In this embodiment, unmanned aerial vehicle is two, marks as unmanned aerial vehicle one and unmanned aerial vehicle two.
The ground station is used for generating a first inspection route according to a preset bridge three-dimensional model and sending the first inspection route to the unmanned aerial vehicle I.
The first unmanned aerial vehicle is used for carrying out primary inspection on the bridge pier according to the first inspection route, collecting image data and flight data and sending the image data and the flight data to the ground station. The first inspection route at least comprises a first integral surrounding flight, and when the first inspection route integrally surrounds and flies, the first inspection route flies to the last bridge pier from the first bridge pier along the length direction of the bridge at one side of the bridge, then flies to the other side of the bridge, and flies to the first bridge pier from the last bridge pier along the length direction of the bridge; and hovering the middle point of the adjacent bridge pier for a preset time, wherein hovering is performed for 5 seconds in the embodiment.
The ground station is also used for updating a preset bridge three-dimensional model according to the image data and calculating the environmental wind speed and the wind direction based on the flight data; and generating a second inspection route according to the updated bridge three-dimensional model, dividing inspection sections for the second inspection route based on the number of the unmanned aerial vehicles, and sending the corresponding inspection sections to the first unmanned aerial vehicle and the second unmanned aerial vehicle. The flight data comprise attitude angle, flight speed, acceleration, flight altitude and the like, and the weight and the inherent wind resistance coefficient of the unmanned aerial vehicle are combined to calculate the ambient wind speed, which is the prior art and is not described any more here.
The second inspection route comprises a track for each pier to independently encircle and fly, when the piers singly encircle and fly, the first encircling is completed at the bottom of each pier along the circumferential direction of the pier, then the preset height is raised along the radial direction of the pier, the second encircling is completed, and the process is circulated until the top of each pier is reached; wherein, the pier that the section, the independent flight that encircles is patrolled and examined to the difference is different.
The first unmanned aerial vehicle and the second unmanned aerial vehicle are further used for surrounding inspection of the bridge pier according to the inspection section.
For example, the current bridge has 8 piers, and after the first unmanned aerial vehicle and the second unmanned aerial vehicle take off, the first unmanned aerial vehicle rounds and inspects No. 1-4 piers, and the second unmanned aerial vehicle rounds and inspects No. 5-8 piers. The specific section of patrolling and examining distributes, can go on according to the current electric quantity of unmanned aerial vehicle, and unmanned aerial vehicle that the electric quantity is low relatively encircles and patrols and examines the pier that the distance department is close to taking off promptly.
The ground station is further used for judging whether the ambient wind speed is within a preset wind speed interval or not, and if the ambient wind speed is within the preset wind speed interval, determining the radius flying around the pier and the preset height rising in the radial direction according to the current wind speed, wherein the larger the current wind speed is, the smaller the radius flying around the pier is, and the larger the radial rise is, so that the unmanned aerial vehicle is positioned on the windward side of the pier. For example, the drone initially flies around 1.5 meters from the pier surface, and as the wind speed increases, it flies around decreasing to 1 meter from the pier surface. The height that radially rises is confirmed according to unmanned aerial vehicle's camera focus section, need ensure that the picture that twice encircleed the flight and shoot has the coincidence, avoids appearing the condition of missing the bat.
The ground station is also used for calculating the ambient wind speed and the wind direction according to the flight data returned by the first unmanned aerial vehicle and the second unmanned aerial vehicle when the second inspection route flies, judging whether the ambient wind speed is greater than a preset wind speed interval, if so, generating a risk avoiding route and sending the risk avoiding route to the first unmanned aerial vehicle and the second unmanned aerial vehicle; the preset wind speed interval is determined according to the specific unmanned aerial vehicle, and the wind resistance grade provided by a manufacturer can be referred. Wherein, the risk avoiding route flies to the windward side of the current bridge pier.
The ground station is also used for comparing the ambient wind speeds of the first unmanned aerial vehicle and the second unmanned aerial vehicle when the ambient wind speed is larger than a preset wind speed interval, and selecting the unmanned aerial vehicle with the large ambient wind speed to generate a takeover reminding.
Example two
As shown in fig. 1, the difference between the present embodiment and the first embodiment is that the ground station in the present embodiment includes a network communication module, a storage module, an image processing module and an airline planning module; a preset bridge three-dimensional model is stored in the storage module; the network communication module is used for establishing connection with the unmanned aerial vehicle and receiving image data and flight data; the image processing module is used for updating the three-dimensional model of the bridge according to the image data, and the route planning module is used for calculating the environmental wind speed and the environmental wind direction; and generating a second inspection route according to the updated bridge three-dimensional model, and dividing the second inspection route into inspection sections based on the number of the unmanned aerial vehicles.
The unmanned aerial vehicle comprises an unmanned aerial vehicle body, and a data acquisition module, a flight control module, a shooting module and a communication module which are carried on the unmanned aerial vehicle body; the data acquisition module is used for acquiring flight data; the communication module is used for establishing connection with the ground station and receiving the first inspection route and the inspection section; the analysis control module is used for controlling the unmanned aerial vehicle to fly along a first inspection route or an inspection section according to the flight data; the shooting module is used for collecting image data in flight, and specifically, the shooting module comprises a holder and a camera mounted on the holder.
EXAMPLE III
The difference between the embodiment and the first embodiment is that the unmanned aerial vehicle is also used for returning the image data to the ground station in real time when the second inspection air route flies;
the ground station is further used for sending the rotated image data to the server, the server is further used for preliminarily screening the image data, whether the imaging quality meets requirements is judged, and if not, the corresponding bridge pier position is marked. In this embodiment, the requirement for satisfying the imaging quality means that the image is clear.
The server is further used for acquiring polling related information uploaded by the ground station, wherein the polling related information comprises polling time, weather (such as sunny days, cloudy days and the like), wind speed, a bridge three-dimensional model, corresponding coordinates and the like.
The server is further used for establishing a training sample set according to historical routing inspection related information and pier positions corresponding to the imaging quality unsatisfied requirements, training the AI model, enabling the AI model to predict the probability that the imaging quality of each position of the pier does not satisfy the requirements under different conditions, and outputting prediction results. For example, in a sunny day, the reflection of a pier at a partial position caused by direct sunlight causes the imaging quality to be unsatisfactory.
The ground station is also used for sending the inspection related information of the current inspection to the server after the primary inspection is finished;
the server is also used for predicting through the trained AI model, outputting the prediction result with the marked area and sending the prediction result to the ground station. The probability that the imaging quality of the marked area, namely a certain area of the predicted bridge pier does not meet the requirement is more than 70%.
The ground station is still used for when unmanned aerial vehicle carries out the flight of second inspection air route, judges whether unmanned aerial vehicle arrives the pier that the mark zone corresponds according to the position data of unmanned aerial vehicle passback, if reachs, is located the pier that the mark zone corresponds during, sends the image data that unmanned aerial vehicle gathered to the server.
The server is also used for carrying out preliminary screening on the currently received image data, judging whether the imaging quality meets requirements or not, and marking the corresponding pier position if the imaging quality does not meet the requirements.
The server is also used for analyzing the current network connection condition with the ground station and judging whether the network connection condition meets the set requirement; in this embodiment, the network connection condition meeting the set requirement means that the network delay is within 100ms and the uplink transmission speed is above 20 mbps.
And if the network connection condition meets the set requirement, transmitting the preliminary screening result to the ground station in real time. The ground station is also used for judging whether the imaging quality of the acquired image data does not meet the requirement or not in the surrounding according to the primary screening result after the unmanned aerial vehicle completes the surrounding once along the circumferential direction of the bridge pier, if so, the unmanned aerial vehicle completes the surrounding once again along the circumferential direction of the bridge pier, and whether the imaging quality of the acquired image data does not meet the requirement or not in the surrounding is judged again according to the latest primary screening result, and if so, recording is carried out; make unmanned aerial vehicle along the footpath of pier rise and preset the height, carry out the new flight of encircleing, encircle the completion back once new, judge this encircleing according to latest preliminary screening result again and whether have the unsatisfied demand of the imaging quality of the image data of collection, if there is, make unmanned aerial vehicle accomplish once more along the circumference of pier again and encircle, judge this encircleing according to latest preliminary screening result again and whether have the unsatisfied demand of the imaging quality of the image data of collection, if there is, stop at current pier and encircle repeatedly, only record the pier position that the unsatisfied demand of imaging quality corresponds. And after the whole inspection section is flown, planning a new inspection route according to all the recorded pier positions corresponding to the condition that the imaging quality does not meet the requirement.
And if the network connection condition does not meet the set requirement, the server is also used for sending the preliminary screening result to the ground station after finishing preliminary screening on the image data of the single bridge pier. The server is also used for comparing the preliminary screening result with the prediction result, judging the similarity between the prediction result and the preliminary screening result and sending the similarity judgment result to the ground station;
if the similarity is high, in the embodiment, the similarity is high if the similarity is more than 70%, otherwise, the similarity is low; the ground station is also used for analyzing the total number of pier positions corresponding to the imaging quality unsatisfied requirement according to the prediction result (each image of which the imaging quality does not satisfy the requirement corresponds to one pier position during counting), judging whether the total number exceeds a set value, if so, firstly completing the flight of the whole inspection section, and then planning a new inspection route according to all recorded pier positions corresponding to the imaging quality unsatisfied requirement; if the image quality does not exceed the set value, after the unmanned aerial vehicle is controlled to complete the flight of the current bridge pier, the bridge pier position corresponding to the condition that the imaging quality does not meet the requirements is returned to acquire image data again, and then the new bridge pier is subjected to surrounding flight.
If the similarity is low, the ground station is also used for judging whether the number of the pier positions corresponding to the imaging quality unsatisfied requirements exceeds a set value according to the preliminary screening result, if the number of the pier positions exceeds the set value, firstly completing the flight of the whole inspection section, and then planning a new inspection route according to all recorded pier positions corresponding to the imaging quality unsatisfied requirements; if not, when the unmanned aerial vehicle is at the same height of adjacent piers and completes one-time surrounding flight, the unmanned aerial vehicle is controlled to horizontally fly to the pier position corresponding to the condition that the imaging quality does not meet the requirements, image data are collected again, the pier in inspection is returned, the radial rise is preset, and new surrounding flight is carried out.
The image data are transmitted back in real time to be screened preliminarily, the position where the imaging quality does not meet the requirement can be found in time, accordingly, the position can be planned in time to be subjected to rephotography, the bridge is built in mountainous areas and other areas with poor communication coverage, the possibility is high, the image data are selectively uploaded according to the prediction result of the AI model, and the bandwidth and the data processing capacity of the server can be effectively saved. The server is selected to process data, firstly, the computing power of the server is stronger than that of the ground station, the processing speed is higher, secondly, the computing power of the ground station is saved, the power consumption is reduced, and especially under the condition that charging in the field is inconvenient.
When the network connection condition meets the set requirement, real-time uploading of image data can be guaranteed, the server conducts preliminary screening in real time, and the ground station judges whether to need to fly again according to a preliminary screening result after encircling every time. When the network connection condition does not meet the set requirement, screening a single pier,
comparing the preliminary screening result with the prediction result so as to judge the accuracy of the AI model on the current bridge prediction, if the accuracy is high (namely the similarity is high), taking the prediction result as the basis of analysis, integrally judging the total quantity of pier positions corresponding to the condition that the imaging quality does not meet the requirements, and returning to the rephotography if the total quantity is lower than a set value; and if the accuracy is low, taking the preliminary screening result as the analysis basis, and only judging the number of the pier positions corresponding to the condition that the screened imaging quality does not meet the requirement, wherein the image data is collected again for the pier positions of the parallel layers when the total condition is not clear, so that the adjustment range of the second inspection route is reduced.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. An unmanned aerial vehicle inspection system for a bridge comprises a ground station and at least two unmanned aerial vehicles;
the ground station is used for generating a first inspection route according to a preset bridge three-dimensional model and sending the first inspection route to the first unmanned aerial vehicle;
the first unmanned aerial vehicle is used for carrying out primary inspection on the bridge pier according to the first inspection route, acquiring image data and sending the image data to the ground station;
the ground station is also used for updating a preset bridge three-dimensional model according to the image data; generating a second inspection route according to the updated bridge three-dimensional model, dividing the second inspection route into inspection sections based on the number of the unmanned aerial vehicles, and sending the corresponding inspection sections to the first unmanned aerial vehicle and the second unmanned aerial vehicle;
the first unmanned aerial vehicle and the second unmanned aerial vehicle are further used for surrounding inspection of the bridge pier according to the inspection section.
2. The unmanned aerial vehicle inspection system for bridges of claim 1, wherein: the first inspection route at least comprises one-time integral surrounding flight, and when the integral surrounding flight is carried out, the first inspection route flies from a first bridge pier to a last bridge pier along the length direction of the bridge at one side of the bridge, then flies to the other side of the bridge, and flies from the last bridge pier to the first bridge pier along the length direction of the bridge; and hovering the bridge pier at the middle point of the adjacent bridge pier for a preset time.
3. The unmanned aerial vehicle inspection system for bridges of claim 2, wherein: the second inspection route comprises a track for each pier to independently encircle and fly, when the piers singly encircle and fly, the first encircling is completed at the bottom of each pier along the circumferential direction of each pier, then the preset height is raised along the radial direction of each pier to complete the second encircling, and the process is circulated until the second encircling reaches the top of each pier;
wherein, the pier that the section, the independent flight that encircles is patrolled and examined to the difference is different.
4. The unmanned aerial vehicle inspection system for bridges of claim 3, wherein: when the first unmanned aerial vehicle conducts preliminary inspection on the bridge piers according to the first inspection route, flight data are collected and sent to the ground station; the ground station is also used for calculating the ambient wind speed according to the flight data;
the ground station is further used for judging whether the ambient wind speed is within a preset wind speed interval or not, and if the ambient wind speed is within the preset wind speed interval, determining the radius of flying around the pier and the preset height of radial rising according to the current wind speed.
5. The unmanned aerial vehicle inspection system for bridges of claim 4, wherein: when the radius flying around the pier and the preset height rising in the radial direction are determined according to the current wind speed, the larger the current wind speed is, the smaller the radius flying around the pier is, and when the current wind speed rises in the radial direction, the unmanned aerial vehicle is positioned on the windward side of the pier.
6. The unmanned aerial vehicle inspection system for bridges of claim 5, wherein: the ground station is also used for calculating the ambient wind speed and the wind direction according to the flight data returned by the first unmanned aerial vehicle and the second unmanned aerial vehicle when the second inspection route flies, judging whether the ambient wind speed is greater than a preset wind speed interval, if so, generating a danger avoiding route and sending the danger avoiding route to the first unmanned aerial vehicle and the second unmanned aerial vehicle;
wherein, the risk avoiding route flies to the windward side of the current bridge pier.
7. The unmanned aerial vehicle inspection system for bridges of claim 6, wherein: the ground station is also used for comparing the sizes of the environmental wind speeds of the first unmanned aerial vehicle and the second unmanned aerial vehicle when the environmental wind speed is larger than a preset wind speed interval, and selecting the unmanned aerial vehicle with the large environmental wind speed to generate the takeover reminding.
8. The unmanned aerial vehicle inspection system for bridges of claim 7, wherein: the ground station comprises a network communication module, a storage module, an image processing module and a route planning module;
a preset bridge three-dimensional model is stored in the storage module;
the network communication module is used for establishing connection with the unmanned aerial vehicle and receiving image data and flight data;
the image processing module is used for updating the bridge three-dimensional model according to the image data,
the route planning module is used for calculating the ambient wind speed; and generating a second inspection route according to the updated bridge three-dimensional model, and dividing the second inspection route into inspection sections based on the number of the unmanned aerial vehicles.
9. The unmanned aerial vehicle inspection system for bridges of claim 8, wherein: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, and a data acquisition module, a flight control module, a shooting module and a communication module which are carried on the unmanned aerial vehicle body;
the data acquisition module is used for acquiring flight data;
the communication module is used for establishing connection with the ground station and receiving the first inspection route and the inspection section;
the analysis control module is used for controlling the unmanned aerial vehicle to fly along a first inspection route or an inspection section according to the flight data;
the shooting module is used for collecting image data in flight.
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