CN116753962B - Route planning method and device for bridge - Google Patents

Route planning method and device for bridge Download PDF

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Publication number
CN116753962B
CN116753962B CN202311032588.4A CN202311032588A CN116753962B CN 116753962 B CN116753962 B CN 116753962B CN 202311032588 A CN202311032588 A CN 202311032588A CN 116753962 B CN116753962 B CN 116753962B
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route
bridge
aerial
data
planning
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CN116753962A (en
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李成
朱鸿颖涛
代耀文
牛强
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Chengdu Rainpoo Technology Co ltd
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Chengdu Rainpoo Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/04—Architectural design, interior design
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The invention discloses a route planning method and device for a bridge, wherein the method comprises the following steps: s1, obtaining basic data of a bridge, wherein the specific data of the basic data comprise bridge deck height data, azimuth data and size data of the bridge; s2, planning a first route through the basic data, wherein the first route is applied as follows: performing first three-dimensional modeling on the bridge deck position by using the aerial photo obtained on the first aerial; s3, carrying an aerial camera by the unmanned aerial vehicle to fly along a first route, collecting aerial photos, and establishing a first three-dimensional model by using the collected aerial photos; s4, planning a second route by using the first three-dimensional model, wherein the second route is applied as follows: and carrying out second three-dimensional modeling on the bridge deck position by using the aerial photo obtained on the second aerial or collecting the aerial photo only through the second aerial. The method can be applied to bridge three-dimensional model construction and defect detection on the bridge based on the three-dimensional model, and has the characteristics of high efficiency and safety of modeling of the three-dimensional model.

Description

Route planning method and device for bridge
Technical Field
The invention relates to the technical field of aerial photography, in particular to a route planning method and device for a bridge.
Background
At present, china has longer railway and highway operation mileage, and meanwhile, bridges are important components of the railway and the highway. Particularly on a railway line, the length of the line occupied by the bridge is usually more than 50% of the full line length, and the detection of the bridge is an important measure for guaranteeing the operation safety of the line. The specific part of bridge detection mainly comprises bridge deck detection, base detection and bridge deck top structure detection, and the conventional method is to comprehensively observe the concerned area by adopting a field visual inspection mode, but the following problems exist in the mode: the environment where the bridge is located is complex, and a plurality of bridges span rivers, mountains and canyons, so that the space position brings great inconvenience to bridge detection; meanwhile, when visual inspection is carried out on site, the problems of high labor intensity, low efficiency, high cost, safety risk and the like exist.
Along with the development of aerial photography technology, an unmanned aerial vehicle is adopted to carry an aerial photography instrument in the prior art, so that bridge image acquisition is efficiently, safely and low-cost completed, and then defects on a bridge can be identified and visually reflected by utilizing a computer, a computer and a manual verification mode based on image analysis, three-dimensional modeling and the like. When the aerial photographing technology is applied to bridge defect detection, a proper route should be planned for the unmanned aerial vehicle.
In the prior art, regarding bridge inspection route planning, the invention creates a technical scheme provided by a bridge inspection route planning method, wherein the technical scheme effectively solves the navigation problem under the condition of GNSS signal loss. The invention also comprises a technical scheme provided by the application number CN202310005583.6, namely a bridge detection system and a bridge detection method based on the unmanned ship, wherein the technical scheme is provided by using the unmanned ship as a shooting carrier, and the obtained bridge picture is used for establishing a model and marking diseases on the model to determine the specific positions of the diseases, and meanwhile, the problem of limited signals of unmanned aerial vehicles under the bridge is solved.
In view of the role of the aerial photography technology in bridge defect inspection, it is necessary to further optimize the aerial photography technology applied to bridge defect detection.
Disclosure of Invention
Aiming at the technical problem that the aerial photography technology applied to bridge defect detection is necessary to be further optimized, the invention provides a route planning method and device for a bridge.
The aim of the invention is mainly realized by the following technical scheme:
a route planning method of a bridge comprises the following steps sequentially carried out:
s1, obtaining basic data of a bridge, wherein the specific data of the basic data comprise bridge deck height data, azimuth data and size data of the bridge;
s2, planning a first route positioned on the side face of the bridge through the basic data, wherein the first route is used for: performing first three-dimensional modeling on the bridge deck position by using the aerial photo obtained on the first aerial;
s3, carrying an aerial camera by the unmanned aerial vehicle to fly along a first route, collecting aerial photos, and establishing a first three-dimensional model by using the collected aerial photos;
s4, planning a second route positioned on the side face of the bridge by using the first three-dimensional model, wherein the second route is used for: and carrying out second three-dimensional modeling on the bridge deck position by using the aerial photo obtained on the second aerial or collecting the aerial photo only through the second aerial.
In the prior art, as disclosed in the patent application number CN201910289544.7, not only is a technical scheme for solving the navigation problem under the condition of GNSS signal loss disclosed in the prior art, but also a technical scheme for solving the problems of unclear and stable acquired image data, further influencing subsequent data analysis and defect detection caused by shaking caused by the operation of an unmanned aerial vehicle by a worker is disclosed. More specifically, the method aims at the problems that subsequent data analysis and the like are affected due to shaking caused by the operation of an unmanned aerial vehicle by a worker, and comprises the following specific means: firstly, carrying out first inspection operation on a target object (bridge) through a manual operation unmanned aerial vehicle, obtaining data such as an unmanned aerial vehicle flight route, a cradle head attitude angle, camera parameters and the like in the inspection operation process, then fusing the flight route with the data to obtain an inspection route, then guiding the inspection route into a flight control module, controlling unmanned aerial vehicle flight and related shooting parameters through the flight control module, and realizing automatic inspection operation under the action of the flight control module. Other object operations in the field also include the use of first flight data as DEM data rather than three-dimensional data; uses that employ aerial video data for planning the route are also included. It can be summarized that in the prior art, in order to achieve the purpose of aerial photography, accurate route planning of the target object is advantageous for aerial photography quality, and in such an application, the data source of the route planning generally includes route data obtained by manually operating the unmanned aerial vehicle.
The scheme is different from the prior art, and provides a method for efficiently and safely planning the route for the bridge three-dimensional model and the like without operating the unmanned aerial vehicle by a worker in the route planning process.
In particular, the above scheme can be understood as including two routes planning, wherein the planned routes are a first route and a second route, and the first route is used as a basis for obtaining the second route: and obtaining a first three-dimensional model through the aerial photos collected on the first route, and planning an aerial photo shooting route for carrying out second three-dimensional modeling on the bridge deck position through the first three-dimensional model, namely a second route. But it should be understood that: the second three-dimensional modeling is used for limiting a second route, and the method disclosed by the scheme does not comprise the second three-dimensional modeling. At the same time, it should be understood that: the second three-dimensional modeling is used for obtaining a second three-dimensional model, the first three-dimensional model is a coarse model obtained based on aerial photography, and the second three-dimensional model is a fine model obtained based on aerial photography: on the basis of the first three-dimensional model, the obtained aerial photo can construct a second three-dimensional model with modeling precision higher than that of the first three-dimensional model through the obtained second aerial photo, and under the second three-dimensional model, the bridge deck position can be accurately modeled in three dimensions, and the model is usually used for defect judgment and visually reflecting the defect position.
The above solution further includes the problem of original data source reflected in step S1, i.e. defining the data source of planning the first route. The specific data of the basic data comprise bridge deck height data, azimuth data and size data of the bridge, the data of the bridge deck can be obtained through satellite remote sensing data, aerial photo data, bridge design file data and field measurement data relative to a bridge bottom building and a bridge top building, and meanwhile, the specific data have higher value when applied to first route planning due to simple and regular bridge deck structure. The specific data are used for acquiring elevation data of a first route through the elevation data; the azimuth data is the trend or the extending direction of the bridge deck and is used for obtaining the extending direction of the shooting route on the first route; the size data can comprise width data and length data, and the size data are matched with parameters of the adopted aerial photography instrument and the requirements of the first three-dimensional modeling on the aerial photo overlapping rate, so that the length of the first aerial route, the relative position and distribution of the first aerial route relative to the bridge deck are obtained.
The scheme is adopted:
1. When planning the first route and the second route, the source of required data does not need to obtain route data through manual operation unmanned aerial vehicle, even if aerial photo data is also adopted for obtaining the basic data, only basic data acquisition is required, and the aerial photo data are not required to meet modeling requirements, so that the scheme has the characteristic of high route planning efficiency in a basic data acquisition mode;
2. according to the scheme, the characteristics of simple and regular bridge deck structure are utilized, and the route planning method for actually carrying out three-dimensional modeling on the bridge deck position is provided, and because the accuracy of position basic data is higher, and the first route and the second route which are positioned on the side face of the bridge are not easily influenced by the construction of the bridge top, the scheme is beneficial to the aerial photography flight safety from the aspects of data sources and route position planning;
3. because the corresponding original data sources are respectively basic data and a first three-dimensional model when the first route and the second route are planned, and because the route data is not required to be obtained through an unmanned aerial vehicle operated manually, the dependence on people in the implementation process of the scheme is greatly reduced, and meanwhile, the implementation effect of the scheme is not affected by people, so that the scheme has a relatively stable route planning result;
4. The relative position of the aerial route and the bridge determines that the aerial piece for the bridge deck is obtained through oblique photography, and the aerial piece source is beneficial to judging the bridge deck defect by utilizing a three-dimensional model or the aerial piece.
As a person skilled in the art, when planning the first route and the second route, specific route planning is performed according to corresponding modeling requirements or shooting requirements of the aerial photo, for example, the bridge floor position can only comprise the bridge floor top surface, and the shooting mode under the common route also determines that the aerial photo can also comprise the side surface of the bridge; the top surface and the side surface of the bridge deck can be the concerned areas or the whole areas.
As a further technical scheme of the route planning method of the bridge, the following steps are adopted:
in a specific embodiment, in step S1, the source of each specific data in the basic data is one or several of the following data: satellite remote sensing data, aerial photo data, bridge design file data and field measurement data. As an alternative to the underlying data source, the above is provided to a person skilled in the art, who may choose the underlying data source according to the specific situation of the current bridge. When the underlying data has multiple sources, the specific data may be integrated according to the multiple sources. As in the existing resources, three-dimensional map data are generally arranged around cities, when bridges are located in cities or around cities, the three-dimensional map data can be selected as data sources, the map data are generally derived from satellite remote sensing data or aerial photo data obtained through a large-scale airplane, in the specific application, the data are existing data, meanwhile, the data precision/resolution is generally tens of centimeters, and the existing data precision can completely meet the first route planning; when the current bridge position is far away and the map data does not cover the current position, the related data can be obtained through bridge design files and field measurement; with respect to the above aerial photo data, it should be understood that it may not only be a data source of map data, but when such ready-made map data is not available, it may be possible to configure the underlying data acquisition process prior to step S2 for the current mission in order to meet the current mission route plan, by aerial photography and taking the aerial photo data as a carrier, even in this way, it should be understood as falling within the scope of the concept of the present solution, since the specific data features themselves and roles are distinguished from the prior art. Preferably, as a specific method by which the basic data can be obtained quickly, the basic data is obtained through satellite remote sensing data, which is satellite map data from Google Earth.
In a specific embodiment, in step S2, the first route is planned in the following manner:
obtaining the shooting distance of an aerial camera according to the set requirement of the first three-dimensional modeling on the aerial photo, and marking an aerial planning datum line on the bridge deck, wherein the aerial planning datum line is positioned on the bridge deck and is parallel to the extending direction of the bridge deck;
obtaining a route distribution arc on the side surface of the bridge deck through the route planning datum line and the shooting distance of the aerial photography instrument, wherein the route distribution arc is a circular arc with the circle center positioned on the route planning datum line and the radius of the circular arc being the shooting distance of the aerial photography instrument;
according to the size of the frame area of the aerial photography instrument, a shooting route on a first route is obtained through the route distribution arc line, and the shooting route is as follows: the arc line is distributed through the route and is parallel to the extending direction of the bridge deck;
the shooting route is a plurality of shooting routes;
when the number of shooting routes is greater than 1, connecting adjacent shooting routes end to obtain a first route.
As a person skilled in the art, the requirement of the first three-dimensional modeling on the aerial photo may be the precision requirement of the first three-dimensional model, since the model is a coarse model, in order to meet the requirement of the second route planning, the resolution of the coarse model may be generally set to be 10-50 cm, and the shooting distance of the aerial camera is used to meet the resolution requirement, and the specific relationship is as follows: P/f=n/L, where P is the aerial camera pixel size, F is the aerial camera focal length, N is the resolution (ground sampling distance GSD), and L is the aerial camera shooting distance. The route planning datum line is used as a mark for indicating a target area on the bridge deck, and generally, the aerial photo obtained along the extending direction of the bridge on the first route has higher shooting efficiency, so the route planning datum line is arranged on the bridge deck and is parallel to the extending direction of the bridge deck. Further, the route distribution arc is obtained according to the route planning reference line and the shooting distance of the aerial photography instrument, the relation is that the route distribution arc is located on the section perpendicular to the extending direction of the bridge, the distance from each point of the route distribution arc to the route planning reference line is equal to the shooting distance of the aerial photography instrument, meanwhile, the shooting route parallel to the extending direction of the bridge is obtained by utilizing the route distribution arc through the hardware parameters and the setting parameters of the aerial photography instrument, the specific number of the shooting routes is also determined by the shooting data requirement, the width of a target area and the like, for example, if the bridge structure is complex, the number of the shooting routes can be increased to obtain more aerial photo data; if the frame of the camera is larger, the number of shooting routes can be properly reduced, and the operation time is shortened. Thus, under any shooting point position of the shooting route, different coverage areas with frames in the width direction of the bridge deck are selected according to different routes, for example, the coverage area of the aerial photo obtained by shooting the route at a higher position in the height direction is closer to the opposite side position of the bridge. In specific application, regarding the shooting posture of the aerial camera, when the position of the shooting point is above the bridge deck, the FOV of the aerial camera is inclined downwards, and in the extending direction of the bridge, the coverage area of the drawing frame can be located in front of, behind the shooting point or on the same straight line in the width direction of the bridge. Furthermore, because the shooting routes are all positioned on the side surface of the bridge, in order to obtain the complete first route planning, the shooting routes are connected in an end-to-end route planning mode to obtain the complete route positioned on the single side of the bridge. In specific application, the positions between the bottommost shooting route and the top shooting route can be evenly divided according to the number of the shooting routes or the interval angle so as to obtain the positions of the middle shooting route, and a plurality of independent shooting routes are formed.
In a specific embodiment, the route planning datum line is a central axis which is positioned on the bridge deck, parallel to the extending direction of the bridge deck and positioned in the middle of the width direction of the bridge deck;
the shooting distance is obtained through the requirement of the first three-dimensional modeling on the ground sampling distance of the aerial photo;
planning route distribution arcs on two sides of a bridge deck, and planning a first route on each side of the bridge deck through each route distribution arc. Regarding the route planning datum line, the technical scheme is that in order to complete the first three-dimensional modeling, image data of each position of the bridge deck are obtained, and corresponding aerial photo data of each position in the width direction of the bridge deck are obtained under a first route; with respect to the shooting distance, since the focal length of the aerial camera and the pixel size are determined, the shooting distance can be obtained according to the resolution/ground sampling distance requirement, and with respect to the resolution/ground sampling distance, it should be noted in particular that: the value may be a point value or a range value that satisfies the requirement. And planning out route distribution arcs on two sides of the bridge deck and obtaining first routes on each side, aiming at improving the modeling precision of the first three-dimensional model by utilizing the aerial photos obtained by the first routes on two sides, thereby improving the planning precision of the second route. In a specific implementation, since the bridge has a straight-line walking shape and a curved walking shape, the first routes on two sides of the bridge can be planned to be symmetrical to each other, but in consideration of the aerial photo collecting efficiency, when the photographing area covers or is connected with the curved section of the bridge, the lengths of the photographing routes on the first routes on each side are not necessarily equal, for example, the length of the photographing route on the outer side of the bend is greater than that of the photographing route on the inner side of the bend.
In one particular embodiment, the shooting route includes a bottom route, a top route, and a middle route;
in the height direction, the bottom course is positioned below the middle course, the bottom course is flush with the bridge deck, and the middle course is positioned below the top course;
in the horizontal direction, the distance between the top course and the side of the bridge deck or the distance between the top course and the side of the bridge top building is greater than the diameter of the unmanned aerial vehicle. According to the scheme, the navigation problem under the condition of GNSS signal loss is not needed to be considered, and the acquired image data or the constructed three-dimensional model can be applied to bridge defect judgment aiming at a common bridge, and meanwhile, the specific route scheme of unmanned aerial vehicle flight safety is considered in route planning. When the bridge side image data acquisition system is particularly used, aiming at a first route on any side of a bridge, a bottom route is used for bridge side image data acquisition, a middle route and a top route are used for bridge deck image data acquisition (according to a lens orientation angle, the bridge side image data acquisition system can also be used for bridge side image data acquisition), and an image data acquisition mode that a higher shooting route is used for acquiring an image data acquisition mode closer to the edge of a bridge deck on the opposite side is still adopted. With respect to the definition of the distance between the top course and the bridge deck side or the bridge roof building side, it is in fact the definition of the height of the top course that the following problems are addressed: the position of the bridge deck edge in the space or the space coordinate system can be accurately obtained through the basic data, the problem that the first route planning is influenced or the first route is unavailable is generally not caused by obstacles on the shooting route passing through the route distribution arc line and the lower position in the height direction, and the influence of the bridge roof building on the availability of the first route is more likely to be caused by the shooting route passing through the point on the higher position of the route distribution arc line. Preferably, unmanned aerial vehicle that uses in this scheme adopts many rotor unmanned aerial vehicle, the diameter can select in 50~300cm according to the flight needs. Also as a person skilled in the art, with respect to the above GNSS signals, it is actually relevant to the relative position of the shooting course and the bridge.
In a specific embodiment, in step S3, the unmanned aerial vehicle carries the aerial camera to avoid the obstacle through an obstacle avoidance module on the unmanned aerial vehicle or the aerial camera in the process of flying along the first route;
when the obstacle avoidance module triggers the obstacle avoidance action, the first route is planned again and the step S3 is executed again;
the manner of rescheduling the first route is any one of the following:
increasing the shooting distance of the aerial camera;
increasing the horizontal distance between the top course and the side of the bridge deck or increasing the horizontal distance between the top course and the side of the bridge top building. The scheme provides a specific scheme for avoiding obstacle emergency possibly occurring under the flight of a first route, which specifically comprises the following steps: when planning a first route and executing step S3, as the construction details of the top of the bridge cannot be obtained from the satellite map data, the obstacle avoidance action is possibly triggered when the first route is executed, so that the obstacle avoidance function is set in step S3, and the first route planning is conducted again after the obstacle avoidance action is triggered, so that the modeling quality of the first three-dimensional model is ensured, and an adjustment mode of the first route is provided, and the distance of shooting by an aerial camera is increased, namely the radius of the distribution arc of the route is increased, so that the distance of the shot route from the bridge is further; by increasing the horizontal distance, i.e. lowering the height of the top course, it is essentially also the distance of the top course from the bridge side.
In one specific embodiment, judging whether the bridge roof building affects the flight safety of the first route connection at two sides of the bridge deck, and integrating the first routes at two sides of the bridge deck into a complete route according to the shortest route principle when the flight safety is not affected; when the influence is exerted, the first airlines on the two sides of the bridge deck are set as mutually independent airlines;
the judging mode of the flight safety is any one of the following modes:
the basic data of the bridge also comprises bridge top building construction data, and before executing the step S3, an operator judges whether flight safety is affected or not through the bridge top building construction data;
and step S3 is executed on one side of the bridge, aerial photos are obtained, and whether the flight safety is affected is judged by carrying out picture identification on the aerial photos. The technical scheme aims at improving the acquisition efficiency of the aerial photo applied to the first three-dimensional modeling, provides a technical scheme for connecting the aerial lines on two sides of the bridge under the condition of not affecting the flight safety, and sets the aerial lines on two sides of the bridge as mutually independent aerial lines under the condition of affecting the flight safety, and provides a specific flight safety judging mode. One of the ways is to complete the judgment by using the existing data before executing step S3, specifically, the method includes: the specific type of the bridge can be judged through satellite remote sensing data, aerial photo data, bridge design file data and field measurement data, and when the judging result shows that the bridge of the type does not have bridge top buildings or the heights of the bridge top buildings cannot influence the first route planning, the bridge can be determined to be safe in connecting the top routes on two sides of the bridge according to the shortest distance principle; in another mode, the aerial photograph obtained in the step S3 is utilized to carry out safety judgment, when the aerial photograph is used specifically, the aerial photograph instrument carried by the aircraft firstly completes image data acquisition according to planned first air route flight on a single side of a bridge, the acquired image data comprise bridge top building construction data, whether the two-side air route connection of the current position of the aerial photograph affects flight safety or not can be judged from the bridge top building construction data through an image recognition algorithm, and whether the two-side air route connection of the current position affects flight safety or not or whether the two-side air route connection is completed or not is judged according to the change rule of the bridge top building construction obtained according to the bridge top building construction data. When the method is specifically used, in order to facilitate aerial photo collection efficiency, firstly, through bridge top building construction data, an operator judges whether flight safety is affected or not through the bridge top building construction data before executing the step S3, and when judging that the bridge top building affects the flight safety, the aerial photo obtained in the step S3 further judges whether the possibility of connecting the aerial lines on two sides of the bridge exists or not.
In a specific embodiment, the method for judging whether to influence the flight safety by adopting picture identification is as follows: judging the top building condition of the bridge in the imaging area by utilizing a plurality of aerial sheets of which the imaging area exceeds the edge of the bridge deck at the opposite side of the bridge on the first route;
the aerial photos are aerial photos obtained through a plurality of continuous shooting points on the first route. In the scheme, the plurality of aerial pieces with the imaging area exceeding the edge of the bridge deck at the opposite side of the bridge are aerial pieces which can be obtained in the step S3 and are most valuable for judging the bridge roof building, and the continuous plurality of shooting points are used for obtaining the photos, so that the image data can reflect the construction rule or the development rule of the bridge roof building.
The scheme also discloses an air route planning device for realizing the air route planning method.
In summary, compared with the prior art, the invention has the following beneficial effects:
1. when planning the first route and the second route, the source of required data does not need to obtain route data through manual operation unmanned aerial vehicle, even if aerial photo data is also adopted for obtaining the basic data, only basic data acquisition is required to be met, and the aerial photo data are not required to meet modeling requirements, so that the scheme has the characteristic of high route planning efficiency in a basic data acquisition mode, and can be used for obtaining an accurate bridge deck three-dimensional model in the whole scheme;
2. According to the scheme, the characteristics of simple and regular bridge deck structure are utilized, and the route planning method for actually carrying out three-dimensional modeling on the bridge deck position is provided, and because the accuracy of position basic data is higher, and the first route and the second route which are positioned on the side face of the bridge are not easily influenced by the construction of the bridge top, the scheme is beneficial to the aerial photography flight safety from the aspects of data sources and route position planning;
3. because the corresponding original data sources are respectively basic data and a first three-dimensional model when the first route and the second route are planned, and because the route data is not required to be obtained through an unmanned aerial vehicle operated manually, the dependence on people in the implementation process of the scheme is greatly reduced, and meanwhile, the implementation effect of the scheme is not affected by people, so that the scheme has a relatively stable route planning result;
4. the relative position of the aerial route and the bridge determines that the aerial piece for the bridge deck is obtained through oblique photography, and the aerial piece source is beneficial to judging the bridge deck defect by utilizing a three-dimensional model or the aerial piece.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic illustration of an embodiment of a particular bridge, with subsequent figures all deployed around the bridge;
FIG. 2 is a schematic diagram of a relationship between a first route and a bridge in an embodiment obtained by adopting a route planning method for a bridge according to the present invention;
FIG. 3 is a schematic diagram of a relationship between a first route and a bridge in an embodiment according to the present invention, different from FIG. 2, in which route distribution arcs are introduced;
FIG. 4 is a schematic diagram of a relationship between a first route and a bridge in an embodiment obtained by adopting a route planning method for a bridge according to the present invention, where the schematic diagram shows a relationship between a photographed route and a route distribution arc line in a side view of a viewing port;
FIG. 5 is a schematic illustration of a photographic roadmap as proposed on the basis of FIG. 4;
fig. 6 is a schematic diagram for explaining the acquisition of a specific shooting course position;
FIG. 7 is a schematic diagram of aerial photo collection based on the obtained first route in an embodiment of a method for planning a route of a bridge according to the present invention, wherein the angles represent lens orientation angles;
FIG. 8 is a schematic diagram of aerial photo collection based on the obtained first route in an embodiment of a method for planning a route of a bridge according to the present invention, which is different from FIG. 7 in that the first route is planned on both sides of the bridge;
FIG. 9 is a schematic diagram showing the lengths of photographed routes on two sides of a bridge according to an embodiment of the present invention;
FIG. 10 is a schematic diagram showing a relative positional relationship between shooting point location distribution and shooting ranges of each point location on a first route according to an embodiment of a route planning method for a bridge of the present invention;
fig. 11 is a schematic diagram of a route planning method for a bridge according to an embodiment of the present invention, where the first routes on two sides of the bridge are connected to form a complete route.
The correspondence between the reference numerals and the technical terms in the above schematic drawings is: 1. bottom course, 2, top course, 3, middle course, 4, axis, 5, bridge floor, 6, bridge roof building, 7, bridge bottom building, 8, course distribution arc, 9, bridge floor width, 10, bottom distance, 11, top distance, 12, inboard course, 13, outside course, 14, shooting course, 15, shooting point location, 16, shooting range.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1:
as shown in fig. 1 to 11, the present embodiment provides a route planning method for a bridge, which includes the following steps sequentially performed:
s1, obtaining basic data of a bridge, wherein the specific data of the basic data comprise bridge deck 5 height data, azimuth data and size data of the bridge;
s2, planning a first route positioned on the side face of the bridge through the basic data, wherein the first route is used for: performing first three-dimensional modeling on the position of the bridge deck 5 by using the aerial photo obtained on the first aerial;
s3, carrying an aerial camera by the unmanned aerial vehicle to fly along a first route, collecting aerial photos, and establishing a first three-dimensional model by using the collected aerial photos;
s4, planning a second route positioned on the side face of the bridge by using the first three-dimensional model, wherein the second route is used for: and carrying out a second three-dimensional modeling on the position of the bridge deck 5 by using the aerial photo obtained on the second aerial or collecting the aerial photo only through the second aerial.
In the prior art, as disclosed in the patent application number CN201910289544.7, not only is a technical scheme for solving the navigation problem under the condition of GNSS signal loss disclosed in the prior art, but also a technical scheme for solving the problems of unclear and stable acquired image data, further influencing subsequent data analysis and defect detection caused by shaking caused by the operation of an unmanned aerial vehicle by a worker is disclosed. More specifically, the method aims at the problems that subsequent data analysis and the like are affected due to shaking caused by the operation of an unmanned aerial vehicle by a worker, and comprises the following specific means: firstly, carrying out first inspection operation on a target object (bridge) through a manual operation unmanned aerial vehicle, obtaining data such as an unmanned aerial vehicle flight route, a cradle head attitude angle, camera parameters and the like in the inspection operation process, then fusing the flight route with the data to obtain an inspection route, then guiding the inspection route into a flight control module, controlling unmanned aerial vehicle flight and related shooting parameters through the flight control module, and realizing automatic inspection operation under the action of the flight control module. Other object operations in the field also include the use of first flight data as DEM data rather than three-dimensional data; uses that employ aerial video data for planning the route are also included. It can be summarized that in the prior art, in order to achieve the purpose of aerial photography, accurate route planning of the target object is advantageous for aerial photography quality, and in such an application, the data source of the route planning generally includes route data obtained by manually operating the unmanned aerial vehicle.
The scheme is different from the prior art, and provides a method for efficiently and safely planning the route for the bridge three-dimensional model and the like without operating the unmanned aerial vehicle by a worker in the route planning process.
In particular, the above scheme can be understood as including two routes planning, wherein the planned routes are a first route and a second route, and the first route is used as a basis for obtaining the second route: a first three-dimensional model is obtained from the aerial photographs collected on the first route, and an aerial photograph photographing route 14, i.e. a second route, for performing a second three-dimensional modeling on the position of the bridge deck 5 is planned from the first three-dimensional model. But it should be understood that: the second three-dimensional modeling is used for limiting a second route, and the method disclosed by the scheme does not comprise the second three-dimensional modeling. At the same time, it should be understood that: the second three-dimensional modeling is used for obtaining a second three-dimensional model, the first three-dimensional model is a coarse model obtained based on aerial photography, and the second three-dimensional model is a fine model obtained based on aerial photography: on the basis of the first three-dimensional model, the obtained aerial photo can construct a second three-dimensional model with modeling precision higher than that of the first three-dimensional model through the obtained second aerial photo, and under the second three-dimensional model, the position of the bridge deck 5 can be accurately modeled in three dimensions, and the model is usually used for defect judgment and visually reflecting the defect position.
The above solution further includes the problem of original data source reflected in step S1, i.e. defining the data source of planning the first route. By using specific data, which are the basic data, including bridge deck 5 height data, azimuth data and size data, it is intended that these data of the bridge deck 5 can be obtained by satellite remote sensing data, aerial photo data, bridge design file data, field measurement data with respect to the bridge bottom building 7 and the bridge top building 6, and at the same time, the specific data have a higher value when applied to the first route planning due to the simple and regular structure of the bridge deck 5. The specific data are used for acquiring elevation data of a first route through the elevation data; the azimuth data is the trend or the extending direction of the bridge deck 5 and is used for obtaining the extending direction of the shooting route 14 on the first route; the dimension data may include width data and length data, and are used to obtain the length of the first route and the relative position and distribution of the first route with respect to the bridge deck 5 in combination with parameters of the aerial camera and the requirements of the first three-dimensional modeling on the aerial film overlap rate.
The scheme is adopted:
1. when planning the first route and the second route, the source of required data does not need to obtain route data through manual operation unmanned aerial vehicle, even if aerial photo data is also adopted for obtaining the basic data, only basic data acquisition is required, and the aerial photo data are not required to meet modeling requirements, so that the scheme has the characteristic of high route planning efficiency in a basic data acquisition mode;
2. according to the scheme, the characteristics of simple and regular structure of the bridge deck 5 are utilized, and the route planning method for actually carrying out three-dimensional modeling on the position of the bridge deck 5 is provided, and because the accuracy of basic data of the position is higher, and the first route and the second route which are positioned on the side face of the bridge are not easily influenced by the bridge top building 6, the scheme is beneficial to the aerial flight safety from the aspects of data sources and route position planning;
3. because the corresponding original data sources are respectively basic data and a first three-dimensional model when the first route and the second route are planned, and because the route data is not required to be obtained through an unmanned aerial vehicle operated manually, the dependence on people in the implementation process of the scheme is greatly reduced, and meanwhile, the implementation effect of the scheme is not affected by people, so that the scheme has a relatively stable route planning result;
4. The relative position of the route and the bridge determines that the aerial photograph of the bridge deck 5 is obtained through oblique photography, and the aerial photograph source is beneficial to judging the defect of the bridge deck 5 by utilizing a three-dimensional model or the aerial photograph.
As a person skilled in the art, when planning the first route and the second route, specific route planning is performed according to corresponding modeling requirements or shooting requirements of the aerial photo, for example, the position of the bridge deck 5 may only include the top surface of the bridge deck 5, and the shooting mode under the common route also determines that the aerial photo may also include the side surface of the bridge; the top and side surfaces of the deck 5 may be both areas of interest or may be all areas.
Example 2:
this example was further refined and refined on the basis of example 1:
in this embodiment, in step S1, the source of each specific data in the basic data is one or several of the following data: satellite remote sensing data, aerial photo data, bridge design file data and field measurement data. As an alternative to the underlying data source, the above is provided to a person skilled in the art, who may choose the underlying data source according to the specific situation of the current bridge. When the underlying data has multiple sources, the specific data may be integrated according to the multiple sources. As in the existing resources, three-dimensional map data are generally arranged around cities, when bridges are located in cities or around cities, the three-dimensional map data can be selected as data sources, the map data are generally derived from satellite remote sensing data or aerial photo data obtained through a large-scale airplane, in the specific application, the data are existing data, meanwhile, the data precision/resolution is generally tens of centimeters, and the existing data precision can completely meet the first route planning; when the current bridge position is far away and the map data does not cover the current position, the related data can be obtained through bridge design files and field measurement; with respect to the above aerial photo data, it should be understood that it may not only be a data source of map data, but when such ready-made map data is not available, it may be possible to configure the underlying data acquisition process prior to step S2 for the current mission in order to meet the current mission route plan, by aerial photography and taking the aerial photo data as a carrier, even in this way, it should be understood as falling within the scope of the concept of the present solution, since the specific data features themselves and roles are distinguished from the prior art. Preferably, as a specific method by which the basic data can be obtained quickly, the basic data is obtained through satellite remote sensing data, which is satellite map data from Google Earth.
Example 3:
this example was further refined and refined on the basis of example 1:
in step S2, the first route is planned in the following manner:
obtaining the shooting distance of the aerial photography device according to the set requirement of the first three-dimensional modeling on the aerial photography, and marking an aerial planning datum line on the bridge deck 5, wherein the aerial planning datum line is positioned on the bridge deck 5 and is parallel to the extending direction of the bridge deck 5;
obtaining a route distribution arc line 8 on the side surface of the bridge deck 5 through the route planning datum line and the shooting distance of the aerial photography instrument, wherein the route distribution arc line 8 is a circular arc line with the circle center positioned on the route planning datum line and the radius of the circular arc line being the shooting distance of the aerial photography instrument;
according to the size of the frame area of the aerial camera, a shooting route 14 on a first route is obtained through the route distribution arc line 8, and the shooting route 14 is: passes through the route distribution arc line 8 and is parallel to the extending direction of the bridge deck 5;
the number of the shooting routes 14 is several;
when the number of shooting lanes 14 is greater than 1, adjacent shooting lanes 14 are connected end to obtain a first lane.
As a person skilled in the art, the requirement of the first three-dimensional modeling on the aerial photo may be the precision requirement of the first three-dimensional model, since the model is a coarse model, in order to meet the requirement of the second route planning, the resolution of the coarse model may be generally set to be 10-50 cm, and the shooting distance of the aerial camera is used to meet the resolution requirement, and the specific relationship is as follows: P/f=n/L, where P is the aerial camera pixel size, F is the aerial camera focal length, N is the resolution (ground sampling distance GSD), and L is the aerial camera shooting distance. The route planning reference line is used as a mark for indicating a target area on the bridge deck 5, and generally, the aerial photograph obtained along the extending direction of the bridge on the first route has higher photographing efficiency, so the route planning reference line is arranged on the bridge deck 5 and is parallel to the extending direction of the bridge deck 5. Further, the route distribution arc line 8 is obtained according to the route planning reference line and the shooting distance of the aerial photography instrument, the route distribution arc line 8 is located on the section perpendicular to the extending direction of the bridge, the distance from each point of the route distribution arc line 8 to the route planning reference line is equal to the shooting distance of the aerial photography instrument, meanwhile, the shooting route 14 parallel to the extending direction of the bridge is obtained by utilizing the route distribution arc line 8 through the hardware parameters and the setting parameters of the aerial photography instrument, the specific number of the shooting route 14 is also determined by the shooting data requirement, the width of a target area and the like, for example, if the bridge structure is complex, the number of the shooting route 14 can be increased to obtain more aerial photograph data; if the frame of the camera is large, the number of shooting lanes 14 can be reduced appropriately, and the working time can be reduced. Thus, under any shooting point 15 of the shooting route 14, different coverage areas with a drawing in the width 9 direction of the bridge deck are selected according to different routes, for example, the shooting route 14 at a higher position in the height direction obtains that the coverage area of the aerial photograph is closer to the position on the opposite side of the bridge. In particular use, regarding the shooting attitude of the aerial camera, when the position of the shooting point 15 is located above the bridge deck 5, the FOV angle of the aerial camera is inclined downward, and in the extending direction of the bridge, the drawing coverage area may be located in front of, behind the shooting point 15 or on the same line in the width direction of the bridge. Further, since the shooting routes 14 are all located on the side of the bridge, in order to obtain a complete first route planning, the shooting routes 14 are connected in an end-to-end route planning manner to obtain a complete route located on a single side of the bridge. In a specific application, according to the number of the set shooting lanes 14 or the interval angle, the positions between the bottommost shooting lane 14 and the top shooting lane 14 can be equally divided to obtain the positions of the middle shooting lane 14, so as to form a plurality of independent shooting lanes 14.
In a specific embodiment, the route planning datum line is a central axis 4 which is positioned on the bridge deck 5, parallel to the extending direction of the bridge deck 5 and positioned in the middle of the width 9 direction of the bridge deck;
the shooting distance is obtained through the requirement of the first three-dimensional modeling on the ground sampling distance of the aerial photo;
planning route distribution arcs 8 on two sides of the bridge deck 5, and planning a first route on each side of the bridge deck 5 through each route distribution arc 8. Regarding the route planning datum line, the technical scheme is that in order to complete the first three-dimensional modeling, image data of each position of the bridge deck 5 is obtained, and corresponding first route is used for obtaining aerial photograph data of each position in the width 9 direction of the bridge deck; with respect to the shooting distance, since the focal length of the aerial camera and the pixel size are determined, the shooting distance can be obtained according to the resolution/ground sampling distance requirement, and with respect to the resolution/ground sampling distance, it should be noted in particular that: the value may be a point value or a range value that satisfies the requirement. And planning out the route distribution arc line 8 on both sides of the bridge deck 5 and obtaining the first route of each side, aiming at improving the modeling precision of the first three-dimensional model by utilizing the aerial pieces obtained by the first routes on both sides, thereby improving the planning precision of the second route. In a specific implementation, since the bridge has a straight-line walking shape and a curved walking shape, the first routes on two sides of the bridge may be planned to be symmetrical to each other, but in consideration of the aerial image capturing efficiency, when the capturing area covers or is connected to the curved section of the bridge, the lengths of the capturing routes 14 on the first routes on each side are not necessarily equal, for example, the length of the capturing route 14 on the outer side of the bend is greater than the length of the capturing route 14 on the inner side of the bend. As one skilled in the art, the photographing course 14 on the inside of the bend is the inside course 12 provided in fig. 9, and the photographing course 14 on the outside of the bend is the outside course 13 provided in fig. 9.
In one particular embodiment, the shooting lane 14 includes a bottom lane 1, a top lane 2, and a middle lane 3;
in the height direction, the bottom course 1 is positioned below the middle course 3, the bottom course 1 is flush with the bridge deck 5, and the middle course 3 is positioned below the top course 2;
in the horizontal direction, the distance between the top course 2 and the side of the bridge deck 5 or the distance between the top course 2 and the side of the bridge roof building 6 is larger than the diameter of the unmanned aerial vehicle. According to the scheme, the navigation problem under the condition of GNSS signal loss is not needed to be considered, and the acquired image data or the constructed three-dimensional model can be applied to bridge defect judgment aiming at a common bridge, and meanwhile, the specific route scheme of unmanned aerial vehicle flight safety is considered in route planning. When the bridge is particularly used, aiming at the first route at any side of the bridge, the bottom route 1 is used for acquiring bridge side image data, the middle route 3 and the top route 2 are used for acquiring bridge deck 5 image data (according to the lens orientation angle, the bridge side image data can also be acquired), and the higher shooting route 14 is still used for acquiring the image data acquisition mode closer to the edge of the opposite bridge deck 5. With respect to the definition of the lateral distance of the top course 2 from the deck 5 or of the bridge roof building 6, it is in fact the height of the top course 2 that is defined, to cope with the following problems: the position of the bridge deck 5 edge in space or in a space coordinate system can be accurately obtained through the basic data, and in the height direction, the problem that the first route planning is influenced or the first route is not available is generally not caused by the shooting route 14 passing through the route distribution arc line 8 and the lower position, and whether the shooting route 14 passing through the point is available or not is more likely to be influenced by the bridge roof building 6 is solved or reduced by adopting the method. Preferably, unmanned aerial vehicle that uses in this scheme adopts many rotor unmanned aerial vehicle, the diameter can select in 50~300cm according to the flight needs. While as a person skilled in the art, with respect to the above GNSS signals, it is actually relevant to the relative position of the shooting lane 14 and the bridge.
In a specific embodiment, in step S3, the unmanned aerial vehicle carries the aerial camera to avoid the obstacle through an obstacle avoidance module on the unmanned aerial vehicle or the aerial camera in the process of flying along the first route;
when the obstacle avoidance module triggers the obstacle avoidance action, the first route is planned again and the step S3 is executed again;
the manner of rescheduling the first route is any one of the following:
increasing the shooting distance of the aerial camera;
increasing the horizontal distance of the top course 2 from the side of the deck 5 or increasing the horizontal distance of the top course 2 from the side of the bridge roof building 6. The scheme provides a specific scheme for avoiding obstacle emergency possibly occurring under the flight of a first route, which specifically comprises the following steps: when planning a first route and executing step S3, as the details of the bridge roof construction 6 cannot be obtained from the satellite map data, the obstacle avoidance action may be triggered when executing the first route, so that the obstacle avoidance function is set in step S3, and the first route planning is performed again after the obstacle avoidance action is triggered, so as to ensure the modeling quality of the first three-dimensional model, and provide an adjustment mode of the first route, and the distance of shooting by the aerial camera is increased, namely, the radius of the route distribution arc 8 is increased, so that the distance of the shooting route 14 from the bridge is further; by increasing the horizontal distance, i.e. lowering the height of the top course 2, it is essentially also the distance of the top course 2 from the bridge side.
In one embodiment, it is determined whether the bridge roof building 6 affects the flight safety of the first course connections on both sides of the bridge deck 5, and when not affecting, the first courses on both sides of the bridge deck 5 are integrated in one complete course with the shortest course principle; when affected, setting the first airlines on both sides of the bridge deck 5 as mutually independent airlines;
the judging mode of the flight safety is any one of the following modes:
the basic data of the bridge also comprises construction data of a bridge roof building 6, and before executing the step S3, an operator judges whether flight safety is affected or not through the construction data of the bridge roof building 6;
and step S3 is executed on one side of the bridge, aerial photos are obtained, and whether the flight safety is affected is judged by carrying out picture identification on the aerial photos. The technical scheme aims at improving the acquisition efficiency of the aerial photo applied to the first three-dimensional modeling, provides a technical scheme for connecting the aerial lines on two sides of the bridge under the condition of not affecting the flight safety, and sets the aerial lines on two sides of the bridge as mutually independent aerial lines under the condition of affecting the flight safety, and provides a specific flight safety judging mode. One of the ways is to complete the judgment by using the existing data before executing step S3, specifically, the method includes: the specific type of the bridge can be judged through satellite remote sensing data, aerial photo data, bridge design file data and field measurement data, and when the judging result shows that the bridge of the type does not have a bridge top building 6 or the height of the bridge top building 6 does not influence the first route planning, the bridge can be determined to be safe by connecting the top routes 2 on two sides of the bridge according to the shortest distance principle; in another mode, the aerial photograph obtained in the step S3 is utilized to perform safety judgment, when the aerial photograph is used specifically, the aerial photograph device carried by the aircraft firstly completes image data acquisition according to planned first route flight on a single side of a bridge, the acquired image data comprise bridge top building 6 construction data, whether the two-side route connection of the current position of the aerial photograph affects flight safety can be judged from the bridge top building 6 construction data through an image recognition algorithm, and whether the two-side route connection of the current position affects flight safety or whether the two-side route connection is completed or not is judged according to the change rule of the bridge top building 6 construction obtained according to the bridge top building 6 construction data. When the method is specifically used, in order to facilitate aerial photo collection efficiency, firstly, data are constructed through the bridge roof building 6, before executing the step S3, an operator judges whether flight safety is affected or not through the bridge roof building 6 construction data, and when judging that the bridge roof building 6 affects the flight safety, the aerial photo obtained in the step S3 further judges whether the possibility of connecting the aerial lines on two sides of the bridge exists or not.
In a specific embodiment, the method for judging whether to influence the flight safety by adopting picture identification is as follows: judging the top building condition of the bridge in the imaging area by utilizing a plurality of aerial sheets of which the imaging area exceeds the edge of the bridge deck 5 on the opposite side of the bridge on the first route;
the aerial pieces are aerial pieces obtained through a plurality of continuous shooting points 15 on a first route. In this scheme, the plurality of aerial photographs of the imaging area beyond the edge of the bridge deck 5 on the opposite side of the bridge are aerial photographs which can be obtained in step S3 and are most valuable for the bridge roof building 6, and the continuous plurality of photographing points obtain the photographs so that the image data can reflect the construction rule or development rule of the bridge roof building 6.
Example 4:
the present embodiment provides, on the basis of embodiment 1, an route planning apparatus for implementing the route planning method described in embodiment 1.
Example 5:
the present embodiment provides a more specific implementation manner based on embodiment 1:
the technical problems aimed at by this embodiment are:
because the environment where some bridges are located is complex, such as crossing rivers, mountains, canyons and the like, great inconvenience is brought to the detection of the bridges, the bridges are different in variety, various in structure and huge in whole, the coarse model of one bridge can be acquired firstly, then route planning is carried out according to the coarse model, and detailed and accurate route planning is obtained through the coarse model data.
The setting purposes of the related technical means include: the method for producing the bridge coarse model can rapidly and safely obtain final route planning on the basis of the coarse model.
The specific technical means is as follows:
aiming at the bridge shown in fig. 1, the technical scheme is provided that a coarse die is constructed by aerial photos collected by an aircraft carrying camera, specifically, the method is carried out according to the following set mode to obtain a bridge aerial photo, and then the aerial photo modeling is carried out to obtain the bridge coarse die.
The source of the basic data is satellite map data according to Google Earth or similar software, and the purpose is to obtain the basic condition of the bridge, including the approximate size, azimuth and altitude of the bridge deck 5. As shown in fig. 2, according to the above data, the central axis 4 of the bridge is obtained, and the central axis 4 of the bridge is: a line bisecting the bridge body in the same direction as the bridge body on the plane of the bridge deck 5. Then, the shooting course 14 shown in fig. 2 is obtained, specifically (refer to fig. 3 to 6): obtaining bridge deck width 9, wherein the width can be obtained by map data measurement, field actual measurement and design file, and the obtaining mode of the data is not limited in the embodiment; setting a bottom distance 10, wherein the parameter is set by an operator, and in a normal case, according to the pixel size, the lens focal length and the resolution requirement of a camera, the coarse mode resolution adopts 10 cm-50 cm, the distance between the camera and the central axis 4 is calculated, and then the bridge deck width 9 of 1/2 is subtracted, so that the bottom distance 10 can be obtained. In actual operation, the operator can also manually enlarge or reduce the bottom distance 10 according to factors such as whether shielding objects exist around the bridge. In this embodiment, to determine the top route 2, a top safety distance of 50cm (obtained according to the size of the unmanned aerial vehicle used) is set, and the parameter is a safety distance of the aircraft-mounted camera close to the building, usually 0.5-3m, and the actual parameter operator can manually adjust according to the navigation precision, the unmanned aerial vehicle robustness, and the like. On the bridge section perpendicular to the bridge central axis 4, a bridge deck width 9+bottom distance 10 of 1/2 is taken as a radius, the central axis 4 is taken as a circle center, an arc line of the obtained circle on the side surface of the bridge is a route distribution arc line 8, the arc line is determined to be a bottom route 1 intersecting with the plane of the bridge deck 5, a top route 2 intersecting with the plane of the top distance 11, and an operator can set the number of routes or route interval angles according to the conditions of field conditions, camera parameters and the like, such as selecting whether to set a middle route 3 and setting the number and the positions of the middle routes 3. For example: if the bridge structure is complex, the number of shooting routes 14 can be increased (more middle routes 3 are arranged) to obtain more shooting data; if the frame of the camera is larger, the number of airlines can be properly reduced, the operation time is reduced, and the like, specifically: the positions of the bottom route 1 and the top route 2 are divided equally according to the number of routes or the interval angle, and each position is provided with a middle route 3, so that the independent shooting route 14 is obtained. As shown in fig. 9, each time the length of the shooting route 14 is planned, it is determined according to the bridge situation, and if the whole bridge is a straight line, the route length can be directly set as the bridge length; if the bridge has a bending part, the operator sets the length of each section of route according to the map information. In this embodiment, the route lengths on both sides of the bridge may be set to the same value, or may be set to different values, but all the shooting routes 14 on the same side are the same in length at the same time. Then, all the shooting routes 14 on the same side are connected in a ending manner, and all the shooting routes 14 on the same side are connected to form a complete route. As shown in fig. 10, the shooting points 15 are then planned on the shooting course 14 according to parameters of the camera (such as the shooting range 16 confirmed in connection with the relative position), the overlapping rate, and the like. In this embodiment, as shown in fig. 7 and 8, based on the principle that the FOV angle (field of view range) of the camera can always cover the bridge edge at a far position at any shooting point 15, the pitching angle of the pan-tilt of the waypoint on each route is calculated, the lens orientation angle of the camera is calculated according to parameters such as the frame of the camera and the focal length of the lens, and then the pitching angle range of the pan-tilt meeting the requirements is calculated according to the position of the route and the bridge deck width 9. Through the method, the first route planning is completed, the unmanned aerial vehicle is carried on the aerial camera, shooting is carried out according to the mode, the obtained aerial photo is utilized to complete the modeling of the first three-dimensional model, and the coarse model of the bridge deck 5 position can be obtained.
The first route shown in fig. 11 is obtained by using the method, so that the related data can be acquired quickly and safely, and the method is basically applicable to other types of bridges.
In the specific implementation, regarding a first route planned on two sides of a bridge, according to specific conditions, whether the unmanned aerial vehicle opens a safety mode or not under the flight of the first route is selected, if an operator considers that the middle part of the bridge possibly affects the flight safety, the safety mode is opened, two routes on two sides of the bridge are not connected, and two independent routes are formed. If the operator thinks that the middle part of the bridge does not influence the flight safety, the safety mode is canceled, an orthographic route parallel to the bridge deck 5 is added between the two sections of routes, and the two sections of routes at the two sides of the bridge are connected to form a complete route. Of course, the person skilled in the art may also determine whether there is an orthographic route setup position and a specific setup position of the orthographic route by using the aerial pieces already acquired under the first route in the above manner or other manners.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (9)

1. The route planning method of the bridge is characterized by comprising the following steps of:
s1, obtaining basic data of a bridge, wherein the specific data of the basic data comprise bridge deck height data, azimuth data and size data of the bridge;
s2, planning a first route positioned on the side face of the bridge through the basic data, wherein the first route is used for: performing first three-dimensional modeling on the bridge deck position by using the aerial photo obtained on the first aerial;
s3, carrying an aerial camera by the unmanned aerial vehicle to fly along a first route, collecting aerial photos, and establishing a first three-dimensional model by using the collected aerial photos;
s4, planning a second route positioned on the side face of the bridge by using the first three-dimensional model, wherein the second route is used for: performing a second three-dimensional modeling on the bridge deck position by using the aerial photo obtained on the second aerial or collecting the aerial photo only through the second aerial;
in step S2, the first route is planned in the following manner:
obtaining the shooting distance of an aerial camera according to the set requirement of the first three-dimensional modeling on the aerial photo, and marking an aerial planning datum line on the bridge deck, wherein the aerial planning datum line is positioned on the bridge deck and is parallel to the extending direction of the bridge deck;
Obtaining a route distribution arc on the side surface of the bridge deck through the route planning datum line and the shooting distance of the aerial photography instrument, wherein the route distribution arc is a circular arc with the circle center positioned on the route planning datum line and the radius of the circular arc being the shooting distance of the aerial photography instrument;
according to the size of the frame area of the aerial photography instrument, a shooting route on a first route is obtained through the route distribution arc line, and the shooting route is as follows: the arc line is distributed through the route and is parallel to the extending direction of the bridge deck;
the shooting route is a plurality of shooting routes;
when the number of shooting routes is greater than 1, connecting adjacent shooting routes end to obtain a first route.
2. The method according to claim 1, wherein in step S1, the source of each specific data in the basic data is one or more of the following data: satellite remote sensing data, aerial photo data, bridge design file data and field measurement data.
3. A method of planning a route for a bridge according to claim 2, wherein the base data is obtained from satellite remote sensing data, which is satellite map data from Google Earth.
4. The method for planning a route of a bridge according to claim 1, wherein the route planning reference line is a central axis which is positioned on the bridge deck, parallel to the extending direction of the bridge deck, and positioned in the middle of the width direction of the bridge deck;
the shooting distance is obtained through the requirement of the first three-dimensional modeling on the ground sampling distance of the aerial photo;
planning route distribution arcs on two sides of a bridge deck, and planning a first route on each side of the bridge deck through each route distribution arc.
5. A method of planning a route for a bridge according to claim 1 or 4, wherein the photographed route comprises a bottom route, a top route and a middle route;
in the height direction, the bottom course is positioned below the middle course, the bottom course is flush with the bridge deck, and the middle course is positioned below the top course;
in the horizontal direction, the distance between the top course and the side of the bridge deck or the distance between the top course and the side of the bridge top building is greater than the diameter of the unmanned aerial vehicle.
6. The method according to claim 5, wherein in step S3, the unmanned aerial vehicle carries the aerial camera to avoid the obstacle through an obstacle avoidance module on the unmanned aerial vehicle or the aerial camera during the flight along the first route;
When the obstacle avoidance module triggers the obstacle avoidance action, the first route is planned again and the step S3 is executed again;
the manner of rescheduling the first route is any one of the following:
increasing the shooting distance of the aerial camera;
increasing the horizontal distance between the top course and the side of the bridge deck or increasing the horizontal distance between the top course and the side of the bridge top building.
7. The method for planning a route for a bridge according to claim 4, wherein it is determined whether the bridge roof construction affects the flight safety of the first route connections on both sides of the bridge deck, and when not affected, the first routes on both sides of the bridge deck are integrated in a complete route by a shortest route principle; when the influence is exerted, the first airlines on the two sides of the bridge deck are set as mutually independent airlines;
the judging mode of the flight safety is any one of the following modes:
the basic data of the bridge also comprises bridge top building construction data, and before executing the step S3, an operator judges whether flight safety is affected or not through the bridge top building construction data;
and step S3 is executed on one side of the bridge, aerial photos are obtained, and whether the flight safety is affected is judged by carrying out picture identification on the aerial photos.
8. The method for planning a route of a bridge according to claim 7, wherein the method for judging whether to affect the flight safety by using picture recognition is as follows: judging the top building condition of the bridge in the imaging area by utilizing a plurality of aerial sheets of which the imaging area exceeds the edge of the bridge deck at the opposite side of the bridge on the first route;
the aerial photos are aerial photos obtained through a plurality of continuous shooting points on the first route.
9. An airliner apparatus for implementing an airliner method as defined in any one of claims 1 to 8.
CN202311032588.4A 2023-08-16 2023-08-16 Route planning method and device for bridge Active CN116753962B (en)

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