CN210090988U

CN210090988U - Unmanned aerial vehicle system of patrolling and examining

Info

Publication number: CN210090988U
Application number: CN201920486808.3U
Authority: CN
Inventors: 颜琼; 李华伟; 王文昆; 罗梓河; 王贤; 朱义明
Original assignee: Zhuzhou CSR Times Electric Co Ltd
Current assignee: Zhuzhou CRRC Times Electric Co Ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2020-02-18
Anticipated expiration: 2029-04-11

Abstract

The utility model discloses an unmanned aerial vehicle system of patrolling and examining, at the automatic operation in-process of patrolling and examining, machine carries data processing unit and sends bridge surface data acquisition control signal to cloud platform camera, and machine carries data processing unit and sends flight control signal to unmanned aerial vehicle. Bridge video data collected by the cloud deck camera are sent to the first image radio station through the airborne data processing unit, and the bridge video data are sent by the first image radio station and received by the second image radio station to be displayed and monitored. First digital radio station links to each other with airborne data processing unit, and the second digital radio station links to each other with the ground station, and unmanned aerial vehicle system and ground end system realize unmanned aerial vehicle's control command and flight status data interactive transmission through first digital radio station and second digital radio station. The utility model discloses can solve current mode of patrolling and examining and mainly rely on manual operation unmanned aerial vehicle to gather bridge surface data, degree of automation is low, work load is big, the poor stability of acquireing data, the low technical problem of security.

Description

Unmanned aerial vehicle system of patrolling and examining

Technical Field

The utility model belongs to the technical field of the engineering detects technique and specifically relates to an utilize unmanned vehicles to realize the system that bridges such as railway, highway patrol and examine.

Background

By 2017, the national railway operating mileage reaches 12.7 kilometers, wherein 2.5 kilometers of high-speed rails are calculated according to the proportion that the bridges account for 52% of the lines, and the high-speed rail bridges in China have about ten thousand kilometers. The proportion of the cumulative length of the bridge between the Jingjin intercity to the total length of the whole line is 86.6%, the Jinghu high-speed rail is 80.5%, the Guangzhu intercity is 94.0%, the Wuguan-Guangdong special purpose is 48.5%, and the Kazakh special purpose is 74.3%. 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. The bridge detection types are divided into three types, namely regular detection, periodic detection and special detection. And the frequent detection is performed by road section detectors or bridge maintenance personnel. The regular detection is a comprehensive detection for regularly tracking the quality condition of the bridge structure. The special detection is that experts comprehensively observe, measure strength and detect defects of the bridge according to certain physical and chemical non-damage detection means for various special reasons, and aims to find out the definite reason, degree and range of damage and analyze the consequences caused by the damage and the danger possibly brought to the structure by potential defects. The bridge detection significance is mainly embodied in the following aspects:

firstly, through regular detection of the bridge, a relevant file of the technical condition of the bridge can be established and perfected;

secondly, the bridge is regularly detected, so that the health condition of the bridge can be detected, and further diseases can be found or the development of the diseases can be controlled in time;

thirdly, the bridge is periodically detected, so that the technical condition of the bridge can be evaluated, objective and detailed statistical data can be formed, and important reference data can be provided for maintenance, reinforcement, technical transformation and the like of the bridge;

fourthly, the bridge is regularly detected, potential safety hazards of the bridge can be timely found, and therefore safety accidents can be effectively prevented.

Generally, the specific sites for bridge inspection mainly include: the bridge comprises the bridge bottom surface, the outer edge surface, a base, a sidewalk, a pier body, a side fence and other areas, as shown in attached figures 1 and 2. As shown in fig. 2, G is a sidewalk of a bridge and H is a rail. 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, but the method needs more personnel, has large manual participation proportion, long time, high labor intensity, low efficiency and high cost, and the detection effect is directly related to the experience and responsibility of inspectors, so that the increasingly growing bridge maintenance requirements cannot be met. Along with the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle is used as novel equipment, a high-efficiency and safe method is provided for bridge detection, and the unmanned aerial vehicle can replace the traditional detection means to be widely applied to the 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. At present stage unmanned aerial vehicle patrols and examines bridge and mainly relies on staff remote control unmanned aerial vehicle, has the technical problem in several aspects below:

1. the environment of the bridge is complex, and the bridge spans across rivers, lakes and canyons, so that a lot of inconvenience is brought to the operation of the unmanned aerial vehicle by workers;

2. the bridge structure is complex, the parts needing to be inspected are many, the bridge structure comprises a pier body, an outer edge surface, a railing, a pier, a bridge bottom surface and the like, the workload is high, and the unmanned aerial vehicle is complex to operate and needs high skills;

3. the unmanned aerial vehicle is required to be operated manually all the time in the routing inspection process, the efficiency is low, the flight safety guarantee of the unmanned aerial vehicle is totally dependent on the proficiency and working attitude of operators, and safety accidents are easy to occur;

4. the GNSS signal on the bottom surface of the bridge is shielded, the unmanned aerial vehicle flies without the GNSS signal, the navigation and positioning are completely operated by remote control of workers, the technical difficulty and potential safety hazard of the unmanned aerial vehicle for inspecting the bridge are greatly increased, and the crash accident of the unmanned aerial vehicle is easy to occur;

5. the unmanned aerial vehicle is operated by workers to shake, so that the acquired image data is unclear and stable, and further the subsequent data analysis and defect detection are influenced;

6. the illumination of the bridge base area is shielded, and the acquired image data is not clear and bright enough, so that the difficulty is brought to subsequent image processing and defect analysis and detection.

In the prior art, chinese invention applications CN105551108A and CN105501248A respectively disclose a railway line patrol inspection method and system. Furthermore, documents such as CN104762877A, CN106645205A, CN204833672U, CN104843176A, CN105460210A, CN106054916A, CN205366074U, CN106320173A, CN107748572A, CN108051450A, CN108284953A, CN108177787A, and CN207173986U also propose a technical scheme of using an unmanned aerial vehicle as a platform, carrying a high-definition camera to acquire bridge data, and completing bridge detection. However, these solutions all have the following significant drawbacks:

1. the application mainly depends on the operation of the unmanned aerial vehicle by workers to acquire the bridge surface data, and has the advantages of low automation degree, large workload, poor stability of acquired data and low safety;

2. the bridge structure is complex, the shapes of different parts are greatly different, the detection of different parts needs professional methods and means, and the application does not provide a targeted detection method for each part of the bridge;

3. faults such as low electric quantity and communication loss can occur in the detection process of the unmanned aerial vehicle, and the application does not provide a processing method under the fault condition;

4. the environment under the bottom surface of the bridge is complex, various obstacles exist, and effective evasion needs to be carried out, and no effective method is provided in the above applications.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an unmanned aerial vehicle system of patrolling and examining to solve the current mode of patrolling and examining and mainly rely on manual operation unmanned aerial vehicle to gather bridge surface data, degree of automation is low, work load is big, the poor stability of acquisition data, the low technical problem of security.

In order to realize the above utility model, the utility model particularly provides an unmanned aerial vehicle system of patrolling and examining's technical implementation scheme, unmanned aerial vehicle system of patrolling and examining, include: unmanned aerial vehicle system and ground terminal system, unmanned aerial vehicle system further includes unmanned aerial vehicle, and carries on airborne data processing unit, cloud platform camera, first data radio station and first picture radio station on the unmanned aerial vehicle. The ground end system further comprises a ground station, a second data transmission radio station and a second picture transmission radio station. In the automatic inspection operation process, the airborne data processing unit sends a bridge surface data acquisition control signal to the holder camera, and the airborne data processing unit sends a flight control signal to the unmanned aerial vehicle. Bridge video data collected by the cloud deck camera are sent to a first image radio station through an airborne data processing unit, and the bridge video data are sent by the first image radio station and received by a second image radio station to be used for displaying and monitoring. The first data transmission radio station is connected with the airborne data processing unit, the second data transmission radio station is connected with the ground station, and the unmanned aerial vehicle system and the ground end system are communicated with each other through the first data transmission radio station and the second data transmission radio station to achieve control instructions and flight state data interaction transmission of the unmanned aerial vehicle.

Further, the unmanned aerial vehicle system including carry on unmanned aerial vehicle, and with the orientation module that airborne data processing unit links to each other, airborne data processing unit acquires through orientation module unmanned aerial vehicle's coordinate positioning information.

Further, the unmanned aerial vehicle system including carry on unmanned aerial vehicle to with the continuous obstacle module of keeping away of airborne data processing unit, airborne data processing unit is through keeping away the obstacle module for unmanned aerial vehicle provides the distance information of barrier. The obstacle avoidance module adopts any one or combination of multiple of a millimeter wave radar, an ultrasonic sensor, an infrared distance measurement sensor and a laser distance measurement sensor.

Further, the unmanned aerial vehicle system including carry on unmanned aerial vehicle, and with the inertial measurement module of airborne data processing unit, airborne data processing unit acquires through inertial measurement module unmanned aerial vehicle's acceleration and angular velocity signal.

Further, the unmanned aerial vehicle system is including carrying on unmanned aerial vehicle is last, and with the visual module that the airborne data processing unit links to each other. The vision module and the inertia measurement module form a vision positioning and map building functional unit for providing the unmanned aerial vehicle with vision navigation information in a positioning signal-free environment.

Further, the unmanned aerial vehicle system is including carrying on unmanned aerial vehicle is last, and with the laser radar that the airborne data processing unit links to each other. The laser radar and the inertia measurement module form a laser positioning and mapping functional unit, and are used for providing three-dimensional point cloud information under a positioning signal-free environment for the unmanned aerial vehicle.

Further, the unmanned aerial vehicle system is including setting up on the unmanned aerial vehicle, and with the airborne storage module that airborne data processing unit links to each other. And the image data which is captured by the holder camera and used for defect detection is stored in the airborne storage module through the airborne data processing unit. After the unmanned aerial vehicle finishes the automatic inspection operation, the image data is transferred to the ground station by the airborne storage module.

Further, the unmanned aerial vehicle system is including carrying on unmanned aerial vehicle is last, and with the continuous light filling module of airborne data processing unit. And the airborne data processing unit controls the light supplement module to provide a light source for the pan-tilt camera to acquire data in a low-illumination environment.

Further, the unmanned aerial vehicle system comprises a flight control module which is carried on the unmanned aerial vehicle and connected with the airborne data processing unit. The ground station generates a patrol route which is transmitted to the airborne data processing unit through the second data transmission radio station and the first data transmission radio station, the airborne data processing unit writes the flight control module in, and the unmanned aerial vehicle automatically patrols and examines according to the patrol route written in the flight control module.

Furthermore, the ground terminal system comprises a first display screen and a second display screen, the first display screen is connected with the second picture transmission platform, and the second display screen is connected with the ground station. And the image data transferred and stored by the airborne storage module is displayed through the second display screen. And the video data collected by the holder camera is received by the second picture transmission station and then is displayed and monitored by the first display screen.

Furthermore, the inspection system further comprises a handheld locator, and when the bridge defect needs to be maintained, the ground end system sends the positioning coordinate and the azimuth angle information of the position where the defect is located to the handheld locator.

Further, unmanned aerial vehicle system of patrolling and examining uses the railcar as the carrier, the railcar includes cab and carriage. Ground end system sets up in the cab, the unmanned aerial vehicle system sets up in the carriage, the communication antenna of second data radio and second picture radio sets up outside the automobile body of railcar. Or the unmanned aerial vehicle inspection system takes a motor vehicle as a carrier, and the motor vehicle comprises a cab and a container. Ground end system sets up in the driver's cabin, unmanned aerial vehicle system sets up in the cargo tank, the communication antenna of second data radio and second picture radio sets up outside the automobile body of motor vehicle.

Through implementing the aforesaid the utility model provides an unmanned aerial vehicle system of patrolling and examining's technical scheme has following beneficial effect:

(1) the utility model discloses unmanned aerial vehicle system of patrolling and examining can control unmanned aerial vehicle according to the route of patrolling and examining of loading and carry out automatic patrolling and examining operation, and whole bridge patrols and examines the process automation degree, stability and security high, and the bridge surface data quality who acquires is high, very is favorable to subsequent image processing and defect detection and location;

(2) the utility model discloses unmanned aerial vehicle system of patrolling and examining adopts and carries on inertial measurement module, vision module and laser radar on unmanned aerial vehicle platform, can realize the location and the navigation of unmanned aerial vehicle under no GNSS signal environment through vision SLAM and laser SLAM;

(3) the utility model discloses unmanned aerial vehicle system of patrolling and examining, cloud platform camera carry out video acquisition and image snapshot according to the parameter of setting for in the automatic process of patrolling and examining, and the video that cloud platform camera gathered sends to ground end system and shows, and the snapshot image is transferred to the ground station through on-vehicle storage device, and the ground station carries out defect detection and location according to the image of snapshot in the automatic process of patrolling and examining operation, and unmanned aerial vehicle flight's security and defect location's precision are high;

(4) the utility model discloses unmanned aerial vehicle system of patrolling and examining, the light filling module can provide the light source for the cloud platform camera under the low light level environment under the bridge bottom surface, guarantees the clarity, the bright of gathering the image to realize the full coverage of bridge surface high quality data and gather;

(5) the utility model discloses unmanned aerial vehicle system of patrolling and examining can carry on railcar or motor vehicle, has that degree of automation is high, the security is good, and do not influence advantages such as train operation, can be all day operation, can improve unmanned aerial vehicle by a wide margin and patrol and examine the efficiency and the security of bridge.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be derived by a person skilled in the art without inventive effort.

FIG. 1 is a schematic structural view of a bridge under inspection;

FIG. 2 is a schematic structural diagram of a bridge under inspection at another view angle;

FIG. 3 is a block diagram of a bridge inspection system according to one embodiment of the present invention;

FIG. 4 is a schematic diagram of the working principle of one embodiment of the bridge inspection system of the present invention;

fig. 5 is a block diagram of the structure of the unmanned aerial vehicle system in one embodiment of the bridge inspection system of the present invention;

FIG. 6 is a schematic block diagram of image data positioning in one embodiment of the bridge inspection system of the present invention;

FIG. 7 is a schematic block diagram of the bridge inspection system of the present invention illustrating the location of the inspection defect in one embodiment;

FIG. 8 is a functional block diagram of a bridge data management module in one embodiment of the bridge inspection system of the present invention;

FIG. 9 is a schematic front view of a bridge inspection system according to an embodiment of the present invention, with a rail car as a platform;

FIG. 10 is a schematic top view of a bridge inspection system according to an embodiment of the present invention, wherein the structure of the bridge inspection system is a platform of a rail car;

FIG. 11 is a schematic structural diagram of a bridge inspection system according to an embodiment of the present invention, in which a motor vehicle is used as a platform;

FIG. 12 is a process flow diagram of a bridge inspection method based on the system of the present invention;

FIG. 13 is a schematic view of a reference station according to an embodiment of the bridge inspection system of the present invention;

in the figure: 1-unmanned aerial vehicle system, 2-ground terminal system, 3-handheld locator, 4-reference station, 5-host, 6-radio station, 7-transmitting antenna, 8-foot stand, 9-battery, 10-unmanned aerial vehicle, 11-airborne data processing unit, 12-pan-tilt camera, 13-first data transmission radio station, 14-first picture transmission radio station, 15-airborne storage module, 16-flight control module, 17-inertial measurement module, 18-vision module, 19-laser radar, 110-obstacle avoidance module, 111-positioning module, 112-light supplement module, 113-barometer, 20-ground station, 21-first display screen, 22-second data transmission radio station, 23-second picture transmission radio station, 24-second display screen, 100-railcar, 101-cab, 102-car, 103-telescopic platform, 200-motor vehicle, 201-cab, 202-cargo box.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 3 to fig. 13, the present invention provides a specific embodiment of the inspection system for unmanned aerial vehicles, and the present invention is further described with reference to the accompanying drawings and the specific embodiment.

Example 1

As shown in fig. 3, one the utility model discloses unmanned aerial vehicle system of patrolling and examining's embodiment specifically includes: a drone system 1 and a ground-end system 2. The unmanned aerial vehicle system 1 further includes an unmanned aerial vehicle 10, and an onboard data processing unit 11, a pan-tilt camera 12, a flight control module 16, an obstacle avoidance module 110 and a positioning module 111 mounted on the unmanned aerial vehicle 10, and the ground end system 2 further includes a ground station 20. The unmanned aerial vehicle 10 performs a first inspection operation on a bridge to be detected under manual operation, performs bridge surface data acquisition through the pan-tilt camera 12, and generates an inspection route according to a positioning signal (for example, a GNSS signal is adopted, a global navigation Satellite System is used, and a global navigation Satellite System is called for short, and a global navigation Satellite System such as GPS, Glonass, Galileo, and beidou Satellite navigation System is used) acquired by the positioning module 111. The unmanned aerial vehicle 10 automatically patrols and examines according to the route of patrolling and examining of writing in flight control module 16, and airborne data processing unit 11 processes according to the data of keeping away barrier module 110 and sends to control unmanned aerial vehicle 10 through flight control module 16 and carry out automatic obstacle-avoiding emergency treatment. The bridge inspection system designs an accurate unmanned aerial vehicle inspection route and a data acquisition method and a safety fault handling mechanism aiming at each part according to the appearance structure of the detected bridge. The pan-tilt camera 12 performs video acquisition and image capturing according to set parameters in the automatic inspection operation process, the video acquired by the pan-tilt camera 12 is sent to the ground end system 2 to be displayed, and the ground station 20 performs defect detection and positioning according to the captured image in the automatic inspection operation process, as shown in fig. 4. The pan/tilt/zoom camera 12 may be an integrated structure, or a split structure in which the camera is mounted on the pan/tilt/zoom camera. The pan-tilt cameras 12 collect data at equal intervals or equal time intervals, so that the full coverage of the data collection on the surface of the bridge is ensured.

As shown in fig. 5, the unmanned aerial vehicle 10 is further equipped with an inertial measurement module 17, a vision module 18, a laser radar 19 and a light supplement module 112, and the inertial measurement module 17, the vision module 18, the laser radar 19 and the light supplement module 112 are all connected with the airborne data processing unit 11. Inertia measurement module 17, vision module 18 and laser radar 19 provide the navigation information under the no locating signal environment for unmanned aerial vehicle 10, and airborne data processing unit 11 is through gathering and calculating inertia measurement module 17, vision module 18 and laser radar 19's data, generates location, gesture and the scene map information to unmanned aerial vehicle 10 self position to realize that unmanned aerial vehicle 10 accomplishes autonomic location and navigation under no locating signal environment. The light supplement module 112 provides a light source for the pan/tilt camera 12 in a low illumination environment.

The ground station 20 receives the positioning coordinate data sent by the positioning module 111 and the obstacle avoidance data sent by the obstacle avoidance module 110 in real time, and displays the position of the unmanned aerial vehicle 10 in real time by combining the three-dimensional electronic map data of the detected bridge. The ground station 20 simulates the generated inspection route based on the three-dimensional map environment of the detected bridge to verify whether the inspection route meets the set inspection requirement, if so, the inspection route which is qualified after verification is stored, and the inspection route which is qualified after verification is written into the flight control module 16 to realize the automatic inspection operation of the unmanned aerial vehicle 10.

The unmanned aerial vehicle 10 is further provided with an airborne storage module 15, and the airborne data processing unit 11 completes data acquisition and processing of the pan-tilt camera 12, the inertia measurement module 17, the vision module 18, the laser radar 19, the obstacle avoidance module 110 and the positioning module 111. The airborne data processing unit 11 controls the posture and shooting of the pan-tilt camera 12, image data captured by the pan-tilt camera 12 is stored in the airborne storage device 15 through the airborne data processing unit 11, and after the unmanned aerial vehicle 10 completes automatic inspection operation, the image data is transferred to the ground station 20 through the airborne storage module 15. The ground-end system 2 further includes a second display screen 24 connected to the ground station 20, and the image data saved by the onboard Memory module 15 (for example, a Secure Digital Memory Card (SD Card) can be used) is displayed through the second display screen 24. In the automatic inspection operation process, the pan-tilt camera 12 performs video acquisition and image snapshot according to set parameters, and the positioning coordinates of the position where the unmanned aerial vehicle 10 is located, the attitude angle of the pan-tilt camera 12, the air route, the bridge and shooting time information are stored in the airborne storage device 15 during the fusion shooting of the snapshot images. The route information mainly comprises the name of the bridge and the position of the route inspection bridge (such as the bottom surface, the outer edge surface, the base, the pier body, the side fence and the like).

After the automatic inspection operation of the whole bridge is completed, the data in the onboard storage device 15 is transferred to the ground station 20. The unmanned aerial vehicle 10 is in the manual operation in-process to the bridge that needs to detect including bottom surface A, outer surface B, pavement bottom surface C, base D, pier shaft E and the region including sidebar F carry out the operation of patrolling and examining for the first time, and the regulation shooting angle of cloud platform camera 12 is controlled to machine-carried data processing unit 11 simultaneously, makes the formation of image reach the best effect. The ground station 20 fuses the information of the pan/tilt/zoom camera 12 including the attitude angle, the shooting angle, the frame rate, the focal length, and the exposure time into the flight path of the unmanned aerial vehicle 10, and generates a patrol path. The unmanned aerial vehicle 10 is further provided with an altimeter 113, when the unmanned aerial vehicle 10 is located in a no-positioning-signal area, the unmanned aerial vehicle system 1 acquires three-dimensional coordinates of the unmanned aerial vehicle 10 from a position of a loss point of a positioning signal through the inertial measurement module 17, the vision module 18 and the laser radar 19, and acquires elevation data through the altimeter 113 so as to realize navigation in a no-positioning-signal environment. Meanwhile, the unmanned aerial vehicle system 1 generates three-dimensional point cloud data of the detected area of the bridge through the inertial measurement module 17, the vision module 18 and the laser radar 19 to realize scene mapping.

The unmanned aerial vehicle 10 is further provided with a first data transmission radio station 13 and a first image transmission radio station 14, and the ground station system 2 further comprises a first display screen 21, a second data transmission radio station 22 and a second image transmission radio station 23. Video data collected by the pan-tilt camera 12 are sent to the first image transmission station 14 through the airborne data processing unit 11 for real-time transmission, the video data are received by the second image transmission station 23 and then displayed and monitored by the first display screen 21, compressed video streams are transmitted in real time, and video monitoring and data collection picture adjustment are facilitated. First radio data station 13 is connected to onboard data processing unit 11 and second radio data station 22 is connected to ground station 20. After the unmanned aerial vehicle 10 finishes the automatic inspection operation, the image data is transferred to the ground station 20 through the onboard storage module 15. The digital image processing is used for intelligently detecting defects of the captured images, the requirement on the resolution of the images is high, and a picture transmission system (comprising a first picture transmission radio station 14 and a second picture transmission radio station 23) cannot be transmitted to the ground station 20 in real time and can only be stored in an airborne storage device 15 (such as an airborne SD card) and then is transferred to the ground station 20. The unmanned aerial vehicle system 1 and the ground end system 2 realize the interactive transmission of the control instruction and the flight state data of the unmanned aerial vehicle 10 through the first digital transmission radio station 13 and the second digital transmission radio station 22. The interactive data between the first digital radio station 13 and the second digital radio station 22 mainly includes uplink data and downlink data, where the uplink data mainly includes: remote control instruction data, air route upload data, cloud platform camera parameter setting data, unmanned aerial vehicle flight setting data etc. down data mainly include: altimeter data, battery remaining data, cradle head state data, GNSS satellite data, obstacle avoidance module data, Inertial Measurement Unit (IMU) data, lidar data, flight state data, flight mileage data, and the like.

Keep away barrier module 110 further adopts arbitrary one or the combination of multiple in millimeter wave radar, ultrasonic sensor, infrared distance measuring sensor, the laser ranging sensor for survey the barrier around unmanned aerial vehicle 10, and keep away the barrier for unmanned aerial vehicle 10 and provide distance data. The positioning module 111 employs real-time dynamic positioning based on carrier phase observations to provide three-dimensional positioning information of the drone 10 in a specified coordinate system in real time.

As shown in fig. 7, the bridge inspection system further includes a handheld locator 3, and when the bridge defect needs to be repaired, the ground end system 2 sends the location coordinate and the azimuth information of the position of the defect to the handheld locator 3.

As shown in fig. 8, a bridge data management module 201 is further disposed on the ground station 20, and the bridge data management module 201 further includes:

the basic data input sub-module 202 is used for inputting basic information of the detected bridge; the basic bridge information includes: the name, type, length, route, number of piers (pier bodies), north GPS, east GPS, height of the bridge, and GPS (Global Positioning System, short for Global Positioning System) coordinates of the initial position of the bridge;

the detection data management submodule 203 is used for collecting and importing detection data, the detection data are classified and managed according to the bottom surface of the bridge, the outer edge surface, the bottom surface of the sidewalk, the base, the pier body and the side columns, meanwhile, the detection data can be browsed, inquired and searched, and comparison analysis is carried out on historical detection data;

the data analysis submodule 204 is used for realizing intelligent defect detection and artificial defect detection, the intelligent defect detection finishes automatic detection on defects through intelligent image recognition, and the artificial defect detection finishes identification, classification and calibration operations on the defects by checking original detection data through a worker based on a display interface;

and the inspection task planning submodule 205 is used for arranging a bridge inspection plan within the management range and prompting the inspection progress of the staff.

Example 2

The utility model provides an be applied to embodiment 1's unmanned aerial vehicle system of patrolling and examining embodiment specifically includes: the unmanned aerial vehicle 10 to and the onboard data processing unit 11, cloud platform camera 12, first data radio 13 and the first picture radio 14 of carrying on unmanned aerial vehicle 10. In the automatic inspection operation process, the airborne data processing unit 11 sends a bridge surface data acquisition control signal to the pan-tilt camera 12, and the airborne data processing unit 11 sends a flight control signal to the unmanned aerial vehicle 10. The cloud deck camera 12 acquires high-definition data of the bridge surface, bridge video data collected by the cloud deck camera 12 are sent to the first image radio station 14 through the airborne data processing unit 11, and the bridge video data are sent to the ground end system 2 through the first image radio station 14 to be displayed and monitored. The first data transmission radio station 13 is connected with the airborne data processing unit 11, and the unmanned aerial vehicle system 1 realizes interactive transmission of control instructions and flight state data of the unmanned aerial vehicle 10 between the unmanned aerial vehicle system 1 and the ground end system 2 through the first data transmission radio station 13.

As shown in fig. 5, the unmanned aerial vehicle inspection system further includes a positioning module 111 mounted on the unmanned aerial vehicle 10 and connected to the airborne data processing unit 11, and the airborne data processing unit 11 obtains the positioning information of the unmanned aerial vehicle 10 through the positioning module 111. The positioning module 111 specifically uses a differential RTK (Real Time Kinematic) module, which can ensure high-precision navigation and positioning of the unmanned aerial vehicle 10 in the presence of GNSS signals. The RTK is a GNSS measurement technology, and the RTK positioning technology is based on real-time dynamic positioning of carrier phase observation values, can provide a three-dimensional positioning result of a station to be measured (the unmanned aerial vehicle 10) in a specified coordinate system in real time, and achieves centimeter-level precision.

The unmanned aerial vehicle inspection system further comprises an obstacle avoidance module 110 which is carried on the unmanned aerial vehicle 10 and connected with the airborne data processing unit 11, and the airborne data processing unit 11 provides obstacle distance information for the unmanned aerial vehicle 10 through the obstacle avoidance module 110. Keep away barrier module 110 can further adopt arbitrary one or the combination of multiple in millimeter wave radar, ultrasonic sensor, infrared ranging sensor, the laser ranging sensor for survey the barrier around unmanned aerial vehicle 10, guarantee unmanned aerial vehicle 10's safe flight.

The unmanned aerial vehicle inspection system further includes an Inertial Measurement module 17 (i.e., IMU) mounted on the unmanned aerial vehicle 10 and connected to the onboard data processing Unit 11. The inertial measurement module 17 is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the drone 10. The onboard data processing unit 11 acquires the acceleration and angular velocity signals of the unmanned aerial vehicle 10 through the inertial measurement module 17.

The unmanned aerial vehicle inspection system further comprises a vision module 18 carried on the unmanned aerial vehicle 10 and connected with the onboard data processing unit 11. The vision module 18 and the inertial measurement module 17 form a vision SLAM (i.e., a positioning and Mapping functional unit) for providing the unmanned aerial vehicle 10 with the vision navigation information in the environment without the positioning signal. The unmanned aerial vehicle inspection system further comprises a laser radar 19 which is carried on the unmanned aerial vehicle 10 and is connected with the airborne data processing unit 11. The laser radar 19 and the inertial measurement module 17 constitute a laser SLAM (i.e., a positioning and Mapping functional unit) for providing three-dimensional point cloud information in an environment without a positioning signal for the unmanned aerial vehicle 10.

The inertial measurement module 17, the vision module 18 and the laser radar 19 provide high-precision positioning and navigation information for the unmanned aerial vehicle 10 without GNSS signals. The inertial measurement module 17 and the vision module 18 form a vision SLAM, and the inertial measurement module 17 and the laser radar 19 form a laser SLAM. The airborne data processing unit 11 adopts an embedded data processing center, and generates positioning and scene map information of the position and the attitude of the unmanned aerial vehicle by acquiring and calculating sensor data, so that the unmanned aerial vehicle 10 can finish autonomous positioning and navigation without GNSS signals. The main function of the SLAM (Simultaneous Localization and Mapping) is to enable the unmanned aerial vehicle 10 to complete Localization, Mapping and path planning (Navigation) in an unknown environment. The laser SLAM employs a laser radar 19, and object information acquired by the laser radar 19 presents a series of dispersed points with accurate angle and distance information, called point clouds. Generally, the laser SLAM calculates the relative movement distance of the laser radar 19 and the change of the attitude by matching and comparing two point clouds at different times, so as to complete the positioning of the unmanned aerial vehicle 10. The laser radar 19 is accurate in distance measurement, simple in error model, stable in operation in an environment except direct high light, simple in point cloud processing, and meanwhile point cloud information contains direct geometric relations, so that path planning and navigation of the unmanned aerial vehicle 10 become visual. The visual SLAM can acquire massive redundant texture information from the environment and has super strong scene identification capability. Visual SLAM uses rich texture information for identification and can be easily used to track and predict dynamic objects in a scene. The visual SLAM works stably in a dynamic environment with rich textures and can provide very accurate point cloud matching for the laser SLAM, and the precise direction and distance information provided by the laser radar 19 can also provide powerful support on the correctly matched point cloud. In environments with severe insufficient lighting or missing texture, laser SLAM localization enables visual SLAM to record scenes with little information. The two are fused and used, so that the advantages can be obtained and the disadvantages can be compensated, and the positioning precision of the unmanned aerial vehicle 10 is greatly improved.

The unmanned aerial vehicle inspection system further comprises a light supplement module 112 which is carried on the unmanned aerial vehicle 10 and connected with the airborne data processing unit 11. The onboard data processing unit 11 controls the light supplement module 112 to provide a light source for the pan/tilt camera 12 to acquire data in a low-illumination environment, so as to supplement light to the part with insufficient illumination and ensure the acquired image to be clear and bright.

The unmanned aerial vehicle inspection system further comprises an airborne storage module 15 which is arranged on the unmanned aerial vehicle 10 and connected with the airborne data processing unit 11. The bridge surface image data captured by the pan-tilt camera 12 and used for defect detection is stored in the onboard memory module 15 through the onboard data processing unit 11. After the unmanned aerial vehicle 10 finishes the patrol operation, the image data is transferred to the ground station 20 by the onboard storage module 15.

The unmanned aerial vehicle inspection system further comprises a flight control module 16 which is carried on the unmanned aerial vehicle 10 and is connected with the onboard data processing unit 11. The patrol route generated by the ground station 20 is sent to the first data radio station 13 through the second data radio station 22, received by the first data radio station 13, transmitted to the airborne data processing unit 11, and written into the flight control module 16 through the airborne data processing unit 11. The drone 10 automatically patrols according to the patrol route written into the flight control module 16.

The unmanned aerial vehicle inspection system further comprises a barometer 113 mounted on the unmanned aerial vehicle 10 and connected to the onboard data processing unit 11. When the unmanned aerial vehicle 10 is located in the area without the positioning signal, the airborne data processing unit 11 acquires the altitude data of the position where the unmanned aerial vehicle 10 is located through the altimeter 113, so as to cooperate with the inertial measurement module 17, the vision module 18 and the laser radar 19 to realize navigation in the environment without the positioning signal.

The unmanned aerial vehicle 10 is mounted with an onboard data processing unit 11, a pan-tilt camera 12, an onboard storage module 15, a flight control module 16, an inertia measurement module 17, a vision module 18, a laser radar 19, an obstacle avoidance module 110, a positioning module 111, a light supplement module 112, and the like. And according to specific needs, the top, bottom or front part of the unmanned aerial vehicle 10 can be used for carrying the pan-tilt camera 12 for operation. The airborne data processing unit 11 is a data acquisition and processing center of the unmanned aerial vehicle 10, and completes acquisition and real-time processing of module data such as the pan tilt camera 12, the inertia measurement module 17, the vision module 18, the laser radar 19, the obstacle avoidance module 110, and the positioning module 111, and controls the light supplement module 112 to supplement light for the pan tilt camera 12 to acquire data. The onboard data processing unit 11 controls the posture and shooting of the pan-tilt camera 12, acquires camera data and stores the camera data in the onboard storage module 15.

The unmanned aerial vehicle system of patrolling and examining of this embodiment description has that degree of automation is high, the security is good, and does not influence advantages such as train operation, can be all day operation, can improve unmanned aerial vehicle by a wide margin and patrol and examine the efficiency and the security of bridge.

Example 3

As shown in fig. 9 and 10, the unmanned aerial vehicle inspection system uses a rail car 100 as a carrier, and the rail car 100 includes a cab 101 and a carriage 102. The ground end system 2 is arranged in the cab 101, the unmanned aerial vehicle system 1 is arranged in the carriage 102, and the communication antennas of the second digital radio station 22 and the second image radio station 23 are arranged outside the body of the rail car 100, so that data receiving is facilitated.

The unmanned aerial vehicle 10 is mounted on the rail car 100, and the unmanned aerial vehicle system 1 is transported to the bridge under inspection by the rail car 100. On the circuit of bridge both sides, solidify one or more platforms with the concrete, as the fixed platform of taking off and land of unmanned aerial vehicle 10. When the unmanned aerial vehicle system of patrolling and examining operation, railcar 100 reachs and is detected the bridge, at first places unmanned aerial vehicle 10 on the platform of taking off and land by the staff. Then, a GNSS-RTK reference station (i.e., the reference station 4) is placed, and the unmanned aerial vehicle 10 is controlled to take off and land, so that a worker can control and monitor the flight state of the unmanned aerial vehicle 10 in the cab 101 of the railcar 100 through the first display screen 21 of the ground end system 2, and complete the subsequent routing inspection operation. Or a telescopic platform 103 may be provided on both sides of the car 102 of the railcar 100. When railcar 100 arrived and is detected the bridge, loosen unmanned aerial vehicle 10's organism fixing device, control flexible platform 103 again and stretch out unmanned aerial vehicle 10 to the outside of bridge railing. Then, a GNSS-RTK reference station is placed, the unmanned aerial vehicle 10 is controlled to take off and land, and a worker can control and monitor the flight state of the unmanned aerial vehicle 10 in the cab 101 of the railcar 100 through the first display screen 21 of the ground end system 2, and complete subsequent inspection operation.

Example 4

As shown in fig. 11, the unmanned aerial vehicle inspection system takes a motor vehicle 200 as a carrier, and the motor vehicle 200 comprises a cab 201 and a cargo box 202. The ground end system 2 is disposed in the cab 201, the drone system 1 is disposed in the cargo box 202 at the rear of the motor vehicle 200, and the communication antennas of the second digital radio station 22 and the second radio transceiver station 23 are disposed outside the body of the motor vehicle 200.

The unmanned aerial vehicle 10 is mounted on the motor vehicle 200, and the unmanned aerial vehicle system 1 is transported to the lower side of the detected bridge by the motor vehicle 200. In the open place near the bridge, one or more platforms are cured with concrete as a fixed take-off and landing platform for the drone 10. When the motor vehicle 200 reaches the bridge to be inspected, the unmanned aerial vehicle 10 is first placed on the take-off and landing platform by the staff. Then, a GNSS-RTK reference station (i.e., the reference station 4) is placed, and the unmanned aerial vehicle 10 is controlled to take off and land, so that a worker can control and monitor the flight state of the unmanned aerial vehicle 10 through the first display screen 21 of the ground end system 2 in the cab 201 of the motor vehicle 200, and complete subsequent inspection operation. Or the cargo box 202 at the rear of the vehicle 200 may be used as a landing platform for the drone 10. When the unmanned aerial vehicle system 1 is transported to the bridge to be inspected, the body fixing device of the unmanned aerial vehicle 10 is loosened. Then, the GNSS-RTK base station is placed, and the unmanned aerial vehicle 10 is controlled to take off and land. The staff can control and monitor the flight state of the unmanned aerial vehicle 10 through the first display screen 21 of the ground end system 2 in the cab 201 of the motor vehicle 200, and complete the subsequent inspection operation.

Example 5

As shown in fig. 12, an embodiment of a bridge inspection method based on the system of embodiment 1 specifically includes the following steps:

s10) establishing a three-dimensional map for the detected bridge;

s20) erecting a reference station 4 (if a GNSS-RTK reference station can be adopted), manually operating the unmanned aerial vehicle 10 to plan corresponding inspection routes for each part of the detected bridge, wherein the structural composition of the reference station 4 is shown in figure 13;

the routing inspection planning (calibration) process comprises the steps of firstly, carrying out three-dimensional measurement and modeling on a bridge needing to be inspected to generate a bridge three-dimensional map; then, manually operating the unmanned aerial vehicle 10 to perform first inspection operation on areas such as the bottom surface of the bridge, the outer edge surface, the bottom surface of a sidewalk, a base, a pier (pier body), a side fence and the like, simultaneously adjusting the shooting angle of the pan-tilt camera 12 to enable imaging to achieve the best effect, saving and fusing information such as the working angle, the shooting frame rate, the exposure time and the like of the flight route of the unmanned aerial vehicle 10 and the pan-tilt camera 12 to generate an inspection route, then performing simulated flight on the generated inspection route in software of the ground station 20 based on the three-dimensional map environment of the bridge, verifying whether the inspection route is correct or not, and meeting the inspection requirement or not, and saving the inspection route which is verified to;

s30) after the routing inspection route planning of each part of the detected bridge is finished, loading the corresponding routing inspection route to the flight control module 16 so as to control the unmanned aerial vehicle 10 to carry out automatic routing inspection operation;

s40) the ground station 20 collects, processes and manages data sent in the automatic inspection operation process of the unmanned aerial vehicle 10, and detects the defects of the detected bridge;

s50) positioning the defect of the detected bridge according to the data received by the ground station 20 during the automatic inspection operation of the unmanned aerial vehicle 10.

The data processing in the automatic inspection process is to complete the identification, management, defect detection, defect positioning calculation and other processing of the acquired data through bridge data management software of the ground station 20, and generate a detailed report according to defect classification and grade so as to guide maintenance operation.

In step S20), the erection of the reference station 4 generally adopts two methods: firstly, an unknown point-to-frame station is calibrated at known points through a mobile station by setting three parameters (X translation, Y translation and Z translation), four parameters (X translation, Y translation, A rotation and K scale) or seven parameters (X translation, Y translation, Z translation, X rotation, Y rotation, Z rotation and K scale), or parameters are calculated through measurement software of a handbook (a tool carried by equipment during GPS measurement is mainly used for parameter setting and measurement data storage) by directly using the mobile station to acquire coordinates at a plurality of known points without parameters. Secondly, the mobile station can directly work by setting up a station at a known point and transmitting through known parameters and base station coordinates.

In the whole unmanned aerial vehicle inspection system, the GNSS-RTK reference station is the reference station 4, the unmanned aerial vehicle 10 is the rover, and the RTK works on the principle that one receiver is placed on the reference station 4, and the other receiver or receivers are placed on a carrier (called a rover, in this embodiment, the unmanned aerial vehicle 10). The reference station 4 and the rover station simultaneously receive signals transmitted by the same GPS satellite at the same time, and the observed value obtained by the reference station 4 is compared with the known position information to obtain a GPS difference correction value. Then in time transmit this correction value to the rover (namely unmanned aerial vehicle 10) of the satellite of looking altogether through radio data chain radio station 6 and refine its GPS observed value (the reference station 4 will correct the value and send to the rover, also be the orientation module 111 that carries on the unmanned aerial vehicle 10, revise unmanned aerial vehicle 10's measured value to reduce the error, improve measurement accuracy), thereby obtain the more accurate real-time position of unmanned aerial vehicle 10 after the difference is corrected.

Step S10) further includes the following processes:

s11) obtaining bridge edge plane coordinates, bridge edge elevation coordinates and pier center coordinates according to the bridge line linear data, the CP III pile coordinate data and the bridge design drawing;

s12) separating each component part of the bridge from the bridge design drawing;

s13) modeling the components of the bridge by using three-dimensional drawing software according to the dimension data and the elevation data on the bridge design drawing;

s14) combining all the components together according to the positioning data of the center coordinates of the pier body to form a three-dimensional model of the detected bridge;

s15) importing the three-dimensional model of the detected bridge into map software to obtain a three-dimensional map of the detected bridge.

Because the operation is patrolled and examined to the bridge is the flight of beyond visual range, and the operation in-process most is outside the visual range, for making operating personnel real time monitoring unmanned aerial vehicle 10 patrol and examine the position of place bridge, guarantee to patrol and examine in-process safety, ground station 20 is according to the GNSS coordinate data of receiving unmanned aerial vehicle 10 in real time, keep away the data of barrier module 110 to combine leading-in to the three-dimensional electronic map of bridge among the ground station 20 software, show unmanned aerial vehicle 10 in real time and patrol and examine the position of locating.

Firstly, a three-dimensional map of the bridge is established for the inspected bridge, and the three-dimensional map contains obstacles around the bridge. The railway bridge three-dimensional map building input data comprises line type data, CP III pile (CP III: Chinese is a foundation pile control network, is a three-dimensional control network arranged along a line, a plane control is closed to a basic plane control network CP I or a line control network CP II, an elevation control is closed to a second-class leveling network arranged along the line, and generally, after the construction of a next engineering is finished, the data is used for laying ballastless tracks and serving as a reference for operation and maintenance) data and bridge design drawings. The method for establishing the three-dimensional map of the highway bridge uses an RTK measuring mode to measure longitude and latitude and elevation data of edges on two sides of the bridge, and then calculates a three-dimensional model of the bridge by combining a bridge design drawing. And measuring the longitude and latitude of high-pole obstacles near the bridge in an RTK mode, and finally, bringing the bridge and the obstacles within dozens of meters around into a three-dimensional map.

The process for establishing the bridge three-dimensional map comprises the following steps: and obtaining the plane coordinates of the edge of the bridge, the elevation coordinates of the edge of the bridge and the center coordinates of the pier according to the line shape data, the coordinate data of the CP III pile and a bridge design drawing. And then, each part is separated from the bridge design drawing. And modeling the parts of the bridge by using AutoCAD or other three-dimensional drawing software according to the dimension data and the elevation data on the bridge design drawing. Then, the parts are combined together according to the positioning data of the center coordinates of the bridge piers, and a bridge model is formed. Then, the three-dimensional model of the bridge is imported as follows: and obtaining a bridge three-dimensional map from map software such as Google Earth. Step S20) further includes the following processes:

s21) erecting a reference station 4; the specific steps are that a foot rest 8 is erected on a known point, and the centering and leveling (if the foot rest is erected on an unknown point, the leveling is approximately performed); connecting a power line and the transmitting antenna 7, and paying attention to the fact that the positive and negative poles of the power supply are correct (red, positive, black and negative); the host 5 and the radio station 6 are turned on, the host 5 starts to automatically initialize and search satellites, and when the number of satellites and the quality of the satellites meet requirements (about 1 minute), the DL indicator lamp on the host 5 starts to flash for 2 times in 5 seconds, and the TX indicator lamp on the radio station 6 starts to flash for 1 time in each second; this indicates that the differential signal of the reference station 4 starts to be transmitted, and the entire reference station 4 starts to operate normally;

s22) preparing the unmanned aerial vehicle 10, and setting a no-flight area by the ground station 20; the method comprises the specific steps that the unmanned aerial vehicle 10 is placed in an open area, software on a ground station 20 is opened, communication antennas are erected and connected with the communication antennas of the ground station 20, then the unmanned aerial vehicle 10 is powered on, an area above a bridge deck side rod is set to be a no-flying area in a software map of the ground station 20, and it is guaranteed that an operator cannot fly the unmanned aerial vehicle 10 to the area above the bridge deck; testing whether the setting of the no-fly area is effective, enabling the unmanned aerial vehicle 10 to take off in situ, quickly pushing an elevator, and testing whether the unmanned aerial vehicle 10 can break through the no-fly height;

s23) manually operating the unmanned aerial vehicle 10 to perform the first inspection operation on the bridge to be inspected, including the bottom surface, the outer edge surface, the sidewalk bottom surface, the base, the pier body and the side fence, and planning corresponding inspection routes for each part of the bridge.

Step S30) further includes the following processes:

s31) erecting a reference station 4;

s32) placing the drone 10 at the takeoff point X;

s33) connecting a communication antenna, and opening software on the ground station 20;

s34) loading the planned inspection route, and executing the take-off operation of the unmanned aerial vehicle 10 after determining that the inspection route is correct;

s35) the unmanned aerial vehicle 10 performs automatic inspection work according to the loaded inspection route.

The software that will verify qualified inspection route passes through ground station 20 writes into unmanned aerial vehicle system 1's flight control module 16 to control unmanned aerial vehicle 10 and patrol and examine automatically, keep away barrier module 110 and guarantee that unmanned aerial vehicle 10 patrols and examines the safety of in-process, can not cause the damage to the bridge under the emergency. In the inspection process, the pan-tilt camera 12 performs video acquisition and image capturing according to set parameters. The video data is transmitted to the ground terminal system 2 in real time through the radio station to be displayed. The information of GNSS coordinates, camera postures, air lines, bridges and shooting time during capturing and high-definition images are fused and shot and stored in the airborne storage module 15, and data are transferred to the ground station 20 after the whole bridge is patrolled and examined. The image data that unmanned aerial vehicle 10 gathered fuses the information such as GNSS information, the acquisition time, the shooting angle and the route of patrolling and examining of the position that unmanned aerial vehicle was located constantly, provides accurate positioning data for follow-up defect location.

Step S40) further includes the following processes:

the method includes the steps that snapshot images of positioning coordinates of the position of the unmanned aerial vehicle 10, the attitude angle of the holder camera 12, the route, the bridge and shooting time information during image shooting are fused, corresponding folders are generated according to bridge surface data collected by different routing inspection routes, and the data collected by the same routing inspection route are stored in the independent folders. After the inspection data of the detected bridge is imported into the ground station 20, the inspection data is managed according to the bottom surface, the outer edge surface, the bottom surface of the sidewalk, the base, the pier body and the side fence of the bridge, displayed according to the shooting date and the type of the detected part, and meanwhile, the inspection data can be browsed, inquired and searched, and the historical inspection data can be contrasted and analyzed. The automatic detection of the defects is completed by carrying out intelligent image recognition on the snapshot image, original detection data is checked by workers based on a display interface, artificial defect detection is carried out on the snapshot image, and the identification, classification and calibration operations of the defects are completed.

Step S50) further includes the following processes:

s51) performing preliminary positioning on the snap-shot image by the bridge name and the route information, as shown in fig. 6;

s52) according to the positioning coordinates of the position where the unmanned aerial vehicle 10 is located, the attitude angle of the pan-tilt camera 12, the route information, the bridge information and the shooting time when the image is captured, the coordinates of each pixel point in the captured image under a geodetic coordinate system are calculated; when the defect is located on the bottom surface of the bridge and has no positioning signal, the coordinates of the unmanned aerial vehicle 10 under the geodetic coordinate system are calculated through the inertial measurement module 17, the vision module 18 and the laser radar 19, and the coordinates of each pixel point in the snapshot image under the geodetic coordinate system are obtained;

s53) when the bridge defect needs to be maintained, the positioning coordinate and the azimuth angle information of the position of the defect are sent to the handheld locator 3, and an operator can quickly find the position of the defect according to the information in the handheld locator 3.

The unmanned aerial vehicle 10 is manually operated to perform first inspection operation on the bridge to be detected, image acquisition is performed through the pan-tilt camera 12, and an inspection route is generated according to the positioning signal acquired by the positioning module 111. The unmanned aerial vehicle 10 automatically patrols and examines according to the route of patrolling and examining of writing in flight control module 16, and airborne data processing unit 11 processes according to the data of keeping away barrier module 110 and sends to control unmanned aerial vehicle 10 through flight control module 16 and carry out automatic obstacle-avoiding emergency treatment. The pan-tilt camera 12 performs video acquisition and image snapshot according to set parameters in the automatic inspection operation process, the ground station 20 performs defect detection and positioning according to the snapshot image, and the video acquired by the pan-tilt camera 12 is sent to the ground end system 2 to be displayed. The video data collected by the pan-tilt camera 12 is transmitted in real time through the first image transmission station 14, and the video data is received by the second image transmission station 23 and then displayed and monitored by the first display screen 21. The unmanned aerial vehicle system 1 and the ground end system 2 realize the interaction of the control instruction and the flight state data of the unmanned aerial vehicle 10 through the first digital radio station 13 and the second digital radio station 22. Image data used for carrying out defect detection is stored to airborne storage module 15, and then is transferred to ground station 20 through airborne storage module 15 after unmanned aerial vehicle 10 finishes automatic patrol inspection operation. The image data unloaded by the onboard memory module 15 is displayed through the second display screen 24.

Inertia measurement module 17, vision module 18 and laser radar 19 provide the navigation information under the no locating signal environment for unmanned aerial vehicle 10, and airborne data processing unit 11 calculates through the data to inertia measurement module 17, vision module 18 and laser radar 19 collection, generates location, gesture and the scene map information to unmanned aerial vehicle 10 self position to realize that unmanned aerial vehicle 10 accomplishes autonomic location and navigation under no locating signal environment. The light supplement module 112 provides a light source for the pan/tilt camera 12 in a low illumination environment. The onboard data processing unit 11 controls the posture and shooting of the pan-tilt camera 12, and image data collected by the pan-tilt camera 12 is stored in the onboard storage device 15. The ground station 20 receives the coordinate positioning data sent by the positioning module 111 and the obstacle data sent by the obstacle avoidance module 110 in real time, and displays the position of the unmanned aerial vehicle 10 in real time by combining the three-dimensional electronic map data of the detected bridge. Through to being patrolled and examined bridge design three-dimensional map for unmanned aerial vehicle 10 patrols and examines the bridge process and can carry out analog display in the three-dimensional map software virtual environment of ground station 20, can real-time supervision unmanned aerial vehicle 10 patrol and examine the concrete position and the distance condition between in-process and the bridge, has promoted unmanned aerial vehicle bridge by a wide margin and has patrolled and examined security and degree of automation.

The unmanned aerial vehicle 10 is in the manual operation in-process to the bridge that needs to detect including bottom surface, outer surface, pavement bottom surface, base, pier shaft and the region including the sidebar carry out the operation of patrolling and examining for the first time, and the regulation shooting angle of cloud platform camera 12 is controlled to airborne data processing unit 11 simultaneously, makes formation of image reach the best effect. The ground station 20 fuses the information of the pan/tilt/zoom camera 12 including the attitude angle, the shooting angle, the frame rate, the focal length, and the exposure time into the flight path of the unmanned aerial vehicle 10, and generates a patrol path. The ground station 20 simulates the generated inspection route based on the three-dimensional map environment of the detected bridge to verify whether the route meets the set inspection requirement, if so, the inspection route which is qualified after verification is stored, and the inspection route which is qualified after verification is written into the flight control module 16 to realize the automatic inspection operation of the unmanned aerial vehicle 10.

In the automatic inspection operation process, the pan-tilt camera 12 performs video acquisition and image snapshot according to set parameters, positioning coordinates of the position where the unmanned aerial vehicle 10 is located, the attitude angle of the pan-tilt camera 12, the air route, the bridge and shooting time information are stored in the airborne storage device 15 during fusion shooting of the snapshot images, and after the inspection operation of the whole detected bridge is completed, data in the airborne storage device 15 are transferred to the ground station 20. When the unmanned aerial vehicle 10 is located in the area without the positioning signal, the unmanned aerial vehicle system 1 obtains the three-dimensional coordinates of the unmanned aerial vehicle 10 from the position of the positioning signal loss point through the inertial measurement module 17, the vision module 18 and the laser radar 19, and obtains elevation data through the altimeter 113, so as to realize navigation in the environment without the positioning signal. Meanwhile, the unmanned aerial vehicle system 1 generates three-dimensional point cloud data of the detected area of the bridge through the inertial measurement module 17, the vision module 18 and the laser radar 19 to realize scene mapping.

The bridge inspection method described in this embodiment provides an accurate unmanned aerial vehicle flight path and a data acquisition mode for each part of the bridge, and only manual intervention operation needs to be performed on the flight path for the first time, the firstly planned inspection path is stored, and the stored inspection path is loaded to the unmanned aerial vehicle 10 for later operation, so that all parts of the bridge can be fully automatically inspected.

Through implementing the utility model discloses the technical scheme of unmanned aerial vehicle system of patrolling and examining of embodiment description can produce following technological effect:

(1) the unmanned aerial vehicle inspection system described in the specific embodiment of the utility model can control the unmanned aerial vehicle to automatically inspect according to the loaded inspection route, the automation degree, stability and safety of the whole bridge inspection process are extremely high, and the quality of the acquired bridge surface data is extremely high, thereby being very beneficial to subsequent image processing and defect detection and positioning;

(2) the unmanned aerial vehicle inspection system described in the specific embodiment of the utility model adopts the inertial measurement module, the vision module and the laser radar which are carried on the unmanned aerial vehicle platform, and can realize the positioning and navigation of the unmanned aerial vehicle under the environment without GNSS signals through the vision SLAM and the laser SLAM;

(3) the utility model discloses unmanned aerial vehicle system of patrolling and examining of embodiment description, cloud platform camera carry out video acquisition and image snapshot according to the parameter of setting for in the automatic process of patrolling and examining, and the video that cloud platform camera was gathered is sent to ground end system and is shown, and the snapshot image is transferred to the ground station through on-vehicle storage device, and the ground station carries out defect detection and location according to the image of taking a candid photograph in the automatic operation process of patrolling and examining, and unmanned aerial vehicle flight's security and defect location's precision are high;

(4) in the unmanned aerial vehicle inspection system described in the specific embodiment of the utility model, the light supplementing module can provide a light source for the pan-tilt camera under the low-illumination environment under the bottom surface of the bridge, so as to ensure the clear and bright acquired image and realize the full-coverage acquisition of high-quality data on the surface of the bridge;

(5) the utility model discloses unmanned aerial vehicle system of patrolling and examining of embodiment description can carry on railcar or motor vehicle, has that degree of automation is high, the security is good, and does not influence advantages such as train operation, operation all the day, can improve unmanned aerial vehicle by a wide margin and patrol and examine the efficiency and the security of bridge.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. Those skilled in the art can make numerous changes and modifications to the disclosed embodiments, or modify equivalent embodiments, without departing from the spirit and scope of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments by the technical entity of the present invention all still belong to the protection scope of the technical solution of the present invention.

Claims

1. An unmanned aerial vehicle system of patrolling and examining, its characterized in that includes: the unmanned aerial vehicle system comprises an unmanned aerial vehicle system (1) and a ground end system (2), wherein the unmanned aerial vehicle system (1) further comprises an unmanned aerial vehicle (10), and an airborne data processing unit (11), a pan-tilt camera (12), a first data transmission radio station (13) and a first image transmission radio station (14) which are carried on the unmanned aerial vehicle (10); the ground end system (2) further comprises a ground station (20), a second data transmission radio station (22) and a second picture transmission radio station (23); in the automatic inspection operation process, the airborne data processing unit (11) sends a bridge surface data acquisition control signal to the holder camera (12), and the airborne data processing unit (11) sends a flight control signal to the unmanned aerial vehicle (10); bridge video data collected by the cloud deck camera (12) are sent to a first image transmission radio station (14) through an airborne data processing unit (11), and the bridge video data are sent by the first image transmission radio station (14) and received by a second image transmission radio station (23) for display monitoring; first data radio station (13) link to each other with airborne data processing unit (11), second data radio station (22) link to each other with ground station (20), through between unmanned aerial vehicle system (1) and the ground terminal system (2) first data radio station (13) and second data radio station (22) realize unmanned aerial vehicle (10)'s control command and flight status data interactive transmission.

2. The unmanned aerial vehicle inspection system according to claim 1, wherein: unmanned aerial vehicle system (1) further including carry on unmanned aerial vehicle (10), and with location module (111) that airborne data processing unit (11) link to each other, airborne data processing unit (11) acquire through location module (111) unmanned aerial vehicle (10)'s coordinate positioning information.

3. The unmanned aerial vehicle inspection system according to claim 2, wherein: the unmanned aerial vehicle system (1) further comprises an obstacle avoidance module (110) which is carried on the unmanned aerial vehicle (10) and is connected with the airborne data processing unit (11); the airborne data processing unit (11) provides distance information of obstacles for the unmanned aerial vehicle (10) through an obstacle avoidance module (110); the obstacle avoidance module (110) adopts any one or combination of a plurality of millimeter wave radar, an ultrasonic sensor, an infrared distance measurement sensor and a laser distance measurement sensor.

4. An unmanned aerial vehicle inspection system according to any one of claims 1 to 3, wherein: unmanned aerial vehicle system (1) further including carry on unmanned aerial vehicle (10), and with inertial measurement module (17) of airborne data processing unit (11), airborne data processing unit (11) acquire through inertial measurement module (17) unmanned aerial vehicle (10)'s acceleration and angular velocity signal.

5. The unmanned aerial vehicle inspection system according to claim 4, wherein: the unmanned aerial vehicle system (1) further comprises a vision module (18) carried on the unmanned aerial vehicle (10) and connected with the onboard data processing unit (11); visual positioning and image building functional units are formed by the visual module (18) and the inertial measurement module (17) and are used for providing visual navigation information under the environment without positioning signals for the unmanned aerial vehicle (10).

6. The unmanned aerial vehicle inspection system according to claim 5, wherein: the unmanned aerial vehicle system (1) further comprises a laser radar (19) which is carried on the unmanned aerial vehicle (10) and is connected with the airborne data processing unit (11); the laser radar (19) and the inertia measurement module (17) form a laser positioning and mapping functional unit, and the laser positioning and mapping functional unit is used for providing three-dimensional point cloud information in a positioning signal-free environment for the unmanned aerial vehicle (10).

7. An unmanned aerial vehicle inspection system according to claim 1, 2, 3, 5 or 6, wherein: the unmanned aerial vehicle system (1) further comprises an airborne storage module (15) which is arranged on the unmanned aerial vehicle (10) and is connected with the airborne data processing unit (11); image data which are captured by the pan-tilt camera (12) and used for defect detection are stored in the airborne storage module (15) through an airborne data processing unit (11); after the unmanned aerial vehicle (10) finishes the automatic inspection operation, the image data is transferred to the ground station (20) through the airborne storage module (15).

8. The unmanned aerial vehicle inspection system according to claim 7, wherein: the unmanned aerial vehicle system (1) further comprises a light supplement module (112) which is carried on the unmanned aerial vehicle (10) and is connected with the airborne data processing unit (11); and the airborne data processing unit (11) controls the light supplement module (112) to provide a light source for the pan-tilt camera (12) to acquire data in a low-illumination environment.

9. An unmanned aerial vehicle inspection system according to claim 1, 2, 3, 5, 6 or 8, wherein: the unmanned aerial vehicle system (1) further comprises a flight control module (16) which is carried on the unmanned aerial vehicle (10) and is connected with the airborne data processing unit (11); the ground station (20) generates patrol and examine the airline and transmit to airborne data processing unit (11) through second data radio station (22), first data radio station (13), the rethread airborne data processing unit (11) write in and fly control module (16), unmanned aerial vehicle (10) are according to writing in fly control module (16) patrol and examine the airline and carry out the operation of patrolling and examining automatically.

10. The unmanned aerial vehicle inspection system according to claim 7, wherein: the ground end system (2) further comprises a first display screen (21) and a second display screen (24), wherein the first display screen (21) is connected with a second map transmission station (23), and the second display screen (24) is connected with the ground station (20); the image data transferred by the onboard memory module (15) is displayed through the second display screen (24); and the video data collected by the pan-tilt camera (12) is received by the second image transmission station (23) and then is displayed and monitored by the first display screen (21).

11. An unmanned aerial vehicle inspection system according to claim 1, 2, 3, 5, 6, 8 or 10, wherein: the inspection system further comprises a handheld locator (3), and when the bridge defects need to be maintained, the ground end system (2) sends location coordinates and azimuth information of the positions where the defects are located to the handheld locator (3).

12. An unmanned aerial vehicle inspection system according to claim 1, 2, 3, 5, 6, 8 or 10, wherein: the unmanned aerial vehicle inspection system takes a rail car (100) as a carrier, and the rail car (100) comprises a cab (101) and a carriage (102); the ground end system (2) is arranged in a cab (101), the unmanned aerial vehicle system (1) is arranged in a carriage (102), and communication antennas of the second data transmission radio station (22) and the second image transmission radio station (23) are arranged outside a vehicle body of the rail vehicle (100); or the unmanned aerial vehicle inspection system takes a motor vehicle (200) as a carrier, and the motor vehicle (200) comprises a cab (201) and a container (202); the ground end system (2) is arranged in a cab (201), the unmanned aerial vehicle system (1) is arranged in a container (202), and communication antennas of the second data transmission radio station (22) and the second image transmission radio station (23) are arranged outside a vehicle body of a motor vehicle (200).