CN-121979226-A - Unmanned aerial vehicle bridge inspection integrated system and bridge inspection method

CN121979226ACN 121979226 ACN121979226 ACN 121979226ACN-121979226-A

Abstract

The invention provides an unmanned aerial vehicle bridge inspection comprehensive system and a bridge inspection method, wherein the system comprises a hardware layer, a service layer and a user layer, the hardware layer comprises an unmanned aerial vehicle system and a bridge sensor system, and the system is used for monitoring key parts of a bridge based on the bridge sensor system to obtain multi-dimensional data of the bridge; the method comprises the steps of determining bridge multidimensional data, generating a bridge abnormal area flight path corresponding to an unmanned aerial vehicle system under the condition that abnormal mechanical parameters exist in the bridge multidimensional data, carrying out bridge disease identification on the bridge abnormal area corresponding to the abnormal mechanical parameters according to unmanned aerial vehicle image data by a service layer to obtain a bridge disease identification result of the bridge abnormal area, and generating a corresponding bridge inspection report according to the bridge disease identification result and the bridge multidimensional data by a user layer. The invention improves the accuracy and the inspection efficiency of the bridge inspection result.

Inventors

WANG ZEWU
ZHOU ZHE
LENG HAN
ZHOU ZHIYUAN
SUN XIN

Assignees

交控航空科技(深圳)有限公司

Dates

Publication Date: 20260505
Application Date: 20251209

Claims (10)

1. The utility model provides an unmanned aerial vehicle bridge inspection integrated system which characterized in that includes hardware layer, service layer and user layer, wherein: The hardware layer comprises an unmanned aerial vehicle system and a bridge sensor system, and is used for monitoring key parts of a bridge based on the bridge sensor system to obtain bridge multi-dimensional data, and generating a bridge abnormal region flight path corresponding to the unmanned aerial vehicle system under the condition that abnormal mechanical parameters exist in the bridge multi-dimensional data; The service layer is used for identifying bridge diseases of the bridge abnormal region corresponding to the abnormal mechanical parameter according to unmanned aerial vehicle image data, and obtaining a bridge disease identification result of the bridge abnormal region, wherein the unmanned aerial vehicle image data are acquired after the unmanned aerial vehicle system reaches the bridge abnormal region based on the flight path of the bridge abnormal region; And the user layer is used for generating a corresponding bridge inspection report according to the bridge disease identification result and the bridge multidimensional data.
2. The unmanned aerial vehicle bridge inspection integrated system of claim 1, wherein the bridge sensor system comprises a plurality of monitoring sensors, wherein a bridge structure position mapping relationship is established between the plurality of monitoring sensors and key parts of the bridge, and wherein the plurality of monitoring sensors at least comprise an inclination monitoring sensor, a crack monitoring sensor, a cable force monitoring sensor, an expansion joint monitoring sensor, a settlement monitoring sensor and an environment monitoring sensor.
3. The unmanned aerial vehicle bridge inspection integrated system of claim 2, wherein the bridge sensor system is specifically configured to: constructing the bridge multidimensional data according to the sensor data of the bridge key part; Under the condition that the sensor data collected by any one monitoring sensor in the bridge multi-dimensional data exceeds a corresponding preset monitoring threshold value, verifying the sensor data collected by the target monitoring sensor based on a multi-sensor data cross verification algorithm, and if the verification is passed, determining that the abnormal mechanical parameters exist in the bridge multi-dimensional data; If the verification is not passed, determining that the fault condition exists in the monitoring sensor of which the sensor data exceeds the corresponding preset monitoring threshold value; the target monitoring sensor represents other types of monitoring sensors in the same key area of the bridge as the monitoring sensor with sensor data exceeding a corresponding preset monitoring threshold value.
4. The unmanned aerial vehicle bridge inspection integrated system of claim 2, wherein the service layer is specifically configured to: determining the bridge abnormal region corresponding to the abnormal mechanical parameter according to the bridge structure position mapping relation; determining an unmanned aerial vehicle inspection target task according to the abnormal data type of the abnormal mechanical parameter; Determining a current idle unmanned aerial vehicle of the unmanned aerial vehicle system, and constructing a flight path of the bridge abnormal region based on geographic position information between the idle unmanned aerial vehicle and the bridge abnormal region; According to the unmanned aerial vehicle inspection target and the bridge abnormal region flight path, an inspection flight instruction of the idle unmanned aerial vehicle is generated, and the inspection flight instruction is sent to the idle unmanned aerial vehicle so as to drive the idle unmanned aerial vehicle to fly to the bridge abnormal region, and the unmanned aerial vehicle inspection target task is executed.
5. The unmanned aerial vehicle bridge inspection integrated system of claim 4, wherein the service layer is further configured to: Inputting the unmanned aerial vehicle image data into a bridge disease defect identification model to obtain a bridge disease defect type and a bridge disease grade which are output by the bridge disease defect identification model; Generating the bridge disease recognition result according to the bridge disease defect type and the bridge disease grade; The bridge defect identification model is obtained by training based on sample data marked with a bridge defect type label and a bridge defect grade label.
6. The unmanned aerial vehicle bridge inspection integrated system of claim 1, wherein the user layer is specifically configured to: and based on a bridge structural mechanics model, evaluating the bridge health state of the bridge disease identification result and the bridge multidimensional data, and generating the bridge inspection report according to the evaluation result.
7. The unmanned aerial vehicle bridge inspection integrated system of claim 6, wherein the bridge inspection report is a structured inspection report comprising sensor pre-warning information, unmanned aerial vehicle inspection results, bridge defect analysis data, and bridge maintenance policy information.
8. A bridge inspection method based on the unmanned aerial vehicle bridge inspection integrated system of any one of claims 1 to 7, comprising: Monitoring key parts of the bridge based on the bridge sensor system to obtain bridge multidimensional data; under the condition that abnormal mechanical parameters exist in the bridge multidimensional data, generating a bridge abnormal area flight path corresponding to an unmanned aerial vehicle system; According to unmanned aerial vehicle image data, bridge disease identification is carried out on a bridge abnormal region corresponding to the abnormal mechanical parameter, and a bridge disease identification result of the bridge abnormal region is obtained, wherein the unmanned aerial vehicle image data are acquired after the unmanned aerial vehicle system arrives at the bridge abnormal region based on a flight path of the bridge abnormal region; And generating a corresponding bridge inspection report according to the bridge disease identification result and the bridge multidimensional data.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor implements the bridge inspection method of claim 8 when the computer program is executed by the processor.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the bridge inspection method of claim 8.

Description

Unmanned aerial vehicle bridge inspection integrated system and bridge inspection method Technical Field The invention relates to the technical fields of electronic information technology and aviation industry, in particular to an unmanned aerial vehicle bridge inspection integrated system and a bridge inspection method. Background As bridge construction scale continues to expand and service time continues to increase, safety problems of bridge structures are becoming more of a concern. The traditional bridge inspection mainly depends on manpower, and inspection personnel need to work by means of climbing equipment and the like, however, the mode has a plurality of limitations that single long-span bridge inspection often takes days or even longer, the efficiency is low, and hidden areas such as a bridge support, a midspan bottom and the like are difficult to cover all the sides of the manpower, so that a detection blind area exists. In order to overcome the defect of manual inspection, the prior art has two types of exploration directions. The unmanned aerial vehicle is independently used for bridge inspection, a high-definition camera is used for shooting bridge images, and defects are identified through an AI model, but the technology lacks support of bridge structural mechanical data, whether the defects are caused by stress abnormality cannot be accurately judged, misjudgment is easy to occur, and for example, stains on the surface of a bridge can be identified as cracks in error. The other type is that the bridge sensor is used for monitoring independently, data are collected in real time through the sensors such as strain, displacement and the like, the bridge structural abnormality can be early-warned, the specific form and position of the defect cannot be visually presented, secondary verification is needed to be carried out manually to the site, response is quite delayed, and the average time from the early warning of the sensor to the manual verification is 1-3 days. Therefore, there is a need for an unmanned aerial vehicle bridge inspection integrated system and a bridge inspection method to solve the above problems. Disclosure of Invention Aiming at the problems in the prior art, the invention provides an unmanned aerial vehicle bridge inspection integrated system and a bridge inspection method. The invention provides an unmanned aerial vehicle bridge inspection integrated system, which comprises a hardware layer, a service layer and a user layer, wherein: The hardware layer comprises an unmanned aerial vehicle system and a bridge sensor system, and is used for monitoring key parts of a bridge based on the bridge sensor system to obtain bridge multi-dimensional data, and generating a bridge abnormal region flight path corresponding to the unmanned aerial vehicle system under the condition that abnormal mechanical parameters exist in the bridge multi-dimensional data; The service layer is used for identifying bridge diseases of the bridge abnormal region corresponding to the abnormal mechanical parameter according to unmanned aerial vehicle image data, and obtaining a bridge disease identification result of the bridge abnormal region, wherein the unmanned aerial vehicle image data are acquired after the unmanned aerial vehicle system reaches the bridge abnormal region based on the flight path of the bridge abnormal region; And the user layer is used for generating a corresponding bridge inspection report according to the bridge disease identification result and the bridge multidimensional data. According to the unmanned aerial vehicle bridge inspection comprehensive system provided by the invention, the bridge sensor system comprises a plurality of monitoring sensors, and a bridge structure position mapping relation is established between the plurality of monitoring sensors and key parts of the bridge, wherein the plurality of monitoring sensors at least comprise an inclination monitoring sensor, a crack monitoring sensor, a cable force monitoring sensor, an expansion joint monitoring sensor, a settlement monitoring sensor and an environment monitoring sensor. According to the unmanned aerial vehicle bridge inspection integrated system provided by the invention, the bridge sensor system is specifically used for: constructing the bridge multidimensional data according to the sensor data of the bridge key part; Under the condition that the sensor data collected by any one monitoring sensor in the bridge multi-dimensional data exceeds a corresponding preset monitoring threshold value, verifying the sensor data collected by the target monitoring sensor based on a multi-sensor data cross verification algorithm, and if the verification is passed, determining that the abnormal mechanical parameters exist in the bridge multi-dimensional data; If the verification is not passed, determining that the fault condition exists in the monitoring sensor of which the sensor data exceeds the corresponding preset m