【摘要】：無人機(UAV)技術(shù)可使橋梁檢測的效率大為提高,且在經(jīng)濟性方面具有較強的優(yōu)越性。但目前的無人機仍無法滿足橋梁檢測的工程條件和要求,主要有以下兩方面的問題:1)無人機無避障功能,橋梁檢測過程中存在諸多的安全隱患;2)無人機圖傳系統(tǒng)未能與橋梁檢測相結(jié)合。針對這兩個問題,本文從理論上和實踐上提出切實可行的方法。主要從以下幾方面展開。首先,闡述人工勢場法在無人機進行橋梁檢測避障的優(yōu)越性。針對傳統(tǒng)的人工勢場法存在局部最小點和目標(biāo)不可達的兩個問題,根據(jù)橋梁結(jié)構(gòu)自身的特點,提出改進人工勢場法(IAPF)。并進行相應(yīng)的仿真測試驗證該算法的有效性。其次,闡述橋梁檢測無人機硬件和軟件的具體實現(xiàn)。引入Pixhawk飛控、Arduino單片機以及超聲波傳感器,在無避障功能的無人機基礎(chǔ)上,添加了自動避障系統(tǒng)的硬件裝置,并進行軟件編寫,并進行實際測試。再次,進行在裂縫檢測的應(yīng)用研究。引入圖像傳輸技術(shù)和數(shù)字圖像處理技術(shù),通過圖像信息計算出實際裂縫的長度和寬度,最后進行對照試驗探究其效果。最后,試驗驗證改進后的無人機在橋梁檢測中的可行性。在介紹該橋梁的情況之后,引入對照試驗,將無人機檢測的方法和常規(guī)檢測方法引入該橋的外觀檢測,分別介紹了兩種檢測方法的實施方法和評分結(jié)果。對這兩種方法分別從檢測手段的圖像效果、經(jīng)濟性和完成效率上進行比較。經(jīng)測試,無人機進行檢測具有較好地清晰度和可靠的評分結(jié)果,在經(jīng)濟性和效率上具有較大的優(yōu)越性,其滿足橋梁檢測工程實踐的要求,在橋梁檢測應(yīng)用中具有巨大潛力。
[Abstract]:UAV (UAV) technology can greatly improve the efficiency of bridge detection, and has strong economic advantages. However, the current UAV still can not meet the engineering conditions and requirements of bridge detection, there are two main problems: 1) the UAV has no obstacle avoidance function, there are many hidden dangers in the bridge detection process; 2) Unmanned aerial vehicle (UAV) map transmission system can not be combined with bridge detection. In view of these two problems, this paper puts forward practical methods in theory and practice. Mainly from the following aspects. Firstly, the superiority of artificial potential field method in bridge detection and obstacle avoidance of UAV is described. In view of the two problems of local minimum point and unreachable target in traditional artificial potential field method, according to the characteristics of bridge structure itself, an improved artificial potential field method (IAPF). Is proposed. The validity of the algorithm is verified by corresponding simulation tests. Secondly, the realization of the hardware and software of bridge detection UAV is expounded. With the introduction of Pixhawk flight control, Arduino microcontroller and ultrasonic sensor, the hardware device of the automatic obstacle avoidance system is added on the basis of the UAV without obstacle avoidance function, and the software is compiled and tested in practice. Thirdly, the application of crack detection is studied. Image transmission technology and digital image processing technology are introduced to calculate the actual crack length and width through image information. Finally, the feasibility of the improved UAV in bridge detection is verified. After introducing the situation of the bridge, the paper introduces the control test, introduces the UAV detection method and the conventional detection method into the bridge appearance inspection, and introduces the implementation method and the score result of the two detection methods respectively. The two methods are compared in image effect, economy and completion efficiency. The test results show that the UAV has good clarity and reliable scoring results and has great advantages in economy and efficiency. It meets the requirements of bridge detection engineering practice and has great potential in bridge detection application.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U446

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