【摘要】：無人機(jī)(UAV)技術(shù)可使橋梁檢測的效率大為提高,且在經(jīng)濟(jì)性方面具有較強(qiáng)的優(yōu)越性。但目前的無人機(jī)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(jī)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(jī)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(shí)踐上提出切實(shí)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(jī)進(jìn)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(diǎn)和目標(biāo)不可達(dá)的兩個問題,根據(jù)橋梁結(jié)構(gòu)自身的特點(diǎn),提出改進(jìn)人工勢場法(IAPF)。并進(jìn)行相應(yīng)的仿真測試驗(yàn)證該算法的有效性。其次,闡述橋梁檢測無人機(jī)硬件和軟件的具體實(shí)現(xiàn)。引入Pixhawk飛控、Arduino單片機(jī)以及超聲波傳感器,在無避障功能的無人機(jī)基礎(chǔ)上,添加了自動避障系統(tǒng)的硬件裝置,并進(jìn)行軟件編寫,并進(jìn)行實(shí)際測試。再次,進(jìn)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(jì)算出實(shí)際裂縫的長度和寬度,最后進(jìn)行對照試驗(yàn)探究其效果。最后,試驗(yàn)驗(yàn)證改進(jìn)后的無人機(jī)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(yàn),將無人機(jī)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(shí)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(jì)性和完成效率上進(jìn)行比較。經(jīng)測試,無人機(jī)進(jìn)行檢測具有較好地清晰度和可靠的評分結(jié)果,在經(jīng)濟(jì)性和效率上具有較大的優(yōu)越性,其滿足橋梁檢測工程實(shí)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

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 彭玲麗;黃少旭;張申申;李乾;;淺談無人機(jī)在橋梁檢測中的應(yīng)用與發(fā)展[J];交通科技;2015年06期

2 王強(qiáng);張安;吳忠杰;;改進(jìn)人工勢場法與模擬退火算法的無人機(jī)航路規(guī)劃[J];火力與指揮控制;2014年08期

3 高瑜;過金超;崔光照;;一種改進(jìn)的多機(jī)器人路徑規(guī)劃自適應(yīng)人工勢場法[J];鄭州輕工業(yè)學(xué)院學(xué)報(自然科學(xué)版);2013年06期

4 張殿富;劉福;;基于人工勢場法的路徑規(guī)劃方法研究及展望[J];計(jì)算機(jī)工程與科學(xué);2013年06期

5 劉鈺;陸建峰;蔡海舟;;基于改進(jìn)A*算法的機(jī)器人路徑規(guī)劃方法研究[J];計(jì)算機(jī)技術(shù)與發(fā)展;2012年12期

6 盧恩超;張萬緒;;復(fù)雜環(huán)境下改進(jìn)APF的機(jī)器人路徑規(guī)劃[J];計(jì)算機(jī)工程與應(yīng)用;2013年24期

7 李雪峰;;淺談超聲波傳感器的工作原理及技術(shù)創(chuàng)新[J];華章;2012年22期

8 李猛;王道波;柏婷婷;盛守照;;基于蟻群優(yōu)化算法和人工勢場的無人機(jī)航跡規(guī)劃[J];應(yīng)用科學(xué)學(xué)報;2012年02期

9 羅乾又;張華;王Y，

本文編號：2397153