Research On The Design And Motion Performance Of The Bridge Detection Vehicle

With the further deepening of the national "The Belt and Road" strategy,the road becomes more and more important,as an important part of the road bridge's importance is self-evident,therefore the reliability and safety of the bridge has become the focus of attention.The traditional bridge detection methods have many limitations,such as: poor real-time performance,inaccurate evaluation results and so on.Because of its low cost,simple operation and so on,it has been used in many fields.In this paper,the rotor is used in the bridge detection,which can be used to observe the health state of the bridge in real time.The main contents are as follows:(1)Design of the main parts of the unmanned aerial vehicle platform for bridge detectionFor bridge detection applications,combined with the overall framework of the aircraft is proposed for the selection scheme of bridge model in the bridge detection system of real time image data acquisition of UAV UAV platform in the overall design of hardware including frame,electric,motor,flight control board,PTZ camera,remote control,etc.,for each hardware to do the detailed parameters are introduced.(2)Structural modification design of bridge detection UAVAccording to the structural characteristics of the bridge,the premise of equipment to meet the various conditions,the construction of UAV data acquisition platform for modification on the structure,so as to adapt to the bridge before the platform can not obtain the bottom data collection,and experimental verification of the effectiveness and practicality of the modified rotorcraft six bridge the image data acquisition platform.In the process of modification,the GPS satellite positioning instrument and the movement interference of the tripod and the problem of whether or not the tower head will be overloaded are verified by experiments,and the concrete solution is put forward.(3)Development of bridge detection UAV flying around bridgeBased on the characteristics of the bridge structure and the length of the flight time of the UAV,a scheme is developed to meet the requirements of the six rotor aircraft.According to the need of the late bridge image data processing software,defines the parameters of the bridge image data acquisition and no requirements,specific parameters: camera tilt angle,altitude,photo and coincidence rate,test on thebridge data acquisition on each path six rotary wing aircraft acquisition parameters,the acquisition parameters for the six rotor aircraft.(4)Research on path planning of unmanned aerial vehicle around bridgeIn the light of the complex terrain and rotorcraft remote control problems,combined with the structure and principle of flight six rotor aircraft,a bridge of terrain navigation and path planning method to find the optimal path.According to the structural characteristics of the bridge,the three-dimensional planning is decomposed into the vertical two-dimensional plane planning and the horizontal plan,which simplifies the planning space and reduces the complexity of the problem.In the horizontal path planning,a new type of intelligent optimization algorithm is proposed,which is based on the fixed S route.Finally,the validity of the method is verified by simulation.