Research On UAV For Bridge Inspection Based On Iapf Algorithm And Arduino MCU

It will become more efficient and cost-effective to introduce UAV technology into bridge inspection.However,for now,UAV cannot be used directly in the field of bridge inspection for the sake of both following difficulties.?)It is not safe to employ UAV without obstacle avoidance system during bridge inspection.?)The image transmission system of UAV has not be used to measure the length and width of bridge crack.In order to solve both of the problems,reasonable theory and practical programs are put forward as follows.First of all,the superiority of artificial potential field method of UAV during the obstacle avoidance in bridge inspection is elaborated.However,there are two limits in artificial potential field method during the application,namely local minimum point and unreachable target location.Based on the features of bridge structure,the artificial potential field method is improved.Secondly,the specific program of hardware and software of UAV for bridge inspection is clarified.And the corresponding test is carried out.Both hardware device and corresponding software are improved in original UAV without automatic obstacle avoidance system.As for the hardware,including Pixhawk,Arduino and ultrasonic sensors are;combined and used in the UAV.Thirdly,the research of crack detection has been carried out.The fundamentals of photo imaging is elaborated.The length and width of the crack can be calculated by means of image processing.The effects can be explored through controlled trials.At last,the test is introduced to explore whether the improved UAV can be used effectively.According to an actual bridge,the controlled trials are introduced.Both the UAV detection method and conventional test method are used and compared on terms of the specific effects,including image effects,economy and efficiency.By practical test,the bridge detection by UAV is superior in image clarity,scoring,economy and efficiency.It meets the requirements of bridge inspection,which makes UAV more potential in this field.