Research On Obstacle Avoidance System For Bridge Disease Detection With UAV

Bridge safety is related to the national economy and the people's livelihood.It not only occupies a very significant position in the national economy,but also ensures a smooth hub for roads,railways and highways.It plays a very important role in the transportation system.With the continuous development of the social economy,the rapid growth of transportation volume has led to an increase in the bearing capacity of bridges,a variety of bridge safety accidents,and a serious loss of people's lives and property,making the detection and maintenance of bridges more and more attention.Therefore,ensuring the normal and safe operation of bridges has become an important aspect of protecting people's lives and even the national economy.It is of great practical significance to conduct regular safety inspections on bridges.At present,the conventional bridge safety testing equipment is relatively single.The main testing equipment includes artificial telescopes,remote photography,bridge inspection vehicles,and pre-track video detection.Such traditional detection methods are almost inefficient and have high costs.There are certain security risks and other problems in the testing personnel.There are certain security risks and other problems in the testing personnel.For this reason,the development of drone for bridge safety inspections has not only greatly improved efficiency,but also safeguarded personal safety.The obstacle avoidance technology of drones refers to the effect that the drone aircraft achieves flight safety by automatically recognizing and effectively avoiding obstacles when it encounters obstacles during automatic flight.It is one of the important contents of drone research.In the actual background of bridge disease detection,this paper has carried out the following researches on obstacle avoidance problems in the detection process of drone bridge diseases.(1)Firstly,the design of the obstacle avoidance control system for drone is designed,including the overall structure of the system and the relationship among various components,and the sensors related to the obstacle avoidance are selected and the precision of the ultrasonic sensor is improved.(2)Secondly,according to the distribution of obstacles in the drone flight area,the drone obstacle avoidance model is constructed using a grid method.Then,according to the special structure of the bridge,various bridge-related structures are simulated on the basis of the obstacle avoidance model.(3)Then,based on the grid method and A* algorithm,an improved A* algorithm for obstacle avoidance of drone is proposed.This method mainly divides and refines the path planned by the A* algorithm in smaller steps,thereby obtaining a group of related path nodes.Finally,on the premise of the obstacle avoidance route bypassing obstacles,the starting point and the ending point are connected in sequence with a straight line,and the intermediate path nodes are eliminated,so that the purpose of optimizing the path length and reducing the number of turning angles is achieved.(4)Finally,the obstacle avoidance system of the UAV is combined with the relevant complex structural model of the bridge,and a bridge obstacle avoidance algorithm simulation and simulation system is designed.The obstacle detection of the main complex structure of the bridge can be detected,and the obstacle avoidance algorithm can achieve universality.The preliminary obstacle avoidance tests and related bridge tests were completed on drones.The Simulation and test results show that the obstacle avoidance method proposed in this paper has good feasibility and provides a reference for the drone to detect obstacles in bridge disease.