UAV Route Planning And Ground Station System For Bridge Disease Detection Based On Hybrid Algorithm

Bridge disease detection has always been a research hotspot and research difficulty in the industry.The current detection methods have more or less defects.With the advancement of China’s infrastructure construction,the actual demand for bridge disease detection is increasing.Research on safe,efficient and accurate bridges Disease detection methods are imminent.UAV(Unmanned Aerial Vehicle,UAV)has such factors as flexible flight,great modification potential,low cost,and good safety.It has been applied in many fields.The use of UAV for bridge disease detection has entered the researcher’s Vision.There are two key problems in the use of drones for bridge disease detection: drone control and disease location.This article puts forward the ending plan for the UAV control problem: use UAV ground station to control UAV to obtain all the external surface image information of the bridge.According to the actual needs of bridge disease detection,according to the structural characteristics of the bridge and the disease incidence trend,design and develop a UAV full coverage path planning algorithm to plan the flight path of the UAV;at the same time,analyze the functional requirements of the UAV ground station and adopt the module Based on the design concept,a dedicated UAV ground station was developed,combined with the path planning algorithm,to achieve a one-stop configuration of path planning and UAV control.This article first introduces the current situation of bridge disease detection,and analyzes the advantages and problems of using UAVs for bridge disease detection.With reference to the application and research status of UAV systems,route planning,and UAV ground stations at home and abroad,and based on the actual situation of this subject,the overall architecture of UAV ground stations is determined,and the functions it should have are clarified.Subsequently,the research on the automatic planning algorithm of UAVs was carried out.In view of the problem of planning three-dimensional flight routes,the bridge structure was analyzed,and the hierarchical planning mode was adopted to divide the bridge into several layers according to the height value,and two-dimensional planning was carried out in each layer.Reduce the design difficulty and the complexity of the program runtime.The grid method is used to design the two-dimensional planning algorithm,and a variety of optimization methods are used to reduce the path repetition rate and reduce the number of dead zones.After testing,it is proved that the designed path planning algorithm is practical and effective.Then,according to the overall design plan of the ground station,a ground station development platform was built,and various functions of the UAV ground station were realized by the modular concept.Decompose the UAV ground station into 6 major functional modules: communication and information processing module,information display module,mission planning module,electronic map and position display module,control module data storage module to realize the real-time display function and communication of UAV flight Control function,data processing function,electronic map and positioning display function,mission planning function,drone flight and mission control function,data storage and log download function,alarm function,etc.Finally,a test drone platform was built,and the designed ground station was tested,including communication function test,display function test,control function test,mission planning test,etc.The name of the test result table,all functional modules work normally,and the design goal is achieved.Summarized the work,and looked forward to the existing problems and deficiencies.