基于无人机的高边坡检查路径规划方法
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摘要
当前国内对于高边坡的检查以人工为主,主要分为人工检查、定期检查、专项检查等形式,随着高速公路总里程数的增加,现有的检查方法越来越难以满足对边坡的全面细致检查,这对高速公路的正常运营带来不可估量的潜在风险。基于数字化技术和快速发展的无人机技术相结合,利用无人机对边坡进行巡查拍照,完成对边坡的检查。但以往无人机的正常飞行均是基于对水平面进行,在对边坡进行巡查拍照时,若按照以往方式规划飞行路线将造成无人机撞机事件的发生。文章通过对无人机在边坡飞行时的特定情况下的研究,实现无人机在对边坡进行巡视时的路线规划,减少了日常边坡检查时的物力人力财力投入,为高速公路的安全运营提供科学性预判和保障。
At present, the inspection of high slopes in China is mainly manual inspection. It is mainly divided into manual inspection, periodic inspection and special inspection. With the increase of the total mileage of expressways, the existing inspection methods are more and more difficult to meet the comprehensive and detailed inspection of the slope which will bring immeasurable potential risks to the normal operation of the expressway. Based on the combination of digital technology and fast-developing drone technology, the drone is used to inspect the slope and complete the inspection of the slope. However, in the past, the normal flight of the UAV was based on the horizontal plane. When the slope was inspected and photographed, if the flight route was planned in the past way, the UAV collision event would occur. In this paper, the research on the special situation of the UAV when flying on the slope realizes the route planning of the UAV during the inspection of the slope, which reduces the input of material and human resources for the daily slope inspection,provide scientific prediction and assurance to safe operation of highways.
At present, the inspection of high slopes in China is mainly manual inspection. It is mainly divided into manual inspection, periodic inspection and special inspection. With the increase of the total mileage of expressways, the existing inspection methods are more and more difficult to meet the comprehensive and detailed inspection of the slope which will bring immeasurable potential risks to the normal operation of the expressway. Based on the combination of digital technology and fast-developing drone technology, the drone is used to inspect the slope and complete the inspection of the slope. However, in the past, the normal flight of the UAV was based on the horizontal plane. When the slope was inspected and photographed, if the flight route was planned in the past way, the UAV collision event would occur. In this paper, the research on the special situation of the UAV when flying on the slope realizes the route planning of the UAV during the inspection of the slope, which reduces the input of material and human resources for the daily slope inspection,provide scientific prediction and assurance to safe operation of highways.
引文
[1]张鹏元.贵州南部山区运营高速公路常见滑坡病害发育规律与稳定性研究[D].西南交通大学,2018.
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[2]柳长安.无人机航路规划方法研究[D].西北工业大学,2003.
[3]卓星宇.无人机山区搜寻方法研究[D].中国民用航空飞行学院,2017.
[4]孙仕祺,马杰.历史与现实:无人机发展历程、现状及其所面临的挑战[J].飞航导弹,2005(01).
[5]董国忠,王省书,胡春生.无人机的应用及发展趋势[J].国防科技,2006(10).
[6]辛贵州.无人飞行器航迹规划算法研究[D].哈尔滨工程大学,2010.
[7]武汉市国土资源管理局.武汉市地质灾害防治规划(2004~2015)[Z].