QUAD-ROTOR UAV-BASED AUTONOMOUS INSPECTION METHOD FOR LARGE STORAGE TANK

摘要

#$%^&*AU2020100930A420200709.pdf#####Abstract The invention relates to a quad-rotor UAV-based autonomous inspection method for a large storage tank. The technical solution is as follows: an ultrasonic flaw detector is fixed on a quad-rotor UAV, geometric parameters of a body of a large storage tank to be inspected are input into a ground upper computer of a quad-rotor UAV-based autonomous inspection system, an inspection path, covering the whole surface of the body of the large storage tank, of the quad-rotor UAV is planned according to the geometric parameters, and then controllers of the quad-rotor UAV are designed by adopting a learning-based method, so that the quad-rotor UAV can conduct autonomous inspection on the surface of the body of the large storage tank along the planned path, record inspection data and positions of hidden trouble points in real time, and send results of inspection for the large storage tank to the ground upper computer of the quad-rotor UAV-based autonomous inspection system, thus realizing the autonomous inspection of the large storage tank by the quad-rotor UAV. The invention has the characteristics of large inspection range, high inspection efficiency and low inspection cost.1/3 Wall of large storagetank Planedkispection path Path interval Staying pointof inspecion Fig. 1