MULTI-UNMANNED AERIAL VEHICLE COLLABORATIVE OPERATION-BASED AUTOMATIC INSPECTION METHOD AND SYSTEM FOR BRIDGES

摘要

A multi-unmanned aerial vehicle collaborative operation-based automatic inspection method and system for bridges. The multi-unmanned aerial vehicle collaborative operation-based automatic inspection method for bridges comprises: analyzing bridge environment information and dividing a bridge inspection task into a plurality of sub-tasks; acquiring a task grouping optimization function, and dividing the sub-tasks into sub-task groups; planning the flight paths of unmanned aerial vehicles corresponding to the sub-task groups respectively, and allocating the sub-task groups to corresponding unmanned aerial vehicles; transmitting photos photographed by the unmanned aerial vehicles to an image processing unit to extract damage features of the bridge, and generating a bridge damage report. In the multi-unmanned aerial vehicle collaborative operation-based automatic inspection method and system for bridges, different photographing schemes are designed according to different bridge tasks, bridge inspection is performed by means of the mutual collaboration of a plurality of unmanned aerial vehicles, and the unmanned aerial vehicles simultaneously execute different sub-tasks and use redundancy fault-tolerant technology to remediate abnormalities. The method and system are highly efficient, have high task continuity and completeness, are highly accurate, have a low error rate, and can solve the problems in which traditional bridge inspection operations have a high degree of difficulty, a single unmanned aerial vehicle takes a long time, and the error rate is high.