CN118124832A - Bridge inspection unmanned plane, flight method, image acquisition method and device - Google Patents

Abstract

The application provides a bridge inspection unmanned aerial vehicle, a flight method, an image acquisition method and an image acquisition device, which belong to the technical field of aircraft design, wherein a first ranging sensor and a second ranging sensor are respectively arranged on a front rotor wing and a rear rotor wing of a fuselage of a double-rotor unmanned aerial vehicle, and first distance data acquired by the first ranging sensor and second distance data acquired by the second ranging sensor are acquired at the same time; calculating an included angle between the axis of the body of the bridge inspection unmanned aerial vehicle and the side wall of the bridge based on the first distance data and the second distance data; under the condition that the included angle between the axis of the machine body and the side wall of the bridge is zero, acquiring an image shot by the aerial camera on the side wall of the bridge. The application improves the efficiency of the bridge inspection unmanned plane for the railway bridge inspection and the image acquisition precision.

Description

A bridge inspection drone, flight method, image acquisition method and device

Technical Field

The present application belongs to the field of aircraft design technology, and specifically relates to a bridge inspection UAV, a flight method, an image acquisition method and a device.

Background technique

With the development of technologies such as drones and photogrammetry, bridge inspection methods are becoming more intelligent. Drones are increasingly being used in bridge inspection and maintenance operations. Existing drone bridge inspection systems mostly use quad-rotors or hexa-rotors as flight platforms, equipped with payloads such as laser radars or high-definition cameras to inspect target bridges.

However, according to the actual business needs of bridge inspection, the accuracy of UAV inspection needs to be further improved to realize the detection of millimeter-scale cracks. On the one hand, the UAV platform needs to be closer to the bridge for image acquisition, the UAV platform's ability to resist wall aerodynamic interference needs to be further improved, and the distance between the UAV platform and the side wall needs to be more accurately controlled; on the other hand, due to higher requirements on the resolution of collected images, the inspection operation time of the same bridge will increase significantly, and the single flight time of the UAV platform also needs to be further improved to reduce the number of battery replacements in the middle and improve inspection efficiency.

Summary of the invention

Based on the above technical problems, the present application proposes a bridge inspection UAV, a flight method, an image acquisition method and a device.

In a first aspect, the present application proposes a bridge inspection drone, wherein the bridge inspection drone is a dual-rotor drone;

A first ranging sensor is installed on the front rotor of the fuselage of the dual-rotor UAV, and a second ranging sensor is installed on the rear rotor of the fuselage of the dual-rotor UAV, wherein the first ranging sensor and the second ranging sensor are used to measure the distance between the dual-rotor UAV and the side wall of the bridge;

A calculation control module is set in the dual-rotor UAV to calculate the angle between the fuselage axis of the bridge inspection UAV and the bridge side wall according to the distance between the dual-rotor UAV and the bridge side wall, and send a shooting command to the aerial camera when the angle between the fuselage axis and the bridge side wall is zero degree;

An aerial camera is installed at the center of gravity of the dual-rotor UAV. The aerial camera is used to photograph the side wall of the bridge when receiving a shooting instruction to obtain an image of the side wall of the bridge.

The aerial camera comprises at least a first aerial camera and a second aerial camera. The first aerial camera and the second aerial camera are at the same height, and the first aerial camera and the second aerial camera are arranged at a first angle.

The first angle range is: [15°, 45°].

In a second aspect, the present application proposes a flight method, which is implemented by using the bridge inspection drone described in the first aspect, including:

During the bridge inspection process, when the bridge inspection drone is flying, first distance data collected by the first distance measuring sensor is acquired in real time, and second distance data collected by the second distance measuring sensor is acquired in real time;

Based on the first distance data and the second distance data, the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge is calculated;

The bridge inspection UAV is controlled to fly in a flight state where the angle between the fuselage axis and the bridge side wall is less than a set threshold to ensure that the UAV flies along the bridge side wall.

In a third aspect, the present application proposes an image acquisition method, which is implemented by the bridge inspection drone described in the first aspect, including:

Acquire first distance data collected by a first distance measuring sensor;

Acquire second distance data collected by a second distance measuring sensor;

Based on the first distance data and the second distance data, the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge is calculated;

When the angle between the fuselage axis and the bridge side wall is zero degree, the image of the bridge side wall taken by the aerial camera is collected.

Based on the first distance data and the second distance data, the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge is calculated as follows:

Wherein, θ is the angle between the fuselage axis and the side wall of the bridge, _l1 is the first distance data, _l2 is the second distance data, and A is the distance between the first ranging sensor and the second ranging sensor.

The aerial camera includes at least a first aerial camera and a second aerial camera. The first aerial camera captures a first image of the bridge side wall taken by the aerial camera, and the second aerial camera captures a second image of the bridge side wall taken by the aerial camera. The first image and the second image are spliced together, and the spliced image is used as the final bridge side wall image.

In a fourth aspect, the present application proposes an image acquisition device, comprising:

A first acquisition module, used to acquire first distance data acquired by a first distance measuring sensor;

A second acquisition module, used to acquire second distance data acquired by a second distance measuring sensor;

An angle calculation module, used to calculate the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge based on the first distance data and the second distance data;

The image acquisition module is used to acquire images of the side wall of the bridge taken by the aerial camera when the angle between the fuselage axis and the side wall of the bridge is zero degree.

In a fifth aspect, the present application proposes an electronic device, comprising: one or more processors, and a memory, wherein the memory stores instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the image acquisition method.

In a sixth aspect, the present application proposes a computer-readable storage medium storing executable instructions, which, when executed, enable a processor to perform the image acquisition method.

Beneficial effects:

This application proposes a bridge inspection drone, flight method, image acquisition method and device, which can always keep the lens of the aerial camera pointing vertically to the side wall of the bridge without a gimbal, thereby realizing the orthophoto image acquisition of the side wall, and the algorithm is simple and easy to implement. It can also complete the acquisition of the complete image of the side wall of the bridge when flying over the side wall of the bridge once, without the need for the drone to fly back and forth multiple times, thereby improving the image acquisition efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a bridge inspection drone according to an embodiment of the present application;

FIG2 is a schematic diagram of the layout of aerial cameras according to an embodiment of the present application;

FIG3 is a schematic diagram of a UAV wall-mimicking flight according to an embodiment of the present application;

FIG4 is a flow chart of an image acquisition method according to an embodiment of the present application;

FIG5 is a schematic diagram of a distance measurement sensor according to an embodiment of the present application;

FIG6 is a schematic diagram of calculating the angle between the fuselage axis and the bridge side wall according to an embodiment of the present application;

FIG7 is a schematic diagram of camera array splicing according to an embodiment of the present application;

FIG8 is a principle block diagram of an image acquisition device according to an embodiment of the present application;

Among them, 1-fuselage, 2-1 front rotor, 2-2 rear rotor, 3-1 first ranging sensor, 3-2 second ranging sensor, 4-aerial camera.

Detailed ways

The present disclosure is further described below in conjunction with the embodiments shown in the accompanying drawings.

In the existing technology of drone inspection, the focus is usually on the improvement of technical solutions such as inspection drone platform, drone path planning, drone positioning, image-based detection methods and disease identification. The current solution has a relatively complete description of the drone-based inspection method, and this technical solution can also realize the detection of centimeter-level damage to bridges.

However, according to the actual business needs of bridge inspection, the inspection accuracy of UAVs needs to be further improved to detect millimeter-scale cracks. In the acquisition and mapping of bridge orthophotos, in order to further improve the detection accuracy, bridge inspection UAVs need to fly closer to the bridge wall, which will put forward higher requirements on the positioning accuracy and flight performance of bridge inspection UAVs flying along the side wall. On the one hand, bridge inspection UAVs need to be closer to the bridge for image acquisition, the ability of bridge inspection UAVs to resist aerodynamic interference from the wall needs to be further improved, and the distance between bridge inspection UAVs and the side wall needs to be more accurately controlled; on the other hand, due to the higher requirements for the resolution of the acquired images, the inspection operation time of the same bridge will increase significantly, and the single flight time (flight time) of bridge inspection UAVs also needs to be further improved to reduce the number of battery replacements in the middle and improve inspection efficiency.

This application proposes a bridge inspection drone, flight method, image acquisition method and device, the purpose of which is to improve the existing drone, flight method and image acquisition method in response to the demand for millimeter-level crack detection in railway bridge inspection operations. This application can effectively increase the flight time of the drone and improve the inspection efficiency. By carrying a range sensor and an aerial camera array, the drone can be controlled to fly along the side wall of a small curvature bridge, which can improve the distance control accuracy and image acquisition effect of the bridge inspection drone.

Embodiment 1

This embodiment provides a bridge inspection drone, as shown in FIG1 , the bridge inspection drone is a dual-rotor drone, and the dual-rotor drone includes: a fuselage 1, a front rotor 2-1, a rear rotor 2-2, a first ranging sensor 3-1, a second ranging sensor 3-2, and an aerial camera 4;

A first distance measuring sensor 3-1 is installed on the front rotor 2-1 of the fuselage of the dual-rotor UAV, and a second distance measuring sensor 3-2 is installed on the rear rotor 2-2 of the fuselage of the dual-rotor UAV. The first distance measuring sensor 3-1 and the second distance measuring sensor 3-2 are used to measure the distance between the dual-rotor UAV and the side wall of the bridge;

A calculation control module (not shown in FIG1 ) is provided in the dual-rotor UAV, which is used to calculate the angle between the fuselage axis of the bridge inspection UAV and the bridge side wall according to the distance between the dual-rotor UAV and the bridge side wall, and send a shooting instruction to the aerial camera 4 when the angle between the fuselage axis and the bridge side wall is zero degree;

An aerial camera 4 is installed at the center of gravity of the dual-rotor UAV. The aerial camera 4 is used to photograph the side wall of the bridge when receiving a shooting instruction to obtain an image of the side wall of the bridge.

In this embodiment, unless otherwise specified, the front, back, left, and right are relative to the top view of the fuselage 1. The front rotor 2-1 and the rear rotor 2-2 are located on the fuselage axis, and the rotor pull direction vector can rotate along the fuselage axis, so that the UAV platform can achieve fixed-point hovering and stable forward flight functions. The front rotor 2-1 and the rear rotor 2-2 are driven by a motor, and there is a vector mechanism under the motor that can change the rotor pull direction. The distance sensor is arranged below the fuselage rotor along the direction of the fuselage. The distance sensor can measure the distance between the side of the fuselage and the side wall of the bridge. The first distance sensor 3-1 and the second distance sensor 3-2 can simultaneously output the measured data to the onboard computer. In this embodiment, the first distance sensor 3-1 and the second distance sensor 3-2 are arranged on the fuselage 1. The first distance sensor 3-1 and the second distance sensor 3-2 are specifically laser distance measurement modules. The laser emission and reception are perpendicular to the side of the fuselage, and the distance between the fuselage 1 of the bridge inspection UAV and the side wall of the bridge can be directly measured. It is worth noting that the quad-rotor drone can also be improved accordingly according to the solution proposed in this embodiment, but the effect of subsequent wall-like flight and the accuracy of image acquisition are lower than those produced by the dual-rotor drone used in this embodiment. On the one hand, because the fuselage structure span of the dual-rotor drone in this embodiment is larger, it is conducive to the arrangement of sensors. On the other hand, compared with the quad-rotor drone, the dual-rotor drone can fly closer to the side wall, so the image acquisition accuracy is high. At the same time, a single-point laser ranging module is used to measure the distance at different angles, and the angle between the fuselage axis and the side wall can also be calculated, but the ranging accuracy requires the use of the laser beam angle calculation activity, while the ranging in this embodiment is direct measurement, which is simple to calculate and has a fast response speed and high accuracy.

In this embodiment, the tilting mode of the front and rear rotors does not limit the scope of the present invention. In different embodiments, the aircraft can also be designed as a variable pitch twin-rotor helicopter configuration, depending on the specific overall design scheme.

The aerial camera 4 at least includes a first aerial camera and a second aerial camera. The first aerial camera and the second aerial camera are at the same height, and the first aerial camera and the second aerial camera are arranged at a first angle. The first angle range is: [15°, 45°].

In this embodiment, the aerial camera 4 is located at the center of gravity of the drone, which is convenient for disassembly and assembly; the aerial camera 4 is an array of two industrial cameras at a certain installation angle, and the array is fixedly connected to the drone without the need to install a gimbal. The camera can cover the entire bridge beam in one shot; in this embodiment, the first aerial camera and the second aerial camera are arranged at a first angle, and the first angle range is: [15°, 45°], so as to ensure that the overlap rate of the captured images is not high, and to ensure that the acquisition of the complete image of the bridge side wall can be completed when flying over the bridge side wall once, without the need for the drone to fly back and forth multiple times, thereby improving the image acquisition efficiency.

The images taken by the first aerial camera and the second aerial camera need to be stitched together to obtain the entire image of the bridge. In order to improve the stitching accuracy of the two images, certain requirements are required for the flight speed of the bridge inspection drone. At this time, the flight speed of the bridge inspection drone is related to the frequency f _capture of the aerial camera to capture pictures. The calculation formula is as follows:

Wherein, v is the flight speed of the bridge inspection UAV, f _capture is the frequency of the aerial camera capturing pictures, O is the overlap percentage between the two images, L _sensor is the optical effective size of the image sensor in the flight direction of the aerial camera, d is the working distance of the aerial camera, and f is the focal length of the aerial camera lens.

The bridge inspection drone proposed in this embodiment includes: a first distance measuring sensor is installed on the front rotor of the fuselage of the dual-rotor drone, and a second distance measuring sensor is installed on the rear rotor of the fuselage of the dual-rotor drone, wherein the first distance measuring sensor and the second distance measuring sensor are used to measure the distance between the dual-rotor drone and the side wall of the bridge; a calculation control module is set in the dual-rotor drone, which is used to calculate the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge according to the distance between the dual-rotor drone and the side wall of the bridge, and when the angle between the fuselage axis and the side wall of the bridge is zero, a shooting instruction is sent to the aerial camera; an aerial camera is installed at the center of gravity of the dual-rotor drone, and the aerial camera is used to shoot the side wall of the bridge when receiving the shooting instruction to obtain an image of the side wall of the bridge. The modified bridge inspection drone can ensure that the subsequent flight is closer to the side wall surface, and the image acquisition accuracy is higher, which meets the needs of millimeter-level crack detection. At the same time, it also ensures that the acquisition of the complete image of the side wall of the bridge can be completed when flying over the side wall of the bridge once, without the need for the drone to fly back and forth multiple times, thereby improving the image acquisition efficiency.

Embodiment 2

This embodiment provides a flight method, which is implemented by using the bridge inspection drone described in the first aspect, including:

During the bridge inspection process, when the bridge inspection drone is flying, the first distance data collected by the first distance measuring sensor 3-1 is obtained in real time, and the second distance data collected by the second distance measuring sensor 3-2 is obtained in real time;

Based on the first distance data and the second distance data, the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge is calculated;

The bridge inspection UAV is controlled to fly in a flight state where the angle between the fuselage axis and the bridge side wall is less than a set threshold to ensure that the UAV flies along the bridge side wall.

In this embodiment, in addition to the existing high-precision positioning and orientation means based on satellite navigation and positioning technology, the bridge inspection UAV platform adds a method for measuring the relative position of the UAV and the side wall of the bridge, thereby realizing the function of the bridge inspection UAV flying in the direction parallel to the railway bridge, as shown in Figure 3. Specifically, in this embodiment, multiple side distance sensors are arranged on the side of the fuselage, and the onboard computer of the bridge inspection UAV can obtain the distance between the bridge inspection UAV and the side wall of the bridge in real time during flight, and calculate the angle between the UAV fuselage axis (i.e., the forward direction of the bridge inspection UAV) and the side elevation of the bridge in combination with multiple distance measurement data to guide the navigation and control of the UAV.

This embodiment adopts a bridge inspection UAV modified from the first embodiment. During the bridge inspection process, when performing wall-simulating flight, it is necessary to obtain in real time the first distance data collected by the first distance measuring sensor 3-1 and the second distance data collected by the second distance measuring sensor 3-2; and calculate in real time the angle between the fuselage axis of the bridge inspection UAV and the side wall of the bridge. After obtaining the angle, the bridge inspection UAV is controlled to maintain a flight state in a flight state where the angle is less than a set threshold, so as to ensure that the UAV flies along the side wall of the bridge, that is, it can maintain a flight state in a manner closer to the side wall of the bridge.

Embodiment 3

This embodiment proposes an image acquisition method, which is implemented by using the bridge inspection drone described in the first aspect, as shown in FIG4 , including:

Step S1: Acquire first distance data collected by the first distance measuring sensor 3-1;

Step S2: Acquire the second distance data collected by the second distance measuring sensor 3-2;

Step S3: Based on the first distance data and the second distance data, the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge is calculated;

Step S4: When the angle between the fuselage axis and the bridge side wall is zero degree, the image of the bridge side wall taken by the aerial camera 4 is collected.

Based on the first distance data and the second distance data, the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge is calculated as follows:

Wherein, θ is the angle between the fuselage axis and the side wall of the bridge, _l1 is the first distance data, _l2 is the second distance data, and A is the distance between the first ranging sensor 3-1 and the second ranging sensor 3-2.

In this embodiment, the railway bridge drone inspection method is specifically as follows: the bridge inspection drone keeps a certain distance from the side of the railway bridge and flies along the railway bridge. During the flight, the onboard camera collects images at a certain time interval, and one flight can complete the collection of all images on one side of the bridge; at the same time, the collected image is an orthophoto of the side wall of the bridge, which is conducive to high-precision disease identification and mapping in the later stage. In order to realize that the collected image is an orthophoto of the side wall of the bridge, the lens pointing of the drone's onboard camera needs to be parallel to the side wall of the railway bridge, so the drone needs to have high-precision positioning and orientation functions.

In this embodiment, the bridge drone is mounted with two laser ranging sensors, including: a first ranging sensor 3-1 and a second ranging sensor 3-2. By comparing the ranging data _l1 and _l2 of the two points, the angle θ between the drone fuselage axis and the bridge side wall can be calculated by the absolute value of the distance difference between _l1 and _l2 , as shown in Figures 5 and 6. The bridge inspection drone flight control system can control the drone heading so that the fuselage axis is parallel to the bridge side wall (i.e., the angle is 0 degrees), and keep the angle between the drone fuselage axis and the bridge side wall less than the set threshold in real time, so as to ensure that the airborne camera lens can be perpendicular to the bridge side wall and collect orthophotos of the bridge side wall.

The aerial camera 4 includes at least a first aerial camera and a second aerial camera. The first aerial camera captures a first image of the bridge side wall taken by the aerial camera, and the second aerial camera captures a second image of the bridge side wall taken by the aerial camera. The first image and the second image are spliced together, and the spliced image is used as the final bridge side wall image.

In this embodiment, in order to enable the UAV to completely capture the image of the side wall of one side of the railway bridge in one flight along the railway bridge, the image captured by the UAV's onboard camera each time needs to be able to completely cover the typical features of one side wall of the railway bridge, without the need for the UAV to fly back and forth along the railway bridge multiple times and perform subsequent image stitching.

In response to this demand, this embodiment uses multiple cameras to form an array, as shown in Figure 7, to simultaneously capture images, that is, multiple aerial cameras take photos at the same time with one shutter, and then stitch multiple images taken at the same time into one image, which can completely cover a typical feature of the side of the bridge while meeting the accuracy requirements. This solution can improve the image clarity by using the method of parallel stitching of images collected by multiple cameras at the same time, and because the image collected once can completely cover the entire side of the bridge, the drone does not need to fly back and forth multiple times to collect images, which can improve the inspection efficiency, and also reduces the difficulty of later image stitching processing, and does not need to perform complex time and space comparison operations during later image stitching. The aerial camera 4 is arranged at the center of gravity of the fuselage. The aerial camera 4 is an array composed of two industrial cameras at a certain installation angle. The array is fixed to the drone and does not need to be equipped with a gimbal. The drone is used to collect images of a typical target on the side wall of a railway bridge. The typical target size is 4m×3m. Specifically, the effective resolution of the camera is 61 million pixels (9504×6336), the focal length of the lens is 80 mm, the camera field of view is 30 degrees (that is, the first angle a is 30 degrees), and the two cameras are placed side by side vertically as shown in Figure 2. It can be calculated that the installation angle between the two cameras is 30 degrees, and the distance between the camera and the side wall of the bridge is 8 m. The images collected by the camera array can completely cover the typical targets on the side wall of the bridge after stitching, and the resolution can reach 0.56 mm/pixel.

The core of this embodiment is to use a dual-rotor drone equipped with multiple ranging modules and array cameras to realize the wall-simulating flight method and efficient image acquisition method, which not only improves the efficiency of the drone in railway bridge inspection and improves the image acquisition accuracy, but also reduces the errors and complexity caused by later image processing. The bridge inspection drone can fly along the direction of the railway bridge and realize close-range high-precision image acquisition of side wall structures such as bridges and piers to support high-precision crack detection of bridges. The drone wall-simulating flight method of this embodiment can always keep the onboard camera lens pointing vertically to the side wall of the bridge without a gimbal, thereby realizing orthographic image acquisition of the side wall, and the algorithm is simple and easy to implement. At the same time, the efficient image acquisition method of the drone-mounted camera in this embodiment can complete the acquisition of the complete image of the side wall of the bridge when flying over the side wall of the bridge once, without the need for the drone to fly back and forth multiple times, thereby improving the image acquisition efficiency. This embodiment uses a bridge inspection drone, a distance measuring device and an aerial camera to support each other, give full play to their respective advantages, and thus improve the overall performance of the system: the bridge inspection drone uses a twin-rotor drone with a larger fuselage axis direction, which is conducive to the layout of the distance measuring device; the drone platform is narrow in width, and the aerial camera can be closer to the side wall of the bridge, which is conducive to improving the image acquisition accuracy; compared with a four-rotor drone, the twin-rotor drone platform has a longer flight time, which is more conducive to completing the image acquisition task of the side wall of a long railway bridge in one go.

Embodiment 4:

This embodiment provides an image acquisition device, as shown in FIG8 , comprising: a first acquisition module, a second acquisition module, an angle calculation module, and an image acquisition module, wherein the first acquisition module and the second acquisition module are respectively connected to the angle calculation module, and the angle calculation module is connected to the image acquisition module;

A first acquisition module, used to acquire first distance data acquired by the first distance measuring sensor 3-1;

A second acquisition module, used to obtain second distance data acquired by the second distance measuring sensor 3-2;

An angle calculation module, used to calculate the angle between the fuselage axis of the bridge inspection drone and the side wall of the bridge based on the first distance data and the second distance data;

The image acquisition module is used to acquire the image of the bridge side wall taken by the aerial camera 4 when the angle between the fuselage axis and the bridge side wall is zero degree.

The image acquisition device also includes a stitching module, which is connected to the image acquisition module and is used to stitch the first image and the second image. The stitched image serves as the final bridge side wall image. The first image is acquired by the first aerial camera, and the second image is acquired by the second aerial camera. The aerial camera 4 includes at least the first aerial camera and the second aerial camera.

The present embodiment proposes an image acquisition device, comprising: using a first acquisition module and a second acquisition module at the same time to acquire first distance data and second distance data; using an angle calculation module to calculate the angle between the fuselage axis of the bridge inspection drone and the bridge side wall based on the first distance data and the second distance data; using the image acquisition module to acquire the image of the bridge side wall taken by the aerial camera when the angle between the fuselage axis and the bridge side wall is zero. The present embodiment can improve the efficiency of the drone in railway bridge inspection and the image acquisition accuracy.

Embodiment 5

This embodiment proposes an electronic device, including: one or more processors, and a memory, wherein the memory stores instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the image acquisition method.

The electronic device may be a mobile phone, a computer or a tablet computer, etc., including a memory and a processor, wherein a computer program is stored on the memory, and when the computer program is executed by the processor, the image acquisition method described in the embodiment is implemented. It is understood that the electronic device may also include an input/output (I/O) interface and a communication component.

The processor is used to execute all or part of the steps in the image acquisition method described in the above embodiment. The memory is used to store various types of data, which may include instructions of any application or method in the electronic device, and data related to the application.

The processor can be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is used to execute the image acquisition method described in the above embodiments.

Embodiment 6

This embodiment provides a computer-readable storage medium storing executable instructions, which, when executed, enable a processor to perform the image acquisition method.

If implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

Based on this understanding, the technical solution of the present application can essentially or partly contribute to the prior art or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the image acquisition method described in each embodiment of the present application.

The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (for example, SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR abbreviation, memory data register) memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, CD, server, APP (Application, abbreviation of application software) application store and other media that can store program verification codes, on which computer programs are stored, and when the computer program is executed by the processor, the various steps of the above-mentioned image acquisition method can be implemented.

The various embodiments in the present disclosure are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments.

The protection scope of the present disclosure is not limited to the above-mentioned embodiments. Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the scope and spirit of the present disclosure. If these changes and modifications fall within the scope of the claims of the present disclosure and their equivalents, the intention of the present disclosure also includes these changes and modifications.

Claims (10)

1. The bridge inspection unmanned aerial vehicle is characterized by being a double-rotor unmanned aerial vehicle;

A first ranging sensor is arranged on the front side rotary wing of the fuselage of the double-rotor unmanned aerial vehicle, a second ranging sensor is arranged on the rear side rotary wing of the fuselage of the double-rotor unmanned aerial vehicle, and the first ranging sensor and the second ranging sensor are used for measuring the distance between the double-rotor unmanned aerial vehicle and the side wall of the bridge;

A calculation control module is arranged in the double-rotor unmanned aerial vehicle and is used for calculating an included angle between the axis of the body of the bridge inspection unmanned aerial vehicle and the side wall of the bridge according to the distance between the double-rotor unmanned aerial vehicle and the side wall of the bridge, and sending a shooting instruction to the aerial camera under the condition that the included angle between the axis of the body and the side wall of the bridge is zero;

The method comprises the steps that an aerial camera is installed at the gravity center position of the double-rotor unmanned aerial vehicle, and the aerial camera is used for shooting the side wall of the bridge under the condition that shooting instructions are received, so that an image of the side wall of the bridge is obtained.

2. The bridge inspection unmanned aerial vehicle of claim 1, wherein the aerial cameras comprise at least a first aerial camera and a second aerial camera, the first aerial camera and the second aerial camera are at a same height, and the first aerial camera and the second aerial camera are arranged at a first angle.

3. The bridge inspection drone of claim 1, wherein the first angular range is: [15 °,45 ° ].

4. A method of flying, implemented using the bridge inspection unmanned aerial vehicle of claim 1, comprising:

In the bridge inspection process, when the bridge inspection unmanned aerial vehicle flies, acquiring first distance data acquired by a first distance measuring sensor in real time, and acquiring second distance data acquired by a second distance measuring sensor in real time;

calculating an included angle between the axis of the body of the bridge inspection unmanned aerial vehicle and the side wall of the bridge based on the first distance data and the second distance data;

The bridge inspection unmanned aerial vehicle is controlled to fly in a flight state that the included angle between the axis of the body and the side wall of the bridge is smaller than a set threshold value, so that the unmanned aerial vehicle is ensured to fly along the side wall of the bridge.

5. An image acquisition method implemented by the bridge inspection unmanned aerial vehicle according to claim 1, comprising the steps of:

acquiring first distance data acquired by a first distance measuring sensor;

Acquiring second distance data acquired by a second distance measuring sensor;

calculating an included angle between the axis of the body of the bridge inspection unmanned aerial vehicle and the side wall of the bridge based on the first distance data and the second distance data;

Under the condition that the included angle between the axis of the machine body and the side wall of the bridge is zero, acquiring an image shot by the aerial camera on the side wall of the bridge.

6. The image capturing method according to claim 5, wherein the calculating, based on the first distance data and the second distance data, obtains an included angle between a fuselage axis of the bridge inspection unmanned aerial vehicle and a side wall of the bridge by the following formula:

Wherein θ is an included angle between the axis of the fuselage and the side wall of the bridge, l ₁ is first distance data, l ₂ is second distance data, and a is a distance between the first distance sensor and the second distance sensor.

7. The method according to claim 5, wherein the aerial camera comprises at least a first aerial camera and a second aerial camera, the first aerial camera collects a first image of the aerial camera taken by the bridge side wall, the second aerial camera collects a second image of the aerial camera taken by the bridge side wall, the first image and the second image are spliced, and the spliced image is used as a final bridge side wall image.

8. An image acquisition device, comprising:

the first acquisition module is used for acquiring first distance data acquired by the first distance measurement sensor;

The second acquisition module is used for acquiring second distance data acquired by a second distance measurement sensor;

the included angle calculation module is used for calculating and obtaining an included angle between the axis of the body of the bridge inspection unmanned aerial vehicle and the side wall of the bridge based on the first distance data and the second distance data;

The image acquisition module is used for acquiring images shot by the aerial camera on the side wall of the bridge under the condition that the included angle between the axis of the machine body and the side wall of the bridge is zero.

9. An electronic device, comprising: one or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the image acquisition method of any one of claims 5-7.

10. A computer readable storage medium, characterized in that it stores executable instructions, which when executed, cause a processor to perform the image acquisition method of any one of claims 5 to 7.