大型起重机金属结构无人机自动巡检技术研究  

Study on automatic inspection technology of metal structure UAV for large crane

作　　者：周前飞 庆光蔚 王会方 胡静波 宁士翔 Zhou Qianfei;Qing Guangwei;Wang Huifang;Hu Jingbo;Ning Shixiang

机构地区：[1]南京市特种设备安全监督检验研究院,南京210000

出　　处：《起重运输机械》2021年第8期60-65,共6页Hoisting and Conveying Machinery

基　　金：国家重点研发计划项目(2018YFC0809005)。

摘　　要：人工操纵无人机进行起重机结构检测存在巡检难度大、多发坠机、自动化程度低等问题,因此文中提出一种多旋翼无人机自动驾驶智能巡检系统及方法。通过对门式起重机、门座起重机、塔式起重机等的巡检路径进行科学规划,在GPS+Glonass双系统融合精密定位技术基础上,提出了飞机打点+航迹飞行的多旋翼无人机自动巡检方法,全方位高质量采集大型起重机复杂钢结构表面图像。在强电磁干扰、GPS信号遮挡严重等复杂工业环境下,实现无人机定点巡航与结构检测作业,1km范围内航点坐标误差不超过1m,且与目标距离超过设定安全距离时会自动报警,提高了飞行操纵稳定性和安全性,为实现规范化、标准化的无人机安全巡检作业奠定了基础。Considering problems such as difficulty,crash and low degree of automation in crane structure inspections by manually operating UAV,an intelligent inspection system for automatic driving of multi-rotor UAV and its application method are proposed.By scientifically planning the inspection routes of gantry cranes,portal cranes,tower crane and other cranes and based on GPS+Glonass system combined with precise positioning technology,an automatic inspection method of multi-rotor UAV with aircraft dotting and track flight is proposed,which can collect surface images of complex steel structures of large cranes in all directions and with high quality.The system can be used for fixed-point cruise and structural inspection of unmanned aerial vehicles in complex industrial environments such as strong electromagnetic interference and serious GPS signal occlusion.The error of waypoint coordinates within 1 km is less than 1 m,and when the distance between unmanned aerial vehicles and inspection targets exceeds the set safety distance,it will automatically give an alarm,which improves the stability and safety of flight control and lays a foundation for realizing standardized safety inspection of unmanned aerial vehicles.

关 键 词：起重机 金属结构 视觉检测 无人机 自动巡检 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置] TH21[自动化与计算机技术—控制科学与工程]