面向铁路巡检的无人机飞行路径规划方法

UAV flight path planning method for railway lines patrol inspection

目前,铁路线路巡检主要仍由工作人员完成,这种人工检测方法费时费力,效率较低,且很难完成地质灾害区域、悬崖、桥梁等恶劣环境下的铁路线路检测。为了提高铁路检测效率,满足恶劣环境下铁路线路巡检需求,基于无人机、实时动态测量仪、云台、相机等设备搭建了一个铁路巡检平台,用于拍摄铁路线路的实况视频。并基于三次样条插值法建立了无人机飞行路径模型,用于规划铁路巡检平台的飞行路径。实验结果表明,使用无人机飞行路径模型生成的无人机飞行路径与铁路线路贴合度较高,证明方法有效。

At present, the work of railway lines patrol inspection is still completed by the staff. The manual detection method is time-consuming, labor-intensive and low efficiency, and it is difficult to complete the railway line detection in harsh environments such as geological disaster areas, cliffs and bridges. In order to improve the efficiency of railway lines patrol inspection and meet the needs of the inspection in harsh environments, this paper built a railway lines patrol inspection platform based on unmanned aerial vehicle(UAV), real time kinematic(RTK) measuring instrument,gimbal, camera and other equipment for shooting live video of railway lines. Based on the cubic spline interpolation method, a UAV flight path model was established to plan the flight path of the platform. Experiments show that the UAV flight path generated by the UAV flight path model has a higher degree of fit to the railway lines, which proves that the method is effective.