基于无人机影像的直升机检查航迹规划研究

Research on helicopter inspection trajectory planning based on UAV image

随着科学技术的快速发展,无人机因其作业方式机动灵活、功能多样化、成本较低、时效性好等优势在电力巡线、地图测绘、道路巡检、空气质量监测等领域得到广泛应用。同时,我国航空产业正处于高速发展阶段,对于飞机表面检查的工作要求越来越高,传统的目视检查、无损探伤等检测手段因其低效性、不安全性、精度差等问题已经不能满足航空产业的检测技术需求。针对上述问题,提出一种基于无人机航拍影像的多目标航前检查方法。对比多边形和兴趣点两种航迹规划手段,从建模质量、航测面积、飞行距离、飞行时间、照片数量等方面进行分析。研究结果表明,虽然兴趣点法在航测面积、飞行距离以及飞行时间等方面更有优势,但采用多边形法在同样飞行距离的情况下,拍摄照片数量更少,建模质量更高,更有利于提高三维建模的效率以及对直升机缺陷的判断,确保直升机的安全性和适航性。

With the rapid development of modern technology,unmanned aerial vehicle(UAV)has been widely used in power line inspection,ground mapping,road inspection,air quality monitoring and other fields because of its flexible operation mode,diversified functions,low cost and good timeliness.The aviation industry in China is in the stage of rapid development,and the requirements for aircraft surface inspection are higher and higher.The traditional visual inspection,non⁃destructive inspection and other detection methods can not meet the requirements of aviation industry detection technology because of their low efficiency,insecurity,poor accuracy and other shortcomings.To overcome the above shortcomings,a multi⁃target pre⁃flight inspection method based on UAV aerial images is proposed.The proposed method is compared with the point of interest(POI)method,and analyzed in the aspects of modeling quality,aerial survey area,flight distance,flight time,number of photos and so on.The research results show that although the POI method is more advantageous in aerial survey area,flight distance and flight time,the polygon method has less photos and higher modeling quality at the same flight distance,which is more conducive to improve the efficiency of 3D modeling and the judgment of helicopter defects,and can ensure the safety and airworthiness of helicopter.