无人机与无人船在船闸立体巡检中的协同应用

Cooperative application of UAV and unmanned ship in ship lock stereo inspection

为全面评估姚江船闸现状,开展了无人机与无人船立体巡检工作。船闸水上工程利用无人机搭载激光雷达扫测,水下隐蔽工程利用无人船搭载多波束系统扫测,将二者协同应用获得的点云数据融合处理,建立船闸三维点云模型。以闸首为示例,提取现状断面与原设计断面进行对比,分析断面胸墙高程、闸墙垂直度、墙体与护坦结合部、护坦高程等变化情况,然后切割三维模型中的闸首部分导入有限元软件评估闸首现状的稳定性。结果表明:闸首结构受力大部分为压应力,回填土对左侧边墩的受力明显更大;与左侧相同,右侧闸墙与后踵的连接段仍出现一定的应力集中效应,但集中程度均不高,影响范围不大,闸首处于稳定状态。相较于常规测量,立体巡检建立的闸室三维点云复合模型导入有限元软件计算建立的模型稳定性计算更加真实可靠,提高了船闸评估水平。

In order to comprehensively evaluate current situation of Yaojiang Lock,a three-dimensional inspection work of UAV and unmanned ship had been carried out.The point cloud data obtained by the joint application of unmanned aerial vehicles(UAV)and the multi-beam scanning by unmanned ships were used to construct the three-dimensional point cloud model of the ship lock.Comparing the current section with the original design,taking the head of the gate as an example,the changes of the parapet elevation,the verticality of the gate wall,the junction of the wall and the apron,and the apron elevation were analyzed.Finite element software was used to evaluate the stability of the lock head in the 3D cutting model.The results show that:the force of the head structure is mostly compressive stress,and the force of backfill on the left side pier is obviously greater.The same as the left side,there is still some stress concentration effect in the connection section of the right gate wall and the rear heel,but the concentration degree is not high,the influence range is not large,and the head of the gate is in a stable state.The stability calculation of the three-dimensional point cloud composite model established by stereoscopic inspection is more real and reliable than that by conventional measurement,which greatly improves the level of lock evaluation.