Design of trajectory planning and 3D modeling for crane inspection based on UAV

This paper designs an efficient inspection method of trajectory planning and 3D modeling for crane based on Unmanned Aerial Vehicle (UAV). The working environment of crane is harsh and risky. On the other side, the UAV system has a good convenience to avoid obstacle and fly over dangerous environment. the application of the remote sensing mapping technology of UAV in crane has been a potential future development, which will greatly reduce the workload of manual inspection and improve work efficiency, even can complete the project measurement in some inaccessible location. With this Compounding technology of trajectory planning and 3D modeling, it is much easier to find out the defects of steel structure in crane, such as weld and crack, etc. the 3D modeling process for unstructured working environment will be conducive to realize the intelligent inspection functions of UAV, including autonomous flight, trajectory planning, and obstacle avoidance. Finally a field test results show this approach can promote the safety and work efficiency of inspection in crane.