CN114408131A - Bionic robot fish for daily inspection of underwater part of bridge - Google Patents
Bionic robot fish for daily inspection of underwater part of bridge Download PDFInfo
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- CN114408131A CN114408131A CN202111644166.3A CN202111644166A CN114408131A CN 114408131 A CN114408131 A CN 114408131A CN 202111644166 A CN202111644166 A CN 202111644166A CN 114408131 A CN114408131 A CN 114408131A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
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- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
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- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
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Abstract
The invention relates to the technical field of bridge engineering maintenance pipes, in particular to a bionic robot fish for daily inspection of an underwater part of a bridge. Including the bionical machine fish body, regular the laying of bionical machine fish body has power propeller, controller, buoyancy regulator, ups and downs gasbag, air compressor machine, satellite navigation device, treater, power manager, annular multi-beam side scan sonar, two sets of high definition digtal camera and foresight sonar under water, and bionical machine fish body is equipped with equipment transport vechicle and the removal computer lab and the satellite reference station that flows that carry on outward. The design of the invention can realize the submergence in situ and autonomous inspection, reduce the influence of wind waves and ensure that the detection data is more accurate and reliable; the three-dimensional image and the high-definition live-action image of the underwater part of the bridge can be acquired, the defect condition can be visually and accurately judged, the inspection work effect is improved, the cost is reduced, and the safety performance of the bridge is guaranteed; the monitoring data can be acquired nearby and calculated, the working efficiency and accuracy are improved, the operation management is facilitated, and the application scene is expanded.
Description
Technical Field
The invention relates to the technical field of bridge engineering maintenance pipes, in particular to a bionic robot fish for daily inspection of an underwater part of a bridge.
Background
The structures erected on rivers, lakes and seas to enable vehicles, pedestrians and the like to smoothly pass through are bridges in the conventional sense, and since the structures span across water areas, a part of the bridges are always submerged under water. The bridge belongs to a large building, the safety performance of the bridge is important, and once the bridge is damaged, very important accidents are often caused. However, the portion of the bridge exposed above the water surface facilitates conventional inspection of the bridge, whereas the portion of the bridge submerged is difficult to perform conventional inspection of the bridge. At present, an underwater vehicle is generally adopted to inspect the underwater part of a bridge, the water flow or the stormy waves below the bridge are large, the conventional underwater vehicle is very easy to deviate from an original routing line due to the influence of the stormy waves and even possibly collide with a pier to cause damage, secondary damage can be caused to the underwater part of the bridge, and the conventional underwater vehicle is high in use cost, low in management level and incapable of conveniently and frequently inspecting. In view of this, we propose a biomimetic robotic fish for routine inspection of the underwater portion of a bridge.
Disclosure of Invention
The invention aims to provide a bionic robotic fish for daily inspection of an underwater part of a bridge, so as to solve the problems in the background technology.
In order to solve the technical problems, one of the purposes of the invention is to provide a bionic robot fish for daily inspection of an underwater part of a bridge, which comprises a bionic robot fish body, wherein the bionic robot fish body comprises a main shell, a power propeller, a controller, a buoyancy regulator, a floating airbag, an air compressor, a depth sensor and a satellite navigation device are regularly distributed in the main shell, a processor, a power supply manager, an annular multi-beam side-scanning sonar, two groups of underwater high-definition cameras and a forward-looking sonar are regularly distributed in the bionic robot fish body, an equipment transport vehicle is matched outside the bionic robot fish body, and a mobile machine room and a mobile satellite reference station are loaded on the equipment transport vehicle.
As the further improvement of this technical scheme, the top of the main casing body is equipped with the fin ghost, the afterbody of the main casing body articulates through the round pin axle has the fish tail casing, power propeller installs in the fish tail casing, satellite navigation device installs in the fin ghost, two sets of high definition digtal camera sets up respectively in flake position department under water, the setting of forward looking sonar is in fish mouth position department.
As a further improvement of the technical scheme, the processor is externally connected with a matched memory and a matched communication module through signal lines respectively.
As a further improvement of the technical scheme, a matched computer host and a display are arranged in the mobile machine room, and the computer host is in wireless communication connection with the bridge data management platform through a cloud database.
The invention also aims to provide an inspection system of the bionic robot fish for daily inspection of the underwater part of the bridge, which is loaded in the processor and comprises
The system comprises a capital construction management unit, a function operation unit, a data processing unit and an application management unit; the infrastructure management unit, the function operation unit, the data processing unit and the application management unit are sequentially connected through network communication; the infrastructure management unit is used for performing connection management on equipment devices and algorithm technologies which are added into the system and support the system to operate; the function operation unit is used for carrying out centralized allocation management on the operation processes of the bionic fish and equipment for realizing various work functions in the bionic fish; the data processing unit is used for processing and analyzing various data collected by the bionic robot fish in the daily inspection working process of the underwater part of the bridge, and carrying out multi-dimensional analysis on the condition of the bridge by combining the original design data, the current inspection and the repair data of the bridge; the application management unit is used for evaluating the performance safety condition of the bridge, formulating a corresponding repair scheme by combining an analysis result, and recording a repaired working process disease to generate a comprehensive structure report so as to report feedback;
the infrastructure management unit comprises a working equipment module, an auxiliary system module, an intelligent sensing module, a technical algorithm module and a wireless communication module;
the functional operation unit comprises a power supply management module, a motion management module, a polling detection module and a live-action shooting module;
the data processing unit comprises a three-dimensional image module, an image recognition module, a combined comparison module and a multi-dimensional analysis module;
the application management unit comprises a security evaluation module, a repair scheme module, a comprehensive report module and a reporting feedback module.
As a further improvement of the technical scheme, the working equipment module, the auxiliary system module, the intelligent sensing module, the technical algorithm module and the wireless communication module are sequentially connected through network communication; the working equipment module is used for managing and controlling and distributing basic electronic equipment which is added into the system and is put into work to realize main functions; the auxiliary system module is used for loading various mature system technologies to assist the operation of various functions of the system; the intelligent sensing module is used for acquiring external state data in the running process of the bionic robot fish in real time through various devices with sensing functions arranged inside the bionic robot fish; the technical algorithm module is used for loading various intelligent technologies or algorithms to support the accurate operation of the system; the wireless communication module is used for supporting the requirements of data acquisition and system operation through various wireless signal transmission/data transmission means.
Wherein the working devices include, but are not limited to: the bionic robot fish and an internal driving device (comprising a shell, a motion controller, a power propeller, a buoyancy regulator, an air bag bin, an air compressor and the like), a processing system (comprising a processor, a storage, a wireless communication module and the like), a power supply manager, a navigation system device (satellite navigation/inertial navigation), an underwater high-definition camera, a multi-beam sonar, an equipment transport vehicle, a mobile machine room, a mobile satellite base station and the like.
The auxiliary systems include, but are not limited to, a multi-beam sonar detection system, a satellite navigation system, an inertial navigation system, and the like.
Wherein, intelligent sensing device includes but not limited to depth sensor, locator, camera, forward looking sonar etc..
The intelligent technical algorithm includes, but is not limited to, an artificial intelligence technique, an image recognition technique, a machine learning technique, a data analysis technique, and the like.
The wireless communication technology includes, but is not limited to, a pulse square wave, a wireless transmission technology, a wireless communication technology, and the like.
As a further improvement of the technical scheme, the power management module, the motion management module, the inspection detection module and the live-action shooting module are sequentially connected through network communication and run in parallel; the power management module is used for managing and controlling the working process of a power energy storage device in the bionic robot fish, distributing electric energy to the power consumption of each electric device, monitoring the electric energy surplus of the power in real time, and automatically calculating an optimal path according to a preset program when the electric energy surplus is insufficient so as to return to a specified place for recycling; the motion management module is used for carrying out centralized automatic management on the underwater motion process of the bionic robot fish through the controller and various motion driving devices, uniformly planning and managing the motion processes of advancing, retreating, sinking, floating and steering of the robot fish by combining a design drawing of a bridge and a satellite navigation system, realizing automatic cruise detection of the bionic robot fish, realizing automatic obstacle avoidance by the aid of a forward-looking sonar in the cruise process, and accurately positioning three-dimensional position coordinates of the bionic robot fish in real time by combining a depth sensor; the inspection detection module is used for sequentially scanning high-precision three-dimensional data of the underwater part of the bridge along with the motion path of the bionic robot fish in the automatic cruising process through a multi-beam sonar so as to accurately detect the actual conditions of corrosion and defect of the bridge; the live-action shooting module is used for shooting and recording in real time through the underwater high-definition camera to obtain a clear image of the underwater part of the bridge, so that the defect problem that the outside of the bridge is obviously visible by naked eyes can be visually detected.
Wherein, among the motion management process, the action such as the gos forward, retreat, come-up, sink and turn to of system accessible treater automatic control bionic machine fish, and the bionic machine fish can independently cruise according to the route of setting for, and the route of cruising can be: the bridge is in a straight line floating and submerging close to the side wall of the bridge, is in a straight line reciprocating cruising along the distribution direction of the bridge, rotates around a pier in a spiral mode and the like.
In the live-action shooting process, two sets of underwater high-definition cameras in opposite directions are arranged in the bionic robot fish, so that only one set of underwater high-definition cameras or two sets of underwater high-definition cameras are started simultaneously in the operation process according to the cruising mode of the bionic robot fish, if the bionic robot fish cruises in a bridge distribution direction in a reciprocating mode or rotates around a bridge pier, only the cameras close to the bridge/bridge pier direction need to be started, and if the bionic robot fish operates between the two sets of bridge piers, the two sets of underwater high-definition cameras need to be started simultaneously.
As a further improvement of the technical solution, the three-dimensional image module and the image recognition module are sequentially connected through network communication and operate in parallel, the signal output ends of the three-dimensional image module and the image recognition module are connected with the signal input end of the combined comparison module, and the signal output end of the combined comparison module is connected with the signal input end of the multidimensional analysis module; the three-dimensional image module is used for acquiring and acquiring tweed data of an underwater part of a bridge scanned and measured by multi-beam sonar, carrying out preprocessing such as analysis, noise reduction and slope correction on original sonar data to remove interference noise in the data, splicing the three-dimensional sonar point cloud according to position information and time information positioned by the bionic robotic fish in real time, carrying out registration processing on the three-dimensional sonar point cloud to reduce the measurement error of sonar equipment or visual difference caused by external interference during working, importing the sonar data into mapping software, and reconstructing a three-dimensional image of a wind power plant by combining a curved surface reconstruction technology; the image recognition module is used for acquiring images or image data of an underwater part of a bridge through an underwater high-definition camera, a technician manually recognizes and marks a defect part which can be judged by naked eyes in the images, or after preprocessing such as dimensionality reduction, mean value filtering, color binarization and the like is carried out on the videos or the images, the preprocessed images are intelligently recognized by adopting an artificial intelligent image recognition technology, the target positions recognized by manual recognition and artificial intelligence are compared, data are gathered and subjected to omission and deficiency finding to improve the comprehensive integrity of live-action inspection, and an intelligent image recognition model can be trained and optimized through mature algorithms such as a neural network and machine learning to improve the recognition accuracy; the joint comparison module is used for carrying out comparison analysis by corresponding original design data of the bridge, past detection and restoration data, real-time detection image data and three-dimensional sonar data one by one; and the multi-dimensional analysis module is used for comprehensively analyzing the detected abnormal conditions of the underwater part of the bridge in a multi-dimensional manner from the aspects of position positioning, type qualitative, defect size quantification and the like of the defect part of the bridge according to the analysis result.
The condition and indexes of the defect position of the bridge include but are not limited to: excessive silting at the bottom of a bridge pier (silting thickness, area, thickening condition, thickness of foreign particles, etc.), defect or corrosion condition of the outer surface of the bridge/bridge pier (defect type, defect area, defect thickness, etc.), bridge leakage (defect type, crack width, defect area, defect depth, water seepage, etc.), abnormal attachment on the surface of the bridge/bridge pier (attachment type, attachment area, attachment thickness, whether the attachment is corrosive, etc.), and large-scale sinking foreign matter (type, size, color, whether pollution damage exists, whether corrosivity exists, etc.).
As a further improvement of the technical solution, a signal output end of the security evaluation module is connected to a signal input end of the repair solution module, a signal output end of the repair solution module is connected to a signal input end of the comprehensive report module, and a signal output end of the comprehensive report module is connected to a signal input end of the report feedback module; the safety evaluation module is used for judging the defect degree of each defect part according to a preset standard rule, respectively evaluating the hazard degree of each defect part, and evaluating the overall safety condition of the underwater part of the bridge according to the detected defect condition; the repair scheme module is used for counting and estimating the consumable quantity required by repairing the defect part of the bridge according to the data results of defect analysis and safety evaluation, customizing and implementing a corresponding repair scheme aiming at the condition of each defect part, tracking and recording the implementation process and the completion effect of the repair construction scheme and feeding back the implementation process and the completion effect to the data management layer; the comprehensive report module is used for collecting the work records and all data of the whole process from inspection to repair at one time, integrating and summarizing all related data and generating a comprehensive and comprehensive structural inspection detection report; and the reporting feedback module is used for reporting all data to a bridge engineering supervision department and simultaneously archiving all data to the bridge data management platform.
As a further improvement of the technical solution, the calculation mode of the security evaluation module adopts a weighted average algorithm, and the formula thereof is as follows:
in the formula, x1，x2，…，xnEvaluation scores for the respective main evaluation items, f1+f2+…+fk＝1，f1，f2，…，fkThe right represents the proportion of each main evaluation item evaluation score in the overall item evaluation score;
wherein, when F represents the whole safety condition of the underwater part of the bridge, xnAn evaluation score f representing evaluation indexes such as siltation, bridge/bridge pier defect, leakage, attachment, and sediment foreign matterkAnd (4) comparing the scores of all evaluation indexes in the overall evaluation condition of the safety performance of the underwater part of the bridge.
The invention also aims to provide a bionic robot fish for daily inspection of the underwater part of the bridge and an operation method of an inspection system thereof, wherein the operation method comprises the following steps:
firstly, the bionic robot fish is transported to the position of a bridge to be inspected by an equipment transport vehicle, the bionic robot fish is placed in the water area of the bridge, under the combined action of a forward looking sonar and a satellite/inertial navigation system, the autonomous cruising motion is realized by the driving of a controller, the underwater part of the bridge is scanned in real time by an annular multi-beam sonar in the cruising process of the bionic robot fish, the real-time three-dimensional image of the underwater part of the bridge is reconstructed after the sonar data is processed, the image of the bridge/pier is shot and recorded in real time by an underwater high-definition camera according to the motion path of the bionic robot fish in the cruising process and is transmitted back to a mobile machine room, a technician checks a video image and manually marks the defect part, meanwhile, the processor automatically identifies the part possibly with abnormity in the image by an artificial intelligence technology, and carries out the contrastive analysis on the manually marked part and the intelligently identified part, the accuracy of intelligent recognition is improved through training optimization, the defect target condition is comprehensively analyzed in a multi-dimensional way by combining all data, an optimal repair plan is customized according to the analysis result, all data of the whole inspection process are integrated, and a comprehensive and comprehensive structural report is generated so as to be convenient to file and report.
The fourth purpose of the invention is to provide an operation device of the bionic robot fish inspection system for daily inspection of the underwater part of the bridge, which comprises a processor, a memory and a computer program stored in the memory and operated on the processor, wherein the processor is used for realizing the bionic robot fish for daily inspection of the underwater part of the bridge when executing the computer program.
The fifth purpose of the invention is to provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the bionic robot fish for daily inspection of the underwater part of the bridge.
Compared with the prior art, the invention has the beneficial effects that:
1. the bionic robot fish for daily inspection of the underwater part of the bridge is provided with the bionic fish with two sets of sinking and floating adjusting devices, and can realize in-situ submergence close to the side wall of the bridge and autonomous inspection according to a preset route by combining the auxiliary functions of satellite navigation and depth sensing, so that excessive deviation caused by wind and wave is avoided, the homing can be timely corrected when the position deviates, the influence of the wind and wave is reduced, mutual damage caused by collision with the underwater part of the bridge is avoided, and the detection data is more accurate and reliable;
2. according to the bionic robot fish for daily inspection of the underwater part of the bridge, the annular multi-beam side scanning sonar and the underwater high-definition camera are carried on the bionic robot fish, so that a three-dimensional image of the underwater part of the bridge can be obtained in the cruising process of the robot fish, a high-definition live-action image is shot nearby, the underwater surface condition of the bridge is visually inspected, the defect condition of the underwater part of the bridge can be accurately judged in a multidimensional way, consumables required by repair can be estimated, therefore, a repair scheme can be customized and implemented quickly and accurately, the inspection working effect is improved, the maintenance and operation management cost of the bridge is reduced, and the safety performance of the bridge is better guaranteed;
3. this a bionical machine fish for daily patrolling and examining of bridge underwater part sets up the equipment transport vechicle through supporting, can be used for putting in and retrieving of bionical machine fish to can acquire monitoring data and calculate nearby, improve monitoring work efficiency and degree of accuracy, the operation management of being convenient for improves the practicality of inspection device and system, the extension is used the scene.
Drawings
FIG. 1 is a schematic view of the overall external structure of a biomimetic robotic fish body according to the present invention;
FIG. 2 is a schematic view of the overall internal structure of the biomimetic robotic fish body according to the present invention;
FIG. 3 is a working schematic diagram of the overall structure of the biomimetic robotic fish in the present invention;
FIG. 4 is a diagram showing the overall configuration of the inspection system according to the present invention;
FIG. 5 is one of the overall device structures of the inspection system of the present invention;
FIG. 6 is a second diagram of the overall device structure of the inspection system of the present invention;
FIG. 7 is a third diagram of the overall inspection system structure according to the present invention;
FIG. 8 is a fourth view showing the overall structure of the inspection system according to the present invention;
fig. 9 is a schematic diagram of an exemplary electronic computer device of the inspection system of the present invention.
The various reference numbers in the figures mean:
1. a biomimetic robotic fish body; 11. a main housing; 111. empty fish fin shells; 112. a fish tail shell; 12. a power propeller; 13. a controller; 14. a buoyancy regulator; 15. sinking and floating air bags; 16. an air compressor; 17. a depth sensor; 18. a satellite navigation device;
2. a processor; 21. a memory; 22. a communication module;
3. a power manager;
4. an annular multi-beam side scan sonar;
5. an underwater high-definition camera;
6. a forward looking sonar;
7. an equipment carrier vehicle;
8. moving the machine room; 81. calculating a host; 82. a display; 83. a cloud database; 84. a bridge data management platform;
9. an on-the-fly satellite reference station;
100. a capital construction management unit; 101. a working equipment module; 102. an auxiliary system module; 103. an intelligent sensing module; 104. a technical algorithm module; 105. a wireless communication module;
200. a function operation unit; 201. a power management module; 202. a motion management module; 203. a polling detection module; 204. a live-action shooting module;
300. a data processing unit; 301. a three-dimensional image module; 302. an image recognition module; 303. a joint comparison module; 304. a multi-dimensional analysis module;
400. an application management unit; 401. a security evaluation module; 402. a repair scenario module; 403. a comprehensive report module; 404. and a reporting feedback module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-3, the embodiment provides a bionic robot fish for daily inspection of an underwater part of a bridge, including a bionic robot fish body 1, the bionic robot fish body 1 includes a main housing 11, a power propeller 12 is regularly arranged in the main housing 11, a controller 13, a buoyancy regulator 14, a floating airbag 15, an air compressor 16, a depth sensor 17 and a satellite navigation device 18, a processor 2, a power supply manager 3, an annular multi-beam side scan sonar 4, two sets of underwater high-definition cameras 5 and a forward-looking sonar 6 are regularly arranged in the bionic robot fish body 1, an equipment carrier vehicle 7 is arranged outside the bionic robot fish body 1, and a mobile machine room 8 and a mobile satellite reference station 9 are mounted on the equipment carrier vehicle 7.
In this embodiment, the top of the main housing 11 is provided with a fin hollow shell 111, and the tail of the main housing 11 is hinged to a fishtail housing 112 through a pin shaft, so that the fishtail housing 112 can support the steering process of the biomimetic robotic fish body 1 through movement.
The main shell 11 is made of high-pressure-resistant and corrosion-resistant materials, such as titanium steel, glass, ceramics and the like, and the outer surface of the main shell can be coated with a corrosion-resistant coating, so that the bionic robot fish body 1 is suitable for seawater with strong corrosion, and the practicability of the bionic robot fish body is improved; the outer side of the main shell 11 can be covered with a layer of buffer material, so that damage or damage to the outer surface of the bridge caused by the bionic robot fish body 1 colliding with the bridge/pier due to wind and waves can be avoided.
Further, a power propeller 12 is installed in the fishtail housing 112, and the power propeller 12 is used for supporting the forward or backward movement of the biomimetic robotic fish body 1.
Specifically, the buoyancy regulator 14, the ups and downs air bag 15 and the air compressor 16 can provide two sets of ups and downs regulation systems, and the submergence and ascent processes of the biomimetic robotic fish body 1 can be quickly and accurately regulated, so that the influence of wind waves on the biomimetic robotic fish body 1 can be reduced, the biomimetic robotic fish body 1 can submerge in situ, or the original position can be timely returned to the original position through regulation when the original position deviates due to the wind waves in the submergence process.
Further, the satellite navigation device 18 is installed in the fin hollow shell 111, and by means of the cooperation of the satellite navigation device 18 and the mobile satellite reference station 9, navigation can be accurately performed on the bionic robot fish body 1 in the cruising process through a satellite navigation system, and the three-dimensional position coordinates of the bionic robot fish body 1 can be accurately positioned.
Further, two sets of underwater high definition digtal cameras 5 are respectively arranged at the positions of fish eyes, and can respectively carry out live-action shooting on the external environment from two sides of the bionic robot fish body 1.
Further, forward-looking sonar 6 sets up in fish mouth position department, is convenient for provide the auxiliary function of automatic obstacle avoidance for bionic machine fish body 1.
In this embodiment, the processor 2 is externally connected to a memory 21 and a communication module 22 through signal lines. Specifically, the processor 2 is in signal connection with the power propeller 12, the controller 13, the buoyancy regulator 14, the air compressor 16, the depth sensor 17, the satellite navigation device 18, the power manager 3, the annular multi-beam side scan sonar 4, the underwater high-definition camera 5 and the forward looking sonar 6 through signal lines, respectively, and is used for realizing the function control of the whole bionic robot fish body 1.
Further, the power manager 3 is electrically connected with the power propeller 12, the controller 13, the buoyancy regulator 14, the air compressor 16, the depth sensor 17, the satellite navigation device 18, the processor 2, the annular multi-beam side scan sonar 4, the underwater high-definition camera 5 and the forward looking sonar 6 through wires, respectively, and is used for providing energy for each electric device.
In this embodiment, equipment transport vechicle 7 can be used to transport bionical machine fish body 1 to the appointed bridge place of waiting to patrol and examine in the course of the work, and when bionical machine fish body 1 was moved, equipment transport vechicle 7 can stop to carry out data acquisition and processing work at bridge one side bank, also can be along with bionical machine fish body 1 travel on the bridge in the operation route under water to can receive data nearby, improve the work efficiency and the accuracy of patrolling and examining.
In this embodiment, a computer 81 and a display 82 are provided in the mobile machine room 8, and a user of the computer 81 acquires and processes data collected and transmitted by the biomimetic robotic fish body 1.
Further, the computing host 81 is in wireless communication connection with the bridge data management platform 84 through the cloud database 83, and can acquire original bridge design data and data records of past inspection and repair from the bridge data management platform 84.
As shown in FIGS. 4 to 9, the present embodiment provides an inspection system for a biomimetic robotic fish for daily inspection of an underwater portion of a bridge, which is loaded in a processor 2 and includes
A infrastructure management unit 100, a function job unit 200, a data processing unit 300, and an application management unit 400; the infrastructure management unit 100, the function operation unit 200, the data processing unit 300 and the application management unit 400 are sequentially connected through network communication; the infrastructure management unit 100 is used for performing connection management on equipment devices and algorithm technologies which are added into the system and support the operation of the system; the function operation unit 200 is used for centralized allocation management of the operation processes of the bionic fish and equipment for realizing various work functions in the bionic fish; the data processing unit 300 is used for processing and analyzing various data collected by the bionic robot fish in the daily inspection work process of the underwater part of the bridge, and performing multidimensional analysis on the condition of the bridge by combining the original design data, the future inspection and the repair data of the bridge; the application management unit 400 is configured to evaluate the performance safety condition of the bridge, formulate a corresponding repair scheme according to the analysis result, record the repaired working process disease, and generate a comprehensive structure report so as to report feedback;
the infrastructure management unit 100 comprises a working equipment module 101, an auxiliary system module 102, an intelligent sensing module 103, a technical algorithm module 104 and a wireless communication module 105;
the functional operation unit 200 comprises a power management module 201, a motion management module 202, an inspection detection module 203 and a live-action shooting module 204;
the data processing unit 300 comprises a three-dimensional image module 301, an image recognition module 302, a joint comparison module 303 and a multi-dimensional analysis module 304;
the application management unit 400 includes a security evaluation module 401, a repair scenario module 402, a comprehensive reporting module 403, and a reporting feedback module 404.
In this embodiment, the working equipment module 101, the auxiliary system module 102, the intelligent sensing module 103, the technical algorithm module 104 and the wireless communication module 105 are sequentially connected through network communication; the working equipment module 101 is used for managing and controlling and distributing basic electronic equipment which is added into the system and is put into work to realize main functions; the auxiliary system module 102 is used for loading a plurality of mature system technologies to assist the operation of various functions of the system; the intelligent sensing module 103 is used for acquiring external state data of the bionic robot fish in the running process in real time through various devices with sensing functions arranged inside the bionic robot fish; the technical algorithm module 104 is used for loading various intelligent technologies or algorithms to support the precise operation of the system; the wireless communication module 105 is used to support the data acquisition and system operation requirements through various wireless signal transmission/data transmission means.
Wherein the working devices include, but are not limited to: the bionic robot fish and an internal driving device (comprising a shell, a motion controller, a power propeller, a buoyancy regulator, an air bag bin, an air compressor and the like), a processing system (comprising a processor, a storage, a wireless communication module and the like), a power supply manager, a navigation system device (satellite navigation/inertial navigation), an underwater high-definition camera, a multi-beam sonar, an equipment transport vehicle, a mobile machine room, a mobile satellite base station and the like.
The auxiliary systems include, but are not limited to, a multi-beam sonar detection system, a satellite navigation system, an inertial navigation system, and the like.
Wherein, intelligent sensing device includes but not limited to depth sensor, locator, camera, forward looking sonar etc..
The intelligent technical algorithm includes, but is not limited to, an artificial intelligence technique, an image recognition technique, a machine learning technique, a data analysis technique, and the like.
The wireless communication technology includes, but is not limited to, a pulse square wave, a wireless transmission technology, a wireless communication technology, and the like.
In this embodiment, the power management module 201, the motion management module 202, the inspection detection module 203, and the live-action recording module 204 are connected in sequence through network communication and run in parallel; the power management module 201 is used for managing and controlling the working process of a power energy storage device inside the bionic robot fish, distributing electric energy to the power consumption of each electric device, monitoring the electric energy surplus of the power in real time, and automatically calculating an optimal path according to a preset program when the electric energy surplus is insufficient so as to return to a specified place for recycling; the motion management module 202 is used for carrying out centralized automatic management on the underwater motion process of the bionic robot fish through a controller and various motion driving devices, uniformly planning and managing the motion processes of advancing, retreating, sinking, floating and steering of the bionic robot fish by combining a design drawing of a bridge and a satellite navigation system, realizing automatic cruise detection of the bionic robot fish, realizing automatic obstacle avoidance through the auxiliary function of a forward looking sonar in the cruise process, and also accurately positioning the three-dimensional position coordinates of the bionic robot fish in real time by combining a depth sensor; the inspection detection module 203 is used for sequentially scanning high-precision three-dimensional data of the underwater part of the bridge along with the motion path of the bionic robot fish in the automatic cruising process through a multi-beam sonar so as to accurately detect the actual conditions of corrosion and defect of the bridge; the live-action recording module 204 is used for recording in real time through the underwater high-definition camera to acquire a clear image of the underwater part of the bridge, so that the defect problem that the outside of the bridge is obviously visible to naked eyes can be visually checked.
Wherein, among the motion management process, the action such as the gos forward, retreat, come-up, sink and turn to of system accessible treater automatic control bionic machine fish, and the bionic machine fish can independently cruise according to the route of setting for, and the route of cruising can be: the bridge is in a straight line floating and submerging close to the side wall of the bridge, is in a straight line reciprocating cruising along the distribution direction of the bridge, rotates around a pier in a spiral mode and the like.
In the live-action shooting process, two sets of underwater high-definition cameras in opposite directions are arranged in the bionic robot fish, so that only one set of underwater high-definition cameras or two sets of underwater high-definition cameras are started simultaneously in the operation process according to the cruising mode of the bionic robot fish, if the bionic robot fish cruises in a bridge distribution direction in a reciprocating mode or rotates around a bridge pier, only the cameras close to the bridge/bridge pier direction need to be started, and if the bionic robot fish operates between the two sets of bridge piers, the two sets of underwater high-definition cameras need to be started simultaneously.
In this embodiment, the three-dimensional image module 301 and the image recognition module 302 are sequentially connected through network communication and operate in parallel, the signal output ends of the three-dimensional image module 301 and the image recognition module 302 are connected with the signal input end of the joint comparison module 303, and the signal output end of the joint comparison module 303 is connected with the signal input end of the multidimensional analysis module 304; the three-dimensional image module 301 is used for acquiring tweed data of an underwater part of a bridge scanned and measured by multi-beam sonar, performing preprocessing such as analysis, noise reduction and slope correction on original sonar data to remove interference noise in the data, splicing the three-dimensional sonar point cloud according to position information and time information positioned by the bionic robotic fish in real time, performing registration processing on the three-dimensional sonar point cloud to reduce the sonar equipment measurement error or visual difference caused by external interference during working, importing the sonar data into mapping software, and reconstructing a three-dimensional image of a wind power plant by combining a curved surface reconstruction technology; the image recognition module 302 is used for acquiring images or image data of an underwater part of a bridge through an underwater high-definition camera, recognizing and marking a defect part which can be judged by naked eyes in the images by a technician in a manual mode, or performing preprocessing such as dimensionality reduction, mean value filtering, color binarization and the like on the videos or the images, performing intelligent recognition on the preprocessed images by adopting an artificial intelligent image recognition technology, comparing the target positions recognized by the artificial recognition and the artificial intelligence, performing missing and defect supplement on the collected data to improve the comprehensive integrity of live-action inspection, and training and optimizing an intelligent image recognition model by using mature algorithms such as a neural network and machine learning to improve the recognition accuracy; the joint comparison module 303 is used for performing comparison analysis by corresponding original design data of the bridge, past detection and restoration data, real-time detection image data and three-dimensional sonar data one by one; the multidimensional analysis module 304 is used for comprehensively analyzing the detected abnormal conditions of the underwater part of the bridge in a multidimensional way from the aspects of position positioning, type qualitative, defect size quantification and the like of the defect part of the bridge according to the analysis result.
The condition and indexes of the defect position of the bridge include but are not limited to: excessive silting at the bottom of a bridge pier (silting thickness, area, thickening condition, thickness of foreign particles, etc.), defect or corrosion condition of the outer surface of the bridge/bridge pier (defect type, defect area, defect thickness, etc.), bridge leakage (defect type, crack width, defect area, defect depth, water seepage, etc.), abnormal attachment on the surface of the bridge/bridge pier (attachment type, attachment area, attachment thickness, whether the attachment is corrosive, etc.), and large-scale sinking foreign matter (type, size, color, whether pollution damage exists, whether corrosivity exists, etc.).
In this embodiment, the signal output end of the security evaluation module 401 is connected to the signal input end of the repair scenario module 402, the signal output end of the repair scenario module 402 is connected to the signal input end of the comprehensive report module 403, and the signal output end of the comprehensive report module 403 is connected to the signal input end of the report feedback module 404; the safety evaluation module 401 is used for judging the defect degree of each defect part according to a preset standard rule, respectively evaluating the hazard degree of each defect part, and evaluating the overall safety condition of the underwater part of the bridge according to the detected defect condition; the repair scheme module 402 is used for counting and estimating the consumable quantity required for repairing the defect part of the bridge according to the data results of defect analysis and safety evaluation, customizing and implementing a corresponding repair scheme aiming at the condition of each defect part, tracking and recording the implementation process and completion effect of the repair construction scheme, and feeding back the implementation process and completion effect to the data management layer; the comprehensive report module 403 is used for collecting the work records and all data of the whole process from inspection to repair at a time, integrating and summarizing all relevant data, and generating a comprehensive and comprehensive structural inspection detection report; the reporting feedback module 404 is configured to report all data to the bridge engineering monitoring department, and simultaneously archive all data to the bridge data management platform.
Specifically, the calculation mode of the security evaluation module 401 adopts a weighted average algorithm, and the formula thereof is as follows:
in the formula, x1，x2，…，xnEvaluation scores for the respective main evaluation items, f1+f2+…+fk＝1，f1，f2，…，fkThe right represents the proportion of each main evaluation item evaluation score in the overall item evaluation score;
wherein, when F represents the whole safety of the underwater part of the bridgeIn case of this, xnAn evaluation score f representing evaluation indexes such as siltation, bridge/bridge pier defect, leakage, attachment, and sediment foreign matterkAnd (4) comparing the scores of all evaluation indexes in the overall evaluation condition of the safety performance of the underwater part of the bridge.
The embodiment also provides a bionic robot fish for daily inspection of the underwater part of the bridge and an operation method of an inspection system thereof, which comprises the following steps:
firstly, the bionic robot fish is transported to the position of a bridge to be inspected by an equipment transport vehicle, the bionic robot fish is placed in the water area of the bridge, under the combined action of a forward looking sonar and a satellite/inertial navigation system, the autonomous cruising motion is realized by the driving of a controller, the underwater part of the bridge is scanned in real time by an annular multi-beam sonar in the cruising process of the bionic robot fish, the real-time three-dimensional image of the underwater part of the bridge is reconstructed after the sonar data is processed, the image of the bridge/pier is shot and recorded in real time by an underwater high-definition camera according to the motion path of the bionic robot fish in the cruising process and is transmitted back to a mobile machine room, a technician checks a video image and manually marks the defect part, meanwhile, the processor automatically identifies the part possibly with abnormity in the image by an artificial intelligence technology, and carries out the contrastive analysis on the manually marked part and the intelligently identified part, the accuracy of intelligent recognition is improved through training optimization, the defect target condition is comprehensively analyzed in a multi-dimensional way by combining all data, an optimal repair plan is customized according to the analysis result, all data of the whole inspection process are integrated, and a comprehensive and comprehensive structural report is generated so as to be convenient to file and report.
As shown in fig. 9, the present embodiment also provides an operating device of the biomimetic robotic fish inspection system for daily inspection of underwater portions of bridges, which includes a processor, a memory, and a computer program stored in the memory and running on the processor.
The processor comprises one or more than one processing core, the processor is connected with the memory through the bus, the memory is used for storing program instructions, and the bionic robot fish for daily inspection of the underwater part of the bridge is realized when the processor executes the program instructions in the memory.
Alternatively, the memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
In addition, the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the bionic robot fish for daily inspection of the underwater part of the bridge is realized.
Optionally, the invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the above aspects for the biomimetic robotic fish for routine inspection of underwater portions of bridges.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, where the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A bionical machine fish that is used for bridge part daily inspection under water, its characterized in that: including bionical machine fish body (1), bionical machine fish body (1) is including main casing body (11), power propeller (12), controller (13), buoyancy regulator (14), ups and downs gasbag (15), air compressor machine (16), depth sensor (17) and satellite navigation device (18) have been laid to the rule in main casing body (11), still regularly laid in bionical machine fish body (1) treater (2), power manager (3), annular multi-beam side scan sonar (4), two sets of high definition digtal camera (5) and foresight sonar (6) under water, bionical machine fish body (1) outer supporting is equipped with equipment transport vechicle (7), the equipment transport vechicle (7) are gone up to carry on the loading and are removed computer lab (8) and flow satellite reference station (9).
2. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 1, wherein: the top of main casing body (11) is equipped with fin ghost (111), the afterbody of main casing body (11) articulates through the round pin axle has tail casing (112), install power propeller (12) in tail casing (112), satellite navigation device (18) are installed in fin ghost (111), two sets of high definition digtal camera (5) set up respectively in flake position department under water, forward looking sonar (6) set up in fish mouth position department.
3. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 2, wherein: the processor (2) is externally connected with a matched memory (21) and a communication module (22) through signal lines respectively.
4. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 3, wherein: a computer host (81) and a display (82) which are matched with each other are arranged in the mobile machine room (8), and the computer host (81) is in wireless communication connection with the bridge data management platform (84) through a cloud database (83).
5. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 4, wherein: the bionic robot fish body (1) is also internally provided with an inspection system, and the inspection system is loaded in the processor (2) and comprises
A infrastructure management unit (100), a function operation unit (200), a data processing unit (300) and an application management unit (400); the infrastructure management unit (100), the function operation unit (200), the data processing unit (300) and the application management unit (400) are sequentially connected through network communication; the infrastructure management unit (100) is used for performing connection management on equipment devices and algorithm technologies which are added into the system and support the operation of the system; the function operation unit (200) is used for carrying out centralized allocation management on the operation processes of the bionic fish and equipment for realizing various work functions in the bionic fish; the data processing unit (300) is used for processing and analyzing various data collected by the bionic robot fish in the daily inspection working process of the underwater part of the bridge, and performing multi-dimensional analysis on the condition of the bridge by combining the original design data, the current inspection and repair data of the bridge; the application management unit (400) is used for evaluating the performance safety condition of the bridge, formulating a corresponding repair scheme by combining an analysis result, recording a repaired working process disease and generating a comprehensive structure report so as to report feedback;
the infrastructure management unit (100) comprises a working equipment module (101), an auxiliary system module (102), an intelligent sensing module (103), a technical algorithm module (104) and a wireless communication module (105);
the functional operation unit (200) comprises a power management module (201), a motion management module (202), an inspection detection module (203) and a live-action shooting module (204);
the data processing unit (300) comprises a three-dimensional image module (301), an image recognition module (302), a joint comparison module (303) and a multi-dimensional analysis module (304);
the application management unit (400) comprises a security evaluation module (401), a repair scheme module (402), a comprehensive report module (403) and a report feedback module (404);
the bionic robot fish for daily inspection of the underwater part of the bridge and the inspection system thereof are operated, firstly, the bionic robot fish is transported to the position of the bridge to be inspected by an equipment transport vehicle, the bionic robot fish is arranged in the water area of the bridge, the bionic robot fish is driven by a controller to realize autonomous cruising motion under the combined action of a forward looking sonar and a satellite/inertial navigation system, the underwater part of the bridge is scanned in real time by an annular multi-beam sonar in the cruising process of the bionic robot fish, the real-time three-dimensional image of the underwater part of the bridge is reconstructed after the sonar data is processed, the image of the bridge/pier is shot and recorded by an underwater high-definition camera in real time and is transmitted back to a mobile machine room according to the motion path of the bionic robot fish in the cruising process, technicians check video images and mark artificial defect parts, and simultaneously, a processor automatically identifies abnormal parts possibly existing in the images by an artificial intelligence technology, the method comprises the steps of carrying out comparative analysis on manually marked and intelligently identified parts, improving the accuracy of intelligent identification through training optimization, comprehensively analyzing the defect target condition in a multi-dimensional manner by combining all data, customizing an optimal repair plan according to an analysis result, integrating all data of the whole inspection process, and generating a comprehensive and comprehensive structural report for filing and reporting.
6. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 5, wherein: the working equipment module (101), the auxiliary system module (102), the intelligent sensing module (103), the technical algorithm module (104) and the wireless communication module (105) are sequentially connected through network communication; the working equipment module (101) is used for managing and controlling and distributing basic electronic equipment which is added into the system and is put into work to realize main functions; the auxiliary system module (102) is used for loading a plurality of mature system technologies to assist the operation of various functions of the system; the intelligent sensing module (103) is used for acquiring external state data of the bionic robot fish in the running process in real time through various devices with sensing functions arranged in the bionic robot fish; the technical algorithm module (104) is used for loading a plurality of intelligent technologies or algorithms to support the accurate operation of the system; the wireless communication module (105) is used for supporting the requirements of data acquisition and system operation through various wireless signal transmission/data transmission means.
7. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 5, wherein: the power management module (201), the motion management module (202), the inspection detection module (203) and the live-action shooting module (204) are connected in sequence through network communication and run in parallel; the power management module (201) is used for managing and controlling the working process of a power energy storage device in the bionic robot fish, distributing electric energy to the power consumption of each electric device, monitoring the electric energy surplus of the power in real time, and automatically calculating an optimal path according to a preset program when the electric energy surplus is insufficient so as to return to an appointed place for recycling; the motion management module (202) is used for carrying out centralized automatic management on the underwater motion process of the bionic fish through a controller and various motion driving devices, uniformly planning and managing the motion processes of advancing, retreating, sinking, floating and steering of the bionic fish by combining a design drawing of a bridge and a satellite navigation system, realizing automatic cruise detection of the bionic fish, realizing automatic obstacle avoidance by the aid of a forward-looking sonar during the cruise process, and accurately positioning three-dimensional position coordinates of the bionic fish in real time by combining a depth sensor; the inspection detection module (203) is used for scanning high-precision three-dimensional data of the underwater part of the bridge in sequence along with the motion path of the bionic robot fish in the automatic cruising process through a multi-beam sonar so as to accurately detect the actual conditions of corrosion and defect of the bridge; the live-action shooting module (204) is used for shooting and recording in real time through an underwater high-definition camera to obtain a clear image of an underwater part of the bridge, so that the defect problem that naked eyes are obviously visible outside the bridge can be visually detected.
8. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 5, wherein: the three-dimensional image module (301) and the image identification module (302) are sequentially connected through network communication and run in parallel, the signal output ends of the three-dimensional image module (301) and the image identification module (302) are connected with the signal input end of the combined comparison module (303), and the signal output end of the combined comparison module (303) is connected with the signal input end of the multidimensional analysis module (304); the three-dimensional image module (301) is used for acquiring tweed data of an underwater part of a bridge under multi-beam sonar scanning, performing preprocessing such as analysis, noise reduction and slope correction on original sonar data to remove interference noise in the data, splicing three-dimensional sonar point clouds according to position information and time information of real-time positioning of the bionic robotic fish, performing registration processing on the three-dimensional sonar point clouds to reduce sonar equipment measurement errors or visual differences caused by external interference during working, introducing the sonar data into mapping software, and reconstructing a three-dimensional image of a wind power plant by combining a curved surface reconstruction technology; the image recognition module (302) is used for acquiring images or image data of an underwater part of a bridge through an underwater high-definition camera, technicians manually recognize and mark a defective part which can be judged by naked eyes in the images, or after preprocessing such as dimensionality reduction, mean value filtering, color binarization and the like is carried out on the videos or the images, the preprocessed images are intelligently recognized by adopting an artificial intelligent image recognition technology, the target positions recognized by manual recognition and artificial intelligence are compared, data are gathered for missing and missing to improve the comprehensive integrity of real scene inspection, and an intelligent image recognition model can be trained and optimized through mature algorithms such as a neural network and machine learning to improve the recognition accuracy; the joint comparison module (303) is used for carrying out comparison analysis by corresponding original design data of the bridge, past detection and restoration data, real-time detection image data and three-dimensional sonar data one by one; the multi-dimensional analysis module (304) is used for comprehensively analyzing the detected abnormal conditions of the underwater part of the bridge in a multi-dimensional manner from the aspects of position positioning, type qualitative and defect size quantification and the like of the defect part of the bridge according to the analysis result.
9. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 5, wherein: the signal output end of the security evaluation module (401) is connected with the signal input end of the repair scheme module (402), the signal output end of the repair scheme module (402) is connected with the signal input end of the comprehensive report module (403), and the signal output end of the comprehensive report module (403) is connected with the signal input end of the report feedback module (404); the safety evaluation module (401) is used for judging the defect degree of each defect part according to a preset standard rule, respectively evaluating the hazard degree of each defect part, and evaluating the overall safety condition of the underwater part of the bridge according to the detected defect condition; the repair scheme module (402) is used for counting and estimating the consumable amount required by repairing the defect part of the bridge according to the data results of defect analysis and safety evaluation, customizing and implementing a corresponding repair scheme aiming at the condition of each defect part, tracking and recording the implementation process and completion effect of the repair construction scheme and feeding back the implementation process and completion effect to the data management layer; the comprehensive report module (403) is used for collecting the work records and all data of the whole process from inspection to repair at one time, integrating and summarizing all related data and generating a comprehensive structural inspection detection report; the reporting feedback module (404) is used for reporting all data to a bridge engineering supervision department and simultaneously archiving all data to a bridge data management platform.
10. The biomimetic robotic fish for daily inspection of underwater portions of bridges according to claim 9, wherein: the calculation mode of the safety evaluation module (401) adopts a weighted average algorithm, and the formula is as follows:
in the formula, x1，x2，…，xnEvaluation scores for the respective main evaluation items, f1+f2+…+fk＝1，f1，f2，…，fkThe right represents the proportion of each main evaluation item evaluation score in the overall item evaluation score;
wherein, when F represents the whole safety condition of the underwater part of the bridge, xnAn evaluation score f representing evaluation indexes such as siltation, bridge/bridge pier defect, leakage, attachment, and sediment foreign matterkAnd (4) comparing the scores of all evaluation indexes in the overall evaluation condition of the safety performance of the underwater part of the bridge.
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Application publication date: 20220429 |