CN105735150A - Movable multi-view visual bridge conventional detection method - Google Patents
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- CN105735150A CN105735150A CN201610123876.4A CN201610123876A CN105735150A CN 105735150 A CN105735150 A CN 105735150A CN 201610123876 A CN201610123876 A CN 201610123876A CN 105735150 A CN105735150 A CN 105735150A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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Abstract
A movable multi-view visual bridge conventional detection method includes the following specific implementing steps that A, an unmanned aerial vehicle device is erected, parameters are set, and a vehicle-mounted device is calibrated; B, a bridge structure three-dimensional model is scanned and established, and a flight route is determined; C, bridge conventional scanning and detection are conducted, and appearance pictures are transmitted and stored; and D, the bridge state is evaluated, and multimedia diagnosis is summarized.
Description
Technical field
The present invention relates to and use unmanned plane, high-definition camera, digital image processing techniques that bridge is carried out conventional sense.
Background technology
Bridge is to ensure that the unimpeded throats such as road, highway, railway, plays particularly important effect in traffic system, and bridge security plays very important effect in national economic development.Yet with environmental corrosion, design improper, fault in material, overload of vehicle, act of god factor etc. and can cause bridge structure that damage in various degree occurs.The accident that various places bridge occurs in recent years is mostly owing to bridge machinery lacks cause improper with maintenance.These damages eventually result in bridge and structure corrupted occur, even collapse and cause great personnel and property loss.Bridge conventional sense can effectively detect early stage potential safety hazard, it is prevented that the continuous accumulation of damage, it is to avoid catastrophic failure occurs.Therefore, the regular safety detection by implementing bridge is significant with the generation preventing bridge security accident.Bridge conventional sense mainly includes bridge is carried out visual examination, and such as crack, corrosion, rust is swollen, peeling, surface defect, abutment dislocation, expansion joint exception, end of the bridge ride comfort inspection, road surface defect and special component such as bolt etc. lack problem.
Traditional conventional bridge machinery mode is mainly manual inspection.The equipment adopted predominantly detects equipment or method has ordinary digital camera, telescope and long-range shooting, bridge-checking vehicle, preset track Video Detection etc..But, as manual inspection mode except taking time and effort, efficiency is low and except the defect such as easy missing inspection, uses these detection equipment or method to there is also following drawback:
(1) ordinary digital camera: adopt the place that digital camera carries out can only people easily being photographed in manual inspection process to check and record, then it is difficult to photograph image clearly to some positions being difficult to photograph, this would have to use the special vehicles such as bridge-checking vehicle, boats and ships and could realize, and detection object can only be carried out plane shooting by ordinary digital camera, it is impossible to obtain such as the three-dimensional feature of the bridge structure defect such as crack, corrosion；
(2) bridge-checking vehicle: testing cost is high, the time is long, affects normal traffic, and testing staff's work high above the ground exists potential safety hazard, and detection range is subject to bridge surrounding environment influence, to high pier, special construction bridge, there is check frequency；
(3) artificial telescope and remotely shooting: distance detection target is farther out, not easily find the diseases such as Bridge Crack, structural member come off, there is check frequency, the erection of binoculars personal monitoring's instrument is big by the influence of topography, testing staff's workload is huge, and bridge pier disease is not easily accurately positioned and describes；
(4) preset track Video Detection is inconvenient to implement, and engineering time length, cost are high, track can not on other bridges repeated application.
Although traditional bridge common detection methods is also just like lossless detection method and intellectualized detection methods such as laser scanning, detections of radar, ultrasound examinations, but it is required for by precision instrument, detection technique complexity, complex operation, testing cost high.When current bridge security detect demand increase rapidly, if it is possible to use a kind of simple to operate, cost is low, safety is high detection system or method, it will help improve bridge machinery efficiency and detection quality, thus ensureing bridge security operation.
Summary of the invention
The present invention to overcome the drawback of traditional bridge common detection methods, it is proposed to a kind of mobile multi-vision visual bridge common detection methods.This detection method mainly adopts the multiple high-definition camera of UAV flight, radar, lighting source, wireless high-speed image transmission and panel computer etc. that detected bridge carries out omnibearing scanning shoot, and view data is preserved, data process is carried out, thus realizing the detection of bridge health status safety and assessment again through the Digital Image Data processing platform on panel computer.
The problem that the invention solves the problems that the following aspects:
One is solve Traditional Man to patrol and examine the defect that efficiency is low, reliability is low, labor workload is big and missing inspection event is many of appearance；
Two is solve the traffic jam issue that traditional bridge conventional sense needs close traffic etc. to bring；
Three is solve to adopt ordinary digital camera that bridge structure can only carry out two dimension assessment in traditional method, and the three dimensional characteristic of detected structure can not be assessed deficiency in all directions that bring；
Four is solve inconvenience and the testing staff's potential safety hazard that traditional detection method needs the special vehicles such as bridge detection, boats and ships to bring；
Five is solve the shooting of traditional detection method medium and long distance to know the defects such as detection target micro character；
Six is solve text and picture to be adopted as testing result form in traditional detection method, and can not comprehensively illustrate the drawback of bridge health state.
A kind of mobile multi-vision visual bridge common detection methods of the present invention, is embodied as step as follows:
A. build unmanned plane device, parameter arranges and airborne device is demarcated；
A1. building mobile multi-vision visual bridge common detection methods, each unmanned plane carries multiple high-definition camera, radar and lighting source etc.；
A2. under current bridge machinery environment, carry out unmanned plane experiment in flight test, repeatedly adjust and control parameter with the unmanned plane during flying adapting to current wind speed and direction etc. and bringing and hoverning stability problem so that carry unmanned function stabilized flight and the hovering of equipment；
A3. adjust two photographic head acquisition parameters of unmanned plane principal direction and towards, repeatedly adjust the brightness of lighting source and angle to obtain the optimized image of measured zone；
A4. utilize radar range finding to carry out bulk to measure, and in conjunction with space geometry information, multiple photographic head are carried out geometric calibration, set up the relation of image space and real space；
B. the scanning of bridge structure threedimensional model builds and determines with flight path；
B1. starting multiple unmanned plane and tested bridge carries out quick spacescan, and all view data be transferred in the middle of the panel computer controlling end, unmanned plane scanning adopts radar to carry out avoidance, it is prevented that unmanned plane is damaged；
B2. integrate the scanning route of view data that multiple unmanned plane photographs and unmanned plane, set up bridge pixel dimension three dimensional virtual models；
B3. according to the geometric calibration relation in A, bridge pixel dimension dummy model is converted to bridge space Scale Model, and is saved in panel computer；
B4. determine that unmanned plane carries out the route of bridge machinery according to bridge space Scale Model, and formulate automatization's bridge structure image scanning strategy；
C. bridge conventional sweep detection and appearance images are transmitted and storage；
C1. check unmanned aerial vehicle power device, and carry out power supply supply；
C2. bridge structure is carried out complete detection according to the automatization's bridge structure image scanning strategy formulated in B by many unmanned planes, and it is real-time transmitted in panel computer, the image photographed feeds back in the middle of bridge space Scale Model according to unmanned plane present position, unmanned plane traveling process carries out avoidance process by radar, prevent from scanning bumping against bridge structure and damaging, until scan task completes to enter next step；
D. Bridge State Assessment and multimedia diagnosis are summed up；
D1. all images photographic head photographed carry out noise reduction process, recovered by image and the method for image enhaucament obtains pretreatment image；
D2. image is carried out Hough transform, adopts the feature that image edge processing algorithm obtains on image, by the method for region segmentation and support vector machine, structural damage etc. is carried out Classification and Identification；
D3. identify crack, the corrosion in all shooting areas of bridge, rust is swollen, peelings, surface defect, abutment dislocation, expansion joint exception, end of the bridge injustice are pliable, road surface defect, particular component disappearance etc., and by corresponding with bridge space model for the defect problem of generation, and set up bridge machinery data base；
D4. by digital image processing method and calibration information, bridge structure defect is carried out quantitative analysis, it is determined that the size of defect and the order of severity (such as fracture length, width, the degree of depth and developing direction etc.), and assess；
D5. complete bridge machinery report, and by multimedia mode (bridge machinery spatial model, text, image etc.) mode, testing result is shown.
Using multiple unmanned plane to carry out bridge complete detection in the present invention, owing to single unmanned plane flying power is limited, for large-scale bridge structure, the workload that conventional sweep checks is relatively big, and single unmanned plane can not complete task.So needing to determine according to detection workload the quantity of the unmanned plane participating in detection in actual operating process.Needing to adopt unmanned plane that bridge is carried out quick spacescan before carrying out formal bridge machinery, to set up bridge space Scale Model, in the middle of follow-up detection work, all of detection region all can carry out correspondence in bridge space Scale Model.The present invention have employed radar find range, and by range measurement as demarcating with reference to information.It addition, the present invention adopts radar carry out avoidance process, it is prevented that unmanned aerial vehicle damages to bridge structure.For convenient detection, the scanning route of unmanned plane can be set by the panel computer controlling end, allows unmanned plane that bridge is carried out automatic scanning.The image that unmanned plane photographs wirelessly is directly delivered in the middle of the panel computer controlling end, and panel computer is provided with a set of image processing software, it is possible to the image photographed carries out digital processing and feature identification and constructional appearance lesion quantification analysis.Many orders of the present invention refer to by multiple photographic head to simulate human eye, and the form taken pictures by photographic head provides 3D vision signal.Machine replaces human eye in order to perform part function artificial during Traditional Man is patrolled and examined, so more objectifies and standardization, and in long bridge machinery process, there is better stability.
The invention have the advantage that
1, solve Traditional Man and patrol and examine the defect that efficiency is low, reliability is low, labor workload is big and missing inspection event is many of appearance；
2, the traffic jam issue that traditional bridge conventional sense needs close traffic etc. to bring is solved；
3, solve and traditional method adopts ordinary digital camera bridge structure can only carry out two dimension assessment, and the three dimensional characteristic of detected structure can not be assessed in all directions the deficiency brought, bridge machinery object can be carried out three-dimensional quantization analysis and assessment by multiple photographic head；
4, inconvenience and testing staff's potential safety hazard that traditional detection method needs the special vehicles such as bridge-checking vehicle, boats and ships to bring are solved；
5, solving the shooting of traditional detection method medium and long distance and can not know the defects such as detection target micro character, unmanned plane can closely carry out bridge machinery；
6, adopting radar range finding technology to carry out three-dimensional structure for the image that multi-cam shoots provides demarcation with reference to information；
7, radar avoidance technology is adopted to prevent unmanned plane from the accident damaged occurring because bumping against bridge in the middle of bridge machinery process；
8, by multiple unmanned planes, bridge is quickly scanned, build the threedimensional model of bridge；
9, adopt multiple unmanned plane that bridge is detected, solve the drawback that single unmanned plane flying power is limited；
10, by digital image processing techniques, the bridge machinery target photographed is processed, make testing result have objectivity and accuracy；
11, solve traditional detection method can only adopt text and picture as testing result form, and can not comprehensively illustrate the drawback of bridge health state, testing result can be shown by multimedia mode (bridge machinery spatial model, text, image) mode here.
Accompanying drawing explanation
Fig. 1 assembly of the invention schematic diagram.
The implementing procedure figure of Fig. 2 present invention.
Marginal data: the code name in Fig. 1 represents respectively:
1 unmanned plane,
2 radars,
3 to 10 high-definition cameras,
11 lighting sources,
12 panel computers,
13 bridges.
Remarks: choosing a cable-stayed bridge in the present invention is that whole implementation process is illustrated by example, 8 high-definition cameras of UAV flight are scanned shooting.In order to determine the principal direction of unmanned plane, above it, each photographic head is used that different labels, wherein 3 and 10 two photographic head be oriented unmanned plane principal direction.Enabling multiple unmanned plane in bridge machinery process, whole by reference number 1 represents here.
Detailed description of the invention
The present invention is expanded on further below in conjunction with the implementing procedure figure shown in the case shown in Fig. 1, Fig. 2.
Referring to Fig. 1 and Fig. 2, in the present invention, lifted case is for utilizing the mobile multi-vision visual bridge common detection methods of one that one cable-stayed bridge carries out conventional sense, and concrete enforcement step is as follows:
Of the present invention, it is embodied as step as follows:
A. build unmanned plane device, parameter arranges and airborne device is demarcated；
A1. building mobile multi-vision visual bridge conventional inspection systems, each unmanned plane 1 carries multiple high-definition camera (3 to 10), radar 2 and lighting source 11 etc.；
A2. carrying out unmanned plane 1 experiment in flight test under environment when front axle beam 13 detects, the unmanned plane 1 that adjustment control parameter is brought to adapt to current wind speed and direction etc. repeatedly flies and hoverning stability problem so that the unmanned plane 1 carrying equipment can stabilized flight and hovering；
A3. adjust unmanned plane principal direction two photographic head (3 and 10) acquisition parameters and towards, repeatedly adjust the brightness of lighting source 11 and angle to obtain the optimized image of measured zone；
A4. utilize radar 2 range finding to carry out bulk to measure, and in conjunction with space geometry information, multiple photographic head (3 and 10) are carried out geometric calibration, set up the relation of image space and real space；
B. the scanning of bridge structure threedimensional model builds and determines with flight path；
B1. starting multiple unmanned plane 1 and tested bridge 13 carries out quick spacescan, and all view data be transferred in the middle of the panel computer 12 controlling end, unmanned plane 1 scanning adopts radar 2 to carry out avoidance, it is prevented that unmanned plane 1 is damaged；
B2. integrate the scanning route of view data that multiple unmanned plane 1 photographs and unmanned plane, set up bridge 13 pixel dimension three dimensional virtual models；
B3. according to the geometric calibration relation in A, bridge 13 pixel dimension dummy model is converted to bridge 13 space scale model, and is saved in panel computer 12；
B4. determine that unmanned plane carries out the route of bridge machinery according to bridge 13 space scale model, and formulate automatization's bridge structure image scanning strategy；
C. bridge conventional sweep detection and appearance images are transmitted and storage；
C1. check unmanned plane 1 supply unit, and carry out power supply supply；
C2. bridge 13 structure is carried out complete detection according to the automatization's bridge structure image scanning strategy formulated in B by many unmanned planes 1, and it is real-time transmitted in panel computer 12, the image photographed feeds back in the middle of bridge 13 space scale model according to unmanned plane 1 present position, unmanned plane 1 traveling process carries out avoidance process by radar 2, prevent from scanning bumping against bridge 13 structure and damaging, until scan task completes to enter next step；
D. Bridge State Assessment and multimedia diagnosis are summed up；
D1. all images photographic head (3 and 10) photographed carry out noise reduction process, recovered by image and the method for image enhaucament obtains pretreatment image；
D2. image is carried out Hough transform, adopts the feature that image edge processing algorithm obtains on image, by the method for region segmentation and support vector machine, structural damage etc. is carried out Classification and Identification；
D3. identify crack, the corrosion in all shooting areas of bridge, rust is swollen, peelings, surface defect, abutment dislocation, expansion joint exception, end of the bridge injustice are pliable, road surface defect, particular component disappearance etc., and by corresponding with bridge space model for the defect problem of generation, and set up bridge machinery data base；
D4. by digital image processing method and calibration information, bridge 13 fault of construction is carried out quantitative analysis, it is determined that the size of defect and the order of severity (such as fracture length, width, the degree of depth and developing direction etc.), and assess；
D5. complete bridge machinery report, and by multimedia mode (bridge machinery spatial model, text, image etc.) mode, testing result is shown.
Multiple unmanned plane being employed herein and carries out bridge complete detection, owing to single unmanned plane flying power is limited, for large-scale bridge structure, the workload that conventional sweep checks is relatively big, and single unmanned plane can not complete task.So needing to determine according to detection workload the quantity of the unmanned plane participating in detection in actual operating process.Needing to adopt unmanned plane that bridge is carried out quick spacescan before carrying out formal bridge machinery, to set up bridge space Scale Model, in the middle of follow-up detection work, all of detection region all can carry out correspondence in bridge space Scale Model.The present invention have employed radar find range, and by range measurement as demarcating with reference to information.It addition, the present invention adopts radar carry out avoidance process, it is prevented that unmanned aerial vehicle damages to bridge structure.For convenient detection, the scanning route of unmanned plane can be set by the panel computer controlling end, allows unmanned plane that bridge is carried out automatic scanning.The image that unmanned plane photographs wirelessly is directly delivered in the middle of the panel computer controlling end, and panel computer is provided with a set of image processing software, it is possible to the image photographed carries out digital processing and feature identification and constructional appearance lesion quantification analysis.Many orders of the present invention refer to by multiple photographic head to simulate human eye, and the form taken pictures by photographic head provides 3D vision signal.Machine replaces human eye in order to perform part function artificial during Traditional Man is patrolled and examined, so more objectifies and standardization, and in long bridge machinery process, there is better stability.
Content described in this specification case study on implementation is only enumerating of the way of realization to inventive concept; protection scope of the present invention is not construed as being only limitted to the concrete form that case study on implementation is stated, protection scope of the present invention also and in those skilled in the art according to present inventive concept it is conceivable that equivalent technologies means.
Claims (1)
1. move a multi-vision visual bridge common detection methods, be embodied as step as follows:
A. build unmanned plane device, parameter arranges and airborne device is demarcated；
A1. building mobile multi-vision visual bridge conventional inspection systems, each unmanned plane carries multiple high-definition camera, radar and lighting source etc.；
A2. under current bridge machinery environment, carry out unmanned plane experiment in flight test, repeatedly adjust and control parameter with the unmanned plane during flying adapting to current wind speed and direction etc. and bringing and hoverning stability problem so that carry unmanned function stabilized flight and the hovering of equipment；
A3. adjust two photographic head acquisition parameters of unmanned plane principal direction and towards, repeatedly adjust the brightness of lighting source and angle to obtain the optimized image of measured zone；
A4. utilize radar range finding to carry out bulk to measure, and in conjunction with space geometry information, multiple photographic head are carried out geometric calibration, set up the relation of image space and real space；
B. the scanning of bridge structure threedimensional model builds and determines with flight path；
B1. starting multiple unmanned plane and tested bridge carries out quick spacescan, and all view data be transferred in the middle of the panel computer controlling end, unmanned plane scanning adopts radar to carry out avoidance, it is prevented that unmanned plane is damaged；
B2. integrate the scanning route of view data that multiple unmanned plane photographs and unmanned plane, set up bridge pixel dimension three dimensional virtual models；
B3. according to the geometric calibration relation in A, bridge pixel dimension dummy model is converted to bridge space Scale Model, and is saved in panel computer；
B4. determine that unmanned plane carries out the route of bridge machinery according to bridge space Scale Model, and formulate automatization's bridge structure image scanning strategy；
C. bridge conventional sweep detection and appearance images are transmitted and storage；
C1. check unmanned aerial vehicle power device, and carry out power supply supply；
C2. bridge structure is carried out complete detection according to the automatization's bridge structure image scanning strategy formulated in B by many unmanned planes, and it is real-time transmitted in panel computer, the image photographed feeds back in the middle of bridge space Scale Model according to unmanned plane present position, unmanned plane traveling process carries out avoidance process by radar, prevent from scanning bumping against bridge structure and damaging, until scan task completes to enter next step；
D. Bridge State Assessment and multimedia diagnosis are summed up；
D1. all images photographic head photographed carry out noise reduction process, recovered by image and the method for image enhaucament obtains pretreatment image；
D2. image is carried out Hough transform, adopts the feature that image edge processing algorithm obtains on image, by the method for region segmentation and support vector machine, structural damage etc. is carried out Classification and Identification；
D3. identify crack, the corrosion in all shooting areas of bridge, rust is swollen, peelings, surface defect, abutment dislocation, expansion joint exception, end of the bridge injustice are pliable, road surface defect, particular component disappearance etc., and by corresponding with bridge space model for the defect problem of generation, and set up bridge machinery data base；
D4. by digital image processing method and calibration information, bridge structure defect is carried out quantitative analysis, it is determined that the size of defect and the order of severity (such as fracture length, width, the degree of depth and developing direction etc.), and assess；
D5. complete bridge machinery report, and by multimedia mode (bridge machinery spatial model, text, image etc.) mode, testing result is shown.
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