CN106988215A - Bridge machinery robot - Google Patents
Bridge machinery robot Download PDFInfo
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- CN106988215A CN106988215A CN201710289862.4A CN201710289862A CN106988215A CN 106988215 A CN106988215 A CN 106988215A CN 201710289862 A CN201710289862 A CN 201710289862A CN 106988215 A CN106988215 A CN 106988215A
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- Prior art keywords
- audio signal
- echo
- bridge
- echo audio
- crack
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Classifications
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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
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Shown and memory module the invention provides a kind of bridge machinery robot, including robot, wireless remote control module and result, the robot includes drive module and crack detection module；The drive module is used to drive robot to reach specified location；The crack detection module is used for the bridge surface of the specified location reached to robot and correspondence is internal carries out crack detection, obtains bridge crack testing result, and the bridge crack testing result is sent to result shown and memory module；The wireless remote control module is used for the motion and crack detection behavior of remote-controlled robot.The present invention is detected by the way of being matched to echo to bridge crack, the crackle that the surface of bridge exists with inside can be detected simultaneously, and the detection data obtained by the mode matched using echo are quite accurate, depth and width to crackle can be accurately reflected.
Description
Technical field
The present invention relates to bridge machinery field, and in particular to a kind of bridge machinery robot.
Background technology
Current Bridges Detection both domestic and external is usually that manually visually observing or carry mini-plant is detected exist
Inefficiency, the degree of accuracy is not high, and the defects such as position are can't detect to bridge inside, detects that the cracks of bridge can using echo
These problems are readily solved.
In terms of audio compression, usually using with improved discrete cosine transform, so-called improved discrete cosine transform
(Modified Discrete Cosine Transform, MDCT) is a kind of conversion related to Fourier transform, with the 4th
Based on type discrete cosine transform (DCT-IV), overlapping property is as follows：It is to be applied to handle larger data acquisition system, when continuous
Data blocks in, current data blocks have the situation overlapped onto with follow-up data blocks；I.e. after Current data block
Half section is overlapping state with the front half section of next data blocks.In terms of audio decoder, increase income decoder Libmad (MPEG
Audio Decoder) be a high-precision mpeg audio decoding storehouse increased income, support MPEG-1 (Layer I, Layer II and
I.e. LayerIII- MP3).The decoder Libmad (MPEG Audio Decoder) that increases income provides 24-bit PCM outputs,
It is entirely fixed-point computation, is especially suitable for using on the platform without floating-point support.A series of API provided using Libmad, just
MP3 data decoding efforts can particularly simple be realized.
Non-negative Matrix Factorization is the concept of the matrix progress decomposition dimensionality reduction for non-negative, earliest by two scientists
D.D.Lee and H.S.Seung and 1999 year《Nature》Proposed on magazine.Non-negative Matrix Factorization is by low-rank, to those all
Matrix is obtained for nonnegative value to be decomposed.Non-negative Matrix Factorization has a wide range of applications in salted hash Salted is perceived.
The content of the invention
In view of the above-mentioned problems, a kind of the present invention is intended to provide bridge machinery robot.
The purpose of the present invention is realized using following technical scheme：
A kind of bridge machinery robot, including robot, wireless remote control module and result are shown and memory module, described
Robot includes drive module, crack detection module and position sensor；The drive module is used to drive robot arrival to refer to
Positioning is put；The position sensor, is installed on the bottom of robot, for the walking path of monitoring robot in the course of the work
And the positional information of monitoring bridge crack；The crack detection module is used for the bridge table of the specified location reached to robot
Face and the internal progress crack detection of correspondence, obtain bridge crack testing result, and the bridge crack testing result is sent to knot
Fruit display and memory module；The wireless remote control module is used for the motion and crack detection behavior of remote-controlled robot.
Beneficial effects of the present invention are：It is of the invention that bridge crack is detected by the way of being matched to echo,
The surface of bridge and the crackle of internal presence can be detected simultaneously, and the inspection obtained by the mode matched using echo
Survey data are quite accurate, and depth and width to crackle can be accurately reflected.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not constitute any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the frame construction drawing of the present invention；
Fig. 2 is the frame construction drawing of the crack detection module of the present invention；
Fig. 3 is the frame construction drawing of the echo signal processing unit of the present invention.
Reference：
Robot 1, wireless remote control module 2, result show with memory module 3, drive module 11, crack detection module 12,
Position sensor 13, phonation unit 121, echo acquisition unit 122, echo signal processing unit 123, crack information matching unit
124th, bridge crack data/125, echo signal pretreatment subelement 1231, coefficient extract subelement 1232, echo audio signal
Binary sequence builds subelement 1233.
Embodiment
With reference to following application scenarios, the invention will be further described.
Referring to Fig. 1, Fig. 2, a kind of bridge machinery robot of the present embodiment, including robot 1, wireless remote control module 2
Shown with result includes drive module 11, crack detection module 12 and position sensor 13 with memory module 3, the robot 1；
The drive module 11 is used to drive robot 1 to reach specified location；The crack detection module 12 is used to reach robot 1
Specified location bridge surface and correspondence is internal carries out crack detection, obtain bridge crack testing result, and the bridge is split
Line testing result sends to result and shown and memory module 3；The position sensor 13, is installed on the bottom of robot 1, is used for
The walking path in the course of the work of monitoring robot 1 and the positional information for monitoring bridge crack；The wireless remote control module 2
Motion and crack detection behavior for remote-controlled robot 1.
Preferably, the robot 1 also includes position sensor 13, the bottom of robot 1 is installed on, for monitoring machine
People's walking path in the course of the work and the positional information for monitoring bridge crack.
Preferably, as shown in Fig. 2 the crack detection module includes phonation unit, echo acquisition unit, at echo signal
Manage unit, crack information matching unit and bridge crack database；Bridge difference is prestored in the bridge crack database to split
The echo audio signal binary sequence and corresponding crack information of line；The phonation unit is used to send detection audio signal；
The echo acquisition unit is used for the echo audio signal after collecting bridge reflection of the detection audio signal through position；It is described
Echo signal processing unit is used to carry out binary sequence structure processing to echo audio signal, obtains the two of echo audio signal
System sequence；The crack information matching unit is used for the binary sequence of echo audio signal and the bridge crack data
The echo audio signal binary sequence that the different crackles of bridge are prestored in storehouse carries out contrast matching, matching degree highest crackle
The corresponding positional information of echo audio signal binary sequence is sent to result with crack information and shown and memory module.
The above embodiment of the present invention, is detected by the way of being matched to echo to bridge crack, can be simultaneously
The surface of bridge and the internal crackle existed are detected, and the detection data phase obtained by the mode matched using echo
When accurate, depth and width to crackle can be accurately reflected.
Preferably, as shown in figure 3, the echo signal processing unit is carried including echo signal pretreatment subelement, coefficient
Subelement, echo audio signal binary sequence is taken to build subelement；
The echo signal pretreatment subelement is used to be segmented echo audio signal and aliasing pretreatment, including：
Echo audio signal is divided into a sections, every section includes b sections, and often section includes c subband, and specific a, b, c value is set according to actual conditions
It is fixed, the repetition of 60%b sections is set between adjacent segment；
The coefficient, which extracts subelement, to be used to be compressed echo audio signal, and then the echo audio after compression is believed
Number decoded, extract MDCT coefficients, specifically include：
(1) it is based on improved discrete cosine transform (Modified Discrete Cosine Transform, MDCT)
MP3 audio compressions theory is compressed to echo audio signal, wherein when carrying out frequency-domain transform to echo audio signal, definition changes
The discrete cosine transform formula entered is：
In formula,The frequency domain echo audio signal that expression to echo audio signal obtain after frequency-domain transform, τ=0,
1,2 ... X-1, wherein X enter for the echo audio signal two of the different crackles of the bridge prestored in echo audio signal database
Sequence length (unit processed：Bit), K (δ) represents echo audio signal, and δ is echo audio signal frame number, and ε is modifying factor.
(2) after being finished to echo audio signal compression, then to the frequency domain echo audio signal after obtained compression using opening
Source decoder Libmad (MPEG Audio Decoder) is decoded as decoding software, extracts MDCT coefficients.
The above embodiment of the present invention, is compressed to echo audio signal and is conducive to improving arithmetic speed, and by making by oneself
The improved discrete cosine transform formula of justice, introduces modifying factor, reduces systematic error, the echo for being conducive to robot to collect
The situation of the position of bridge where signal more truly reflects so that data are more true and reliable.
Preferably, the echo audio signal binary sequence is built subelement and frequency domain echo is calculated using MDCT coefficients
The energy of audio signal subband, to build the binary sequence of echo audio signal, be specially：
(1) echo audio signal each trifle after segmentation is divided into 32 subbands, each subband is calculated respectively
Energy, defining energy balane formula is：
In formula, Q (a, b, c) represents that frequency domain echo audio signal a sections b saves the energy of c-th of subband, η (a, b, c, d)
Represent that frequency domain echo audio signal a sections b saves d-th of MDCT coefficient of c-th of subband, c=1,2,3 ... 32；
(2) energy of 1 to b section 1-32 subbands in every section is extracted, Perception Features matrix U is constituteda：
B values can representing matrix length, to eigenmatrix UaBy Non-negative Matrix Factorization dimensionality reduction, form special in a sections of section
Levy matrix Nx
Ua=Sa×Ha
Wherein, Sa、HaRespectively b × 1,1 × 32 matrix, eigenmatrix transposition in every section of section is merged and obtains intersegmental
Union feature Matrix C=[H1 T,H2 T,H3 T,…,H32 T], then intersegmental union feature matrix V is dropped with Non-negative Matrix Factorization
Dimension, obtains intersegmental eigenmatrix J.
(3) during the binary sequence of construction echo audio signal the constructive formula that uses for：
In formula, B (ζ) represents the constructed fuction of the binary sequence of echo audio signal,For member in intersegmental eigenmatrix J
The average of prime number value；
J (ζ) is the numerical value of the ζ element in intersegmental eigenmatrix J, and j (ζ) ∈ J, ζ=1,2,3 ... X, X are echo sound
Be stored with the anomalous audio binary sequence length (unit of transformer in frequency Signals Data Base：Bit)；
The binary sequence of obtained echo audio signal is sent to crack information matching unit.
The above embodiment of the present invention, is constructed, wall scroll data using binary sequence mode to echo audio signal
Size reduction, more data can be stored in the memory of capacity formed objects, so that the cost of memory module be dropped
It is low；Simultaneously using binary system quite convenient for calculating and analysis；Each sub-belt energy value is calculated by self-defined energy balane formula, carried
The degree of accuracy of the binary sequence construction of high echo audio signal, the final degree of accuracy improved when analyzing bridge crack, favorably
The accurate information of the crackle of bridge is understood in relevant staff.
Preferably, the crack information matching unit is used for the binary sequence of echo audio signal and bridge crack number
Contrast matching is carried out according to the echo audio signal binary sequence for the different crackles that bridge is prestored in storehouse, contrast matching is obtained
As a result weighed using self-defined crackle matching rate, self-defined crackle matching rate calculation formula is as follows：
In formula, Z represents that self-defined error coefficient calculates function, and X is the bridge that is stored with echo audio signal database
The echo audio signal binary sequence length (unit of different crackles：Bit),For u-th of weight coefficient,
ju 1For u-th of binary value in the binary sequence of target echo audio signal, ju 2For echo audio signal number
According to u-th of binary value of the echo audio signal binary sequence that bridge crack is prestored in storehouse；
Finally by the corresponding positional information of matching degree highest crackle echo audio signal binary sequence and crack information
Transmission is shown and memory module to result.
The above embodiment of the present invention, the binary sequence of function pair echo audio signal is calculated by self-defined error coefficient
Carried out from the mathematical distance of the echo audio signal binary sequence for the different crackles that bridge is prestored in bridge crack database
During calculating, the gap of different values in increase binary sequence is conducive to distinguishing close cracks, it is to avoid to similar bridge
The general statistics of beam cracks, is finally reached and bridge crack situation is accurately reflected.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than to present invention guarantor
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (6)
1. a kind of bridge machinery robot, it is characterized in that, including robot, wireless remote control module and result show and storage mould
Block, the robot includes drive module and crack detection module；The drive module is used to drive robot to reach specific bit
Put；The crack detection module is used for bridge surface and the internal progress crackle inspection of correspondence of the specified location reached to robot
Survey, obtain bridge crack testing result, and the bridge crack testing result is sent to result shown and memory module；The nothing
Line remote control module is used for the motion and crack detection behavior of remote-controlled robot.
2. a kind of bridge machinery robot according to claim 1, it is characterized in that, the robot also includes position and passed
Sensor, is installed on the bottom of robot, for the walking path and monitoring bridge crack of monitoring robot in the course of the work
Positional information.
3. a kind of bridge machinery robot according to claim 1, it is characterized in that, the crack detection module includes hair
Sound unit, echo acquisition unit, echo signal processing unit, crack information matching unit and bridge crack database；The bridge
The echo audio signal binary sequence and corresponding crack information of the different crackles of bridge are prestored in beam crack data storehouse；It is described
Phonation unit is used to send detection audio signal；The echo acquisition unit is used to collect detection audio signal through position
Echo audio signal after bridge reflection；The echo signal processing unit is used to carry out binary sequence to echo audio signal
Structure processing, obtains the binary sequence of echo audio signal；The crack information matching unit is used for echo audio signal
Different crackles of the binary sequence from prestoring bridge in the bridge crack database echo audio signal binary system sequence
Row carry out contrast matching, the corresponding positional information of matching degree highest crackle echo audio signal binary sequence and crack information
Result is sent to show and memory module.
4. a kind of bridge machinery robot according to claim 3, it is characterized in that, the echo signal processing unit bag
Echo signal pretreatment subelement, coefficient is included to extract subelement, echo audio signal binary sequence and build subelement；
The echo signal pretreatment subelement is used to be segmented echo audio signal and aliasing pretreatment, including：It will return
Sound audio signals are divided into a sections, and every section includes b sections, and often section includes c subband, and specific a, b, c value is set according to actual conditions,
The repetition of 60%b sections is set between adjacent segment；
The coefficient, which extracts subelement, to be used to be compressed echo audio signal, and then the echo audio signal after compression is entered
Row decoding, extracts MDCT coefficients, specifically includes：
(1) the MP3 sounds of improved discrete cosine transform (Modified Discrete Cosine Transform, MDCT) are based on
Frequency compression theory is compressed to echo audio signal, wherein when carrying out frequency-domain transform to echo audio signal, defining improved
Discrete cosine transform formula is：
In formula,The frequency domain echo audio signal that expression to echo audio signal obtain after frequency-domain transform, τ=0,1,
2 ... X-1, wherein X are the echo audio signal binary system of the different crackles of bridge prestored in echo audio signal database
Sequence length (unit：Bit), K (δ) represents echo audio signal, and δ is echo audio signal frame number, and ε is modifying factor；
(2) after being finished to echo audio signal compression, then solution of increasing income is used to the frequency domain echo audio signal after obtained compression
Code device Libmad (MPEG Audio Decoder) is decoded as decoding software, extracts MDCT coefficients.
5. a kind of bridge machinery robot according to claim 3, it is characterized in that, the echo audio signal binary system
Sequence construct subelement calculates the energy of frequency domain echo audio signal subband using MDCT coefficients, to build echo audio signal
Binary sequence, be specially：
(1) echo audio signal each trifle after segmentation is divided into 32 subbands, the energy of each subband is calculated respectively,
Defining energy balane formula is：
In formula, Q (a, b, c) represents that frequency domain echo audio signal a sections b saves the energy of c-th of subband, and η (a, b, c, d) is represented
Frequency domain echo audio signal a sections b saves d-th of MDCT coefficient of c-th of subband, c=1,2,3 ... 32；
(2) energy of 1 to b section 1-32 subbands in every section is extracted, Perception Features matrix U is constituteda：
B values can representing matrix length, to eigenmatrix UaBy Non-negative Matrix Factorization dimensionality reduction, eigenmatrix in a sections of section is formed
Nx
Ua=Sa×Ha
Wherein, Sa、HaRespectively b × 1,1 × 32 matrix, eigenmatrix transposition in every section of section is merged and obtains intersegmental joint
Eigenmatrix C=[H1 T,H2 T,H3 T,…,H32 T], then dimensionality reduction is carried out to intersegmental union feature Matrix C with Non-negative Matrix Factorization, obtain
To intersegmental eigenmatrix J；
(3) during the binary sequence of construction echo audio signal the constructive formula that uses for：
In formula, B (ζ) represents the constructed fuction of the binary sequence of echo audio signal,For first prime number in intersegmental eigenmatrix J
The average of value；
J (ζ) is the numerical value of the ζ element in intersegmental eigenmatrix J, and j (ζ) ∈ J, ζ=1,2,3 ... X, X believe for echo audio
Be stored with the anomalous audio binary sequence length (unit of transformer in number storehouse：Bit)；
The binary sequence of obtained echo audio signal is sent to crack information matching unit.
6. a kind of bridge machinery robot according to claim 5, it is characterized in that, the crack information matching unit is used
In by echo of the binary sequence of echo audio signal from the different crackles that bridge is prestored in the bridge crack database
Audio signal binary sequence carries out contrast matching, and the result that contrast matching is obtained is weighed using self-defined crackle matching rate,
Self-defined crackle matching rate calculation formula is as follows：
In formula, Z represents that self-defined error coefficient calculates function, and X is the difference of bridge of being stored with echo audio signal database
The echo audio signal binary sequence length (unit of crackle：Bit),For u-th of weight coefficient,
ju 1For u-th of binary value in the binary sequence of target echo audio signal, ju 2For echo audio signal database
In prestore bridge crack echo audio signal binary sequence u-th of binary value；
Finally the corresponding positional information of matching degree highest crackle echo audio signal binary sequence and crack information are sent
Shown to result and memory module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595541A (en) * | 2019-09-22 | 2019-12-20 | 江苏传艺科技股份有限公司 | Automatic detection system for 5G communication low-noise power amplifier |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6507163B1 (en) * | 1993-12-20 | 2003-01-14 | Mark A. Allen | Robotic bridge maintenance system |
| CN102199914A (en) * | 2010-11-30 | 2011-09-28 | 大连华锐股份有限公司 | Railway bridge detection trolley |
| CN202298460U (en) * | 2011-10-27 | 2012-07-04 | 朱兆昌 | Automatic monitoring device for bridge floor quality |
| CN204753376U (en) * | 2015-06-30 | 2015-11-11 | 浙江省建设工程质量检验站有限公司 | Bridge detection device |
| CN205134185U (en) * | 2015-11-17 | 2016-04-06 | 孙光乾 | Bridge detecting device |
-
2017
- 2017-04-27 CN CN201710289862.4A patent/CN106988215B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6507163B1 (en) * | 1993-12-20 | 2003-01-14 | Mark A. Allen | Robotic bridge maintenance system |
| CN102199914A (en) * | 2010-11-30 | 2011-09-28 | 大连华锐股份有限公司 | Railway bridge detection trolley |
| CN202298460U (en) * | 2011-10-27 | 2012-07-04 | 朱兆昌 | Automatic monitoring device for bridge floor quality |
| CN204753376U (en) * | 2015-06-30 | 2015-11-11 | 浙江省建设工程质量检验站有限公司 | Bridge detection device |
| CN205134185U (en) * | 2015-11-17 | 2016-04-06 | 孙光乾 | Bridge detecting device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595541A (en) * | 2019-09-22 | 2019-12-20 | 江苏传艺科技股份有限公司 | Automatic detection system for 5G communication low-noise power amplifier |
| CN110595541B (en) * | 2019-09-22 | 2021-04-13 | 江苏传艺科技股份有限公司 | Automatic detection system for 5G communication low-noise power amplifier |
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