CN107193286B - The digital acquisition method of bridge real scene - Google Patents

Abstract

The present invention provides a method for digital collection of bridge real scenes, comprising the following steps: a. determining the position where the virtual reality collection equipment is installed on the carrier equipment; b. moving the virtual reality collection equipment to the target bridge area through the carrier equipment; c. the carrier equipment Communicate with the bridge detection identification tag in the bridge area to determine its own posture; d. Control the carrier device to control the virtual reality acquisition device to shoot, and record the shooting parameters of each lens and the position of the carrier device during shooting. posture information. The invention solves the problems existing in the prior art that it is difficult to efficiently and accurately collect bridge damage information, and further promotes efficient and accurate extraction and storage of bridge real scene information.

Description

The digital acquisition method of bridge real scene

technical field

The invention belongs to the technical field of traffic engineering, and relates to a bridge real scene digital acquisition method.

Background technique

At present, the traditional method for collecting image information of bridges is a camera, but due to the limited time or energy of the photographers, it is generally impossible to complete the panoramic shooting of the bridge, and only the damaged parts are photographed for evidence collection. Corresponding bridge and component information must be recorded when taking photos for evidence collection, otherwise the verification cannot be carried out in the later stage. In terms of data visualization, generally only the damaged pictures of a specific bridge can be retrieved and viewed, and the real bridge cannot be restored.

With the development of VR capture technology, its picture fineness has been continuously improved, the lens distortion rate is low, and the cost has been continuously reduced, which makes it have broad application prospects in all walks of life. A bridge is a structure with many complex components. The traditional bridge real scene acquisition technology is time-consuming and labor-intensive, and due to human negligence, damage data may be missed. The introduction of VR acquisition technology into the field of bridge disease detection can greatly improve the efficiency of data acquisition, improve the quality of data acquisition, and reduce the requirements for data acquisition personnel to master bridge expertise. Furthermore, the introduction of VR acquisition technology into the field of bridge disease acquisition has strong research significance and application value.

In the prior art, although the technology of using VR acquisition equipment has been involved in the field of film shooting and archaeology, the technology of using VR acquisition equipment has not been involved in the bridge, which is a completely different detection object, and because it is a special object. The actual nature, structural distribution and other aspects of the bridge of the VR bridge are very different from ordinary management objects, and there is no specific application technology of VR acquisition equipment in the panoramic real scene acquisition of bridges in the existing technology.

SUMMARY OF THE INVENTION

In order to overcome the defects of the existing technology, a method for digital collection of bridge real scenes is provided, so as to solve the problems existing in the prior art that it is difficult to efficiently and accurately collect bridge damage information, and further promote the efficient and accurate collection of bridge real scene information. extraction and preservation.

To achieve the above object, the solution of the present invention is:

A method for digitally collecting real scenes of a bridge, comprising the following steps:

a. According to the task requirements, determine the location where the virtual reality acquisition device is installed on the carrier device, and move the virtual reality acquisition device to the target bridge area through the carrier device;

b. Communicate the carrier robot with the bridge detection identification tag to determine its own pose;

c. The carrier robot moves and controls the shooting of the virtual reality acquisition device according to the pre-programmed or manual operation, and simultaneously records the shooting parameters of the camera and the pose information of the carrier robot.

Preferably, when carrying out step a, the following steps are specifically included:

The virtual reality acquisition device is placed at the bottom of the carrier device for acquiring image information of the bridge deck pavement of the target bridge, the entity spanned by the bridge, the bridge deck ancillary facilities, and the bridge pier;

Or place the virtual reality acquisition device on top of the carrier device to acquire image information of the girder bottom, bridge deck accessories, and bridge piers of the target bridge.

Preferably, when performing step c, the following steps are also included:

The virtual reality acquisition device is connected to the carrier device through a communication interface, allowing the carrier device to control the opening and closing of the virtual reality acquisition device manually, and transmits the real-time orientation information of the carrier device itself to the virtual reality device. Reality acquisition device.

Preferably, the communication interface has both wired and wireless transmission connection functions, and the carrier device controls the shooting parameters of the virtual reality acquisition device through the communication interface.

Preferably, when performing step b, the following steps are also included:

Controlling the carrier device to automatically identify its own position and attitude in space;

The bridge detection identification tag stores its own absolute coordinate information in the bridge coordinate system, and the carrier device determines its own pose in the bridge coordinate system by interacting with the bridge detection identification tag.

Preferably, when shooting the real scene of the target bridge, the panoramic information of the target bridge is directly collected by the virtual reality acquisition device.

Preferably, the carrier device is a manually controllable carrier robot.

The beneficial effects of the bridge real scene digital collection method of the present invention include:

The bridge detection identification tag and VR acquisition technology are applied to the bridge detection project, so that the detection device can efficiently collect the bridge real scene information digitally, which greatly improves the data acquisition accuracy, reduces the data acquisition cost, and restores the bridge real scene. .

Description of drawings

FIG. 1 is a logical block diagram of a method for digitally collecting a bridge real scene according to the present invention.

Detailed ways

The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

As shown in FIG. 1 , the present invention provides a method for digital collection of bridge real scenes, including the following steps:

a. According to the task requirements, load the virtual reality (hereinafter referred to as VR) acquisition equipment to the top or bottom of the carrier robot;

b. Make the carrier robot move to the target bridge area;

c. The carrier robot communicates with the bridge detection identification tag to determine its own pose;

d. The carrier robot moves and controls the shooting of the virtual reality acquisition device according to the pre-programming or manual operation, and simultaneously records the shooting parameters of the camera and the pose information of the carrier robot.

Wherein, the VR acquisition device has a communication interface relative to the carrier robot, so as to allow the carrier robot to control the opening of the VR acquisition device, and transmit its own pose information to the VR acquisition device.

The VR acquisition device described in the above step a can be placed at the bottom of the carrier robot to collect the image information of the bridge deck pavement, the entity spanned by the bridge, the bridge deck ancillary facilities, the image information of the bridge pier, etc. (the entity spanned by the bridge refers to the bridge. The rivers, roads, general land and other objects that are crossed); the VR acquisition device can also be placed on the top of the carrier robot to collect the image information of the bottom of the bridge girder, the auxiliary facilities of the bridge deck, the piers and other parts (no matter which installation is used) The image information of bridge piers and bridge deck ancillary facilities can be collected in any way, wherein bridge ancillary facilities refer to objects such as railings, wires, street lamps, etc.).

The carrier robot described in the above step a has installation interfaces connected with the VR collection device, which are located at the top and bottom of the carrier robot respectively, and the VR collection device can be fixed on the carrier robot.

In the above step b, the carrier robot can identify its own position in space through GPS. Specifically, first determine its general position through GPS, and fly into the vicinity of the bridge space, and then further accurately locate and confirm its own posture through bridge detection and identification tags.

The carrier robot described in the above step c can identify its own position and attitude in space through GPS and bridge detection and identification tags; the bridge detection and identification tags store its absolute coordinate information in the bridge coordinate system, and the carrier robot can detect and identify itself through the bridge detection and identification tags. The tags interact to determine their own pose in the bridge coordinate system.

The VR acquisition device described in the above step d has a communication interface with the carrier robot, and the communication interface can be in a wired form or a wireless form. The communication interface is used to transmit the open and close signals of the carrier robot to the VR acquisition device, and also to transmit the pose information of the carrier robot when shooting; the shooting parameters of the camera are focal length, magnification ratio, aperture, vertical shift distance, white Balance, shutter speed, film speed ISO, depth of field and other parameters; the pose of the carrier robot refers to the absolute position of the carrier robot in the predefined bridge coordinate system and the attitude relative to the bridge coordinate system.

By using the methods described in the above steps a to d, the real scene collection of the bridge panoramic information can be completed.

Specifically, the method of installing the VR acquisition equipment on the carrier robot is determined by the task requirements, and then the carrier robot transports the VR acquisition equipment to the bridge area to collect the real scene of the bridge. The carrier robot moves in the bridge area through pre-programming or manual control, and controls the shooting of the VR acquisition equipment to complete the digital acquisition of the bridge real scene. During the shooting process, the carrier robot will transmit its own position and attitude information in space to the VR acquisition device through the communication interface and control the shooting parameters of the VR acquisition device, so as to facilitate the reproduction of the real scene in the later stage.

After completing the above implementation process, the following features of the present invention should be reflected:

It is easy to implement, consumes less resources, collects large and precise information, and has a high degree of data visualization.

The above description of the embodiments is for the convenience of those of ordinary skill in the art to understand and apply the present invention. It will be apparent to those skilled in the art that various modifications to these embodiments can be readily made, and the generic principles described herein can be applied to other embodiments without inventive step. Therefore, the present invention is not limited to the above-mentioned embodiments, and improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should all fall within the protection scope of the present invention.

Claims (3)

1. a bridge real scene digital collection method, is characterized in that, comprises the following steps: a. Move the virtual reality acquisition device to the target bridge area; a 1. According to the task requirements, determine the location where the virtual reality acquisition device is installed on the carrier device; a 2. Move the virtual reality acquisition device to the target bridge area through the carrier device; b. Communicate the carrier device with the bridge detection and identification tag to determine its own posture; the carrier device can automatically identify its own position and posture in the predefined bridge coordinate system; The bridge detection identification tag stores its own absolute coordinate information in the bridge coordinate system, and the carrier device determines its own pose in the bridge coordinate system by interacting with the bridge detection identification tag; c. The carrier device moves according to a pre-programmed or manual operation and controls the virtual reality acquisition device to photograph the target bridge, while recording the shooting parameters of the camera and the pose information of the carrier device, the virtual reality The acquisition device is connected to the carrier device through a communication interface, allowing the carrier device to control the opening and closing of the virtual reality acquisition device manually, and transmits the real-time orientation information of the carrier device itself to the virtual reality acquisition device, The communication interface has both wired and wireless transmission connection functions. The carrier device controls the shooting parameters of the virtual reality acquisition device through the communication interface. When shooting the real scene of the target bridge, the carrier device directly collects the virtual reality. The device collects panoramic information of the target bridge. 2. The bridge real scene digital collection method according to claim 1, is characterized in that, specifically comprises the following steps when carrying out step a1: The virtual reality acquisition device is placed at the bottom of the carrier device for acquiring image information of the bridge deck pavement of the target bridge, the entity spanned by the bridge, the bridge deck ancillary facilities, and the bridge pier; Or place the virtual reality acquisition device on top of the carrier device to acquire image information of the girder bottom, bridge deck accessories, and bridge piers of the target bridge. 3 . The method for digitally capturing a real scene of a bridge according to any one of claims 1 to 2 , wherein the carrier device is a carrier robot that can be manually controlled. 4 .

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