CN107642036A - Bridge quick visualization detection means and its system and method - Google Patents
Bridge quick visualization detection means and its system and method Download PDFInfo
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- CN107642036A CN107642036A CN201710811346.3A CN201710811346A CN107642036A CN 107642036 A CN107642036 A CN 107642036A CN 201710811346 A CN201710811346 A CN 201710811346A CN 107642036 A CN107642036 A CN 107642036A
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Abstract
The present invention relates to a kind of bridge quick visualization detection means and its system and method, including camera module, mobile foundation, camera guide rail, rotary shaft and mechanical arm；Camera module is installed in the guide rail of camera guide rail, and camera guide rail is installed to mechanical arm end by the rotary shaft of bottom；Camera module includes monitoring camera, measurement camera and detection camera, and measurement camera is installed to by the lift of bottom in the guide rail of camera guide rail.The present invention is by controlling moving assembly to move the position acquisition disease geo-radar image of camera module, by image processing techniques, the defect information that bridge machinery needs is prominent in order to machine recognition strengthen from the visual angle of computer, recognition result can provide two-dimensional pixel information in image and 3D solid data and be stored among computer, realize to the visualizing of bridge, rapid, high-precision, inexpensive automatic detection.
Description
Technical field
The invention belongs to bridge section model technical field, and in particular to a kind of bridge quick visualization detection means and its
System and method.
Background technology
Important component of the bridge as highway, it is directly related to the safety of driving and unimpeded, and the person of the public
Safety.Ended for the end of the year 2016, highway in China bridge up to 80.53 ten thousand, wherein, Very Large Bridge 4257, bridge 86178,
As bridge big country worthy of the name.China comes into the extensive highway maintenance epoch, and next two decades maintenance leads highway
Developing direction turns into inexorable trend.
But bridge maintenance and checking ability are insufficient at present, there are problems that：
（1）Can not reach, without platform, without operating space
In the past, due to paying attention to the durability of highway concrete beam bridge deficiency, highway bridge later maintenance maintenance facility, which is set, to be owed
Lack, cause many position maintenances of bridge or inspection personnel not to reach, without appropriate job platform, or without suitable instrument
Device and human users space, the maintenance or inspection for causing these positions can only have a glance at, become a mere formality.Meanwhile Long span connects
Position deck-molding is larger at the top of continuous beam bridge and continuous rigid frame bridge pier, and bridge-checking vehicle can not typically reach.Also some high piers, also lack corresponding
Detection or maintenance facility.
（2）It is less efficient, costly
China at present《Highway bridge and culvert Maintenance specification》（JTG H11-2004）Regulation highway bridge need carry out running check, periodically
Inspection and special examined.Running check typically must not be monthly less than once, predominantly visual examination, personnel be conserved by daily management
Carry out, inspection apparatus is mainly the simple machines such as telescope, safety rope.Inspect periodically also based on visual examination, interval time
Most long to must not exceed 3 years, the unit that main commission has detection qu alification is carried out, and checks that platform needs bridge-checking vehicle, street lamp car or set up
Support, it is equipped with crack observer, steel tape etc..One bridge on highway detection cycle is longer, generally require some months and compared with
More inspection personnel, it is costly, it is less efficient.Special examined needs the depth and content detected just for independent bridge
More fully and strictly, detecting instrument is using more, and the position that inspection personnel needs to reach must be representative, and testing cost is more
It is high.
（3）Hidden danger be present in security
Current check personnel are less, climb down low, and safety protection facility is simpler, potential safety hazard be present.Inspect periodically use
, it is necessary to which traffic is deployed to ensure effective monitoring and control of illegal activities when street lamp car and bridge-checking vehicle.Simultaneously on bridge-checking vehicle platform or street lamp car platform, it is limited to platform size
Size, some structure positions still need testing staff and climb arrival in person.
（4）The discriminability of disease is inconsistent
Due to current check personnel or the difference of routine inspection ' professional, to the emphasis of different bridge type visual examinations not
Solution, description to disease often lack of standardization, disunity, even wrong, the property of disease is determined and differentiation has error,
Cause the erroneous judgement that industry is evaluated in the later stage.
Therefore, the key common technology being badly in need of, important technical product, green conserving material etc. are conserved around highway bridge,
More new concept, problem is captured, enhanced the capacity for independent innovation, form highway bridge maintenance technology system of new generation, it has also become transformation
Development pattern, improve highway traffic infrastructure modernization level, build unimpeded efficient, safe green communications and transportation system
Important and urgent task.Begin attempt to explore both at home and abroad at present and unmanned plane and climbing robot are applied to bridge machinery.
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.It can be divided into from technical standpoint definition：Depopulated helicopter, unmanned fixed-wing aircraft,
Unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..But be limited to aerial aviation management, unmanned plane on civilian just
Starting.
Climbing robot is the bio-robot that scientist is developed using gecko as research object, not only can be fast in bottom surface
Speed motion, and can also adsorb and flexibly be worked in the different normal planes such as vertical walls, ceiling surface.Climbing robot is in the people
Raw and public safety field has been widely used, and the mankind are freed from heavy dangerous work, and significantly
Operating efficiency is improved, reduces cost, even can realize the task that mankind itself can not complete sometimes.
The PRODUCTION TRAITS of unmanned plane and climbing robot, instead of manual labor to a certain extent, realize mechanization
And automation.But the practical unmanned climbing equipment of highway bridge is specific to, there is also some problems：
（1）The product released at present is also very immature, and practicality is poor, and application is smaller.Bridge working environment is more severe,
Wind speed is larger, and unmanned plane controllability is poor.It can not be reached under bridge, unmanned plane bridge floor may collide when operating.Work as unmanned plane
Or climbing equipment exceeds operator's visual line of sight, or unmanned plane, around bridge pier behind or during beam bottom, reception signal can not protect
Card.In addition, climbing robot is in complex（Out-of-flatness, there are spot, the accumulation of salt in the surface soil, crack, peeling, defect etc.）Web, bottom plate
When adsorption capacity can or can not fail, or bridge floor pass through vehicle vibration when can or can not come off etc. and to also need to further study.
（2）Highway beam bridge applicability deficiency.It is only capable of examining some regular sections such as Dun Bi, beam bottom plate or web at present
Survey.But account for the most concrete beam bridge of highway bridge and variable cross-section or the discontinuous portions such as skew web plate, T beams horseshoe, diaphragm plate be present
Position；Pier stud form includes cylinder pier, oval pier, Y type piers etc.；Prefabricated assembled more beam type case bays are narrow and small, and light is weaker；It is cast-in-place
Box beam internal light deficiency etc..The problems such as above, is required for carrying out applied research and improvement to quick detection equipment.
（3）Function is single, modularization deficiency.Presently mainly high-definition camera camera function, other work(have been carried out individually
It can attempt.Unmanned plane or robot platform modularization consider deficiency, it is impossible to carry other type detection equipment or instrument.
（4）Platform uses and image post-processing specific aim is not strong.Because function is single, only it is positioned as outward appearance and takes pictures, because
This needs structure discipline personnel to grasp the detection emphasis of bridge, such as detects what position, how correctly to describe, virtually carries
It is high to use threshold, limit the use of general maintenance personnel.In addition, the photo and video information after transmission and storage are subsequently located
Reason rule, standard lack, and objectively cause can not contrasting and front and rear continuity for same bridge block testing result.
The content of the invention
It is an object of the invention to provide a kind of bridge quick visualization detection means and its system and method, solves existing skill
Problems with present in art：
（1）Personnel or equipment are limited by job platform and can not reach some positions to be checked of bridge；
（2）Cognition of the different testing staff to bridge defect is different, can not provide the Defect inspection report of standardization；
（3）There is the drawbacks of fluctuation of service in existing unmanned plane and climbing equipment etc., precision is not reached to the record of disease will
Ask；
（4）Personnel's input is more, less efficient, costly in existing highway bridge detection.
The technical solution adopted in the present invention is：
Bridge quick visualization detection means, it is characterised in that：
Including camera module, mobile foundation, camera guide rail, rotary shaft and mechanical arm；
Camera module is installed in camera guide rail by mobile foundation, and camera guide rail is installed to mechanical arm by the rotary shaft of bottom
End.
Camera module includes monitoring camera, measurement camera and detection camera, and camera is installed on each via mobile foundation
In guide rail；
Wherein, measurement camera has the lift with vertical lifting function by the way that bottom is additionally mounted.
Mechanical arm includes multiple angled sections, and each section is Telescopic rod structure.
Bridge quick visualization detecting system, it is characterised in that：
Including camera module, mobile foundation, camera guide rail, rotary shaft, mechanical arm and Surveillance center；
Camera module is installed in camera guide rail by mobile foundation, and camera guide rail is installed to mechanical arm by the rotary shaft of bottom
End；
Camera module and Surveillance center's intercommunication, mobile foundation, rotary shaft, mechanical arm respectively with Surveillance center's intercommunication.
Camera module includes monitoring camera, measurement camera and detection camera, and camera is installed on each via mobile foundation
In guide rail；
Wherein, measure camera has lift, lift and Surveillance center's intercommunication by the way that bottom is additionally mounted.
Mechanical arm includes multiple angled sections, and each section is Telescopic rod structure.
The detection method of bridge quick visualization detecting system, it is characterised in that：
Comprise the following steps：
Mobile foundation, rotary shaft and mechanical arm are controlled by Surveillance center, camera module is moved to test position, obtains bridge
Apparent image, send to Surveillance center, enter the defect information that bridge machinery needs from the visual angle of computer through image procossing
Row is strengthened prominent in order to machine recognition, and recognition result provides two-dimensional pixel information in image and 3D solid data and deposited
It is stored among Surveillance center.
Specifically include following steps：
Step 1：Surveillance center starts monitoring camera, the real-time pictures information passed back according to monitoring camera, is revolved by controlling
Rotating shaft and the motion of mechanical arm, the whole camera guide rail where mobile camera module；
Step 2：When camera module reaches bridge structure component, start mobile foundation traverse measurement camera and detection camera；
Step 3：Start detection camera, shot, pass the photo of shooting back Surveillance center, identify Damage Types；It is if disease-free
Evil information, then into step 5；
Step 4：Start measurement camera, by controlling lift to be shot, obtain the disease photo for having identified disease region,
Pass Surveillance center back, that runs Surveillance center calculates disease based on image procossing Defect inspection module, the module by image procossing
Evil geological information；
Step 5：Mobile foundation motion is manipulated, next shooting point is reached, continues to detect.
In step 4, the operation of the image procossing based on image procossing Defect inspection module has following four mode：
1. image preprocessing, input is connected with image acquisition units output end, completes the pretreatment of image, and operation mainly includes
Image gray processing and gray level image enhancing；
2. graphical analysis, input is connected with the output end of image reorganization module, for analyzing the image after restructuring, sieve
Select image Bridge health problem characteristic, image analysis module is by the geological information of the disease of bridge, including area, length
Degree, width, shape and position are clearly identified；
3. store, using vector quantization memory technology storage information；
4. the output end of comparative analysis, its input and image analysis module is connected and is connected with memory, for other numbers
Com-parison and analysis is carried out according to historical data, for searching, calling historical data.
The present invention has advantages below：
Bridge quick visualization detection means and its system and method for the present invention, can reach following in practical operation
Technique effect：
（1）It can be found that 0.1mm cracks；
（2）Fracture width measurement accuracy reaches 0.02mm；
（3）Single shot area can reach 2m × 1m；
（4）Camera module can return to image data；
（5）Software realizes automatic detection and measurement；
（6）Form the examining report of standardization；
（7）The detection means is simple to operate, less input by personnel, economic benefits；
（8）The detection means volume is smaller, and detection range is wide.
Brief description of the drawings
Fig. 1 is bridge quick visualization detection means structural map.
Fig. 2 is camera module schematic diagram.
Fig. 3 is measurement camera schematic diagram.
Fig. 4 is bridge quick visualization detecting system structure chart.
Fig. 5 is the image processing flow figure based on image procossing Defect inspection module.
In figure, 1- camera guide rails；2- monitoring cameras；3- measures camera；4- detects camera；5- lifts；6- rotary shafts；
7- mechanical arms；8- bridges to be checked.
Embodiment
With reference to embodiment, the present invention will be described in detail.
A kind of bridge quick visualization detection means of the present invention, including camera module, mobile foundation, camera guide rail
1st, rotary shaft 2 and mechanical arm 7.
Camera module includes monitoring camera 2, measurement camera 3 and detection camera 4, and phase is installed on each via mobile foundation
In machine guide rail 1.Measurement camera 3 bottom is additionally provided with lift 5.Camera guide rail 1 is installed to machinery by the rotary shaft 2 of bottom
The end of arm 7.Mechanical arm 7 includes multiple angled sections, and each section is Telescopic rod structure.Mechanical arm 7 is to stretch vertically
Contracting mechanism, rotary shaft 2 are horizontal rotary mechanism, and the end of mechanical arm 7 is securable to bridge floor, pass through vertical telescoping mechanism and horizontal rotation
Camera module can be moved to the position of required detection by rotation mechanism.
Said apparatus collectively constitutes bridge quick visualization detecting system with Surveillance center, i.e., including camera module, movement
Pedestal, camera guide rail 1, rotary shaft 2, mechanical arm 7 and Surveillance center.Surveillance center is provided with high-performance computer, includes use
In processing disease geo-radar image based on image procossing Defect inspection module.Camera module and Surveillance center's intercommunication, mobile foundation, rotation
Axle 2, mechanical arm 7 respectively with Surveillance center's intercommunication, lift 5 and Surveillance center's intercommunication.
The detection method of said system is：Mobile foundation, rotary shaft 2 and mechanical arm 7 are controlled by Surveillance center, by camera
Module is moved to test position, obtains bridge apparent image, sends to Surveillance center, need bridge machinery through image procossing
Defect information from the visual angle of computer strengthen prominent in order to which machine recognition, recognition result provide the two-dimensional image in image
Prime information and 3D solid data are simultaneously stored among Surveillance center.
Specifically include following steps：
Step 1：Surveillance center starts monitoring camera 2, the real-time pictures information passed back according to monitoring camera 2, passes through control
The motion of rotary shaft 2 and mechanical arm 7, the whole camera guide rail 1 where mobile camera module；
Step 2：When camera module reaches bridge structure component, start mobile foundation traverse measurement camera 3 and detection camera 4；
Step 3：Start detection camera 4, shot, pass the photo of shooting back Surveillance center, identify Damage Types；If nothing
Defect information, then into step 5；
Step 4：Start measurement camera 3, by controlling lift 5 to be shot, obtain and identified that the disease in disease region is shone
Piece, pass Surveillance center back, run being calculated based on image procossing Defect inspection module, the module by image procossing for Surveillance center
Disease geological information；
Step 5：Mobile foundation motion is manipulated, next shooting point is reached, continues to detect.
The operation of image procossing based on image procossing Defect inspection module has following four mode：
1. image preprocessing, input is connected with image acquisition units output end, completes the pretreatment of image, and operation mainly includes
Image gray processing and gray level image enhancing；
2. graphical analysis, input is connected with the output end of image reorganization module, for analyzing the image after restructuring, sieve
Select image Bridge health problem characteristic, image analysis module is by the geological information of the disease of bridge, including area, length
Degree, width, shape and position are clearly identified；
3. store, using vector quantization memory technology storage information；
4. the output end of comparative analysis, its input and image analysis module is connected and is connected with memory, for other numbers
Com-parison and analysis is carried out according to historical data, for searching, calling historical data.
The present invention is quickly identified simultaneously by the camera module of monitoring camera 2, detection camera 4 and the measurement composition of camera 3
Disease is measured, then defect information is passed back computer by USB data line, by analysis of the computer professional software to disease
Processing, complete bridge machinery report is formed, realize a set of collection disease recognition, measurement and the quick visualization of Information Statistics analysis
Detection means.Camera selects 5,000 ten thousand pixel slr cameras, and operating temperature is between 0 ~ 40 DEG C, while camera module works,
Photo transmission is carried out using USB data line, while the extension of distance is transmitted by USB extended lines.Monitored in the covering device
The main function of camera 2 is the overall state that bridge is recorded during camera module moves, when finding disease, monitoring
The break-off of camera 2；At the same time, detection camera 4 is started working, and it, which is acted on, mainly judges Damage Types, coverage
1.6m × 0.8m can be reached, apart from screens precision 2mm, temperature control is used inside works；When monitoring camera 2 locks disease
Evil position and detection camera 4 is when identifying Damage Types, measurement camera 3 will pass through lift 5 and carry out disease close to disease position
Dimensional measurement, precision can reach 0.02mm, coverage about 16cm × 11cm.Three cameras in the course of the work can be in camera
Moved left and right on guide rail 1, guide rail repetitive positioning accuracy is 2mm, and lift screens precision is 2mm.For the covering device
Flexibility, camera module is used with mechanical arm 7 and is rotatably connected.
It is below operation embodiment：
1st, bridge quick visualization detection means equipment box, the bogie mechanical cantilever that the device is fixed on bridge floor are opened
On, device and the computer of Surveillance center are connected by data wire, and photomoduel focal length is adjusted, inspection ensures that it is stable
Property.
2nd, Surveillance center delivers to device vertical telescoping mechanism, horizontal rotary mechanism below beam body；
3rd, operating personnel in real time be passed through picture by the remote control of monitoring camera 2, the now meeting of monitoring camera 2 on bridge floor
USB data line transfers back to computer, and when finding disease, rotary shaft 6 is stopped the rotation；
4th, system finely tunes detection camera 4 and measurement camera 3 by camera guide rail 1, and adjusts camera focal length, makes the image of display
Reach utmost sharpness；
5th, " measurement " button is clicked on, system automatic detection, after detection camera 4 determines Damage Types, is adjusted according to setting frame number
Whole lift 5 makes measurement camera 3 reach the measurement that disease position carries out disease size；At the same time, camera 4 and measurement phase are detected
Machine 3 can transfer back to measurement result by USB data line the professional inspection software of computer；
5th, operation is based on image procossing Defect inspection software, and the module is run by image procossing and calculates disease geological information, is
System filters out image Bridge health problem characteristic, and image analysis module can be by the geological information of the disease of bridge such as face
Product, length, width, shape and position are clearly identified, and then generate data report；
6th, mobile foundation motion is manipulated, reaches next shooting point；
7th, control detection means is moved to next tested point, repeats the above steps, completes whole detection process.
Present disclosure is not limited to cited by embodiment, and those of ordinary skill in the art are by reading description of the invention
And any equivalent conversion taken technical solution of the present invention, it is that claim of the invention is covered.
Claims (9)
1. bridge quick visualization detection means, it is characterised in that：
Including camera module, mobile foundation, camera guide rail（1）, rotary shaft（2）And mechanical arm（7）；
Camera module is installed on camera guide rail by mobile foundation（1）In, camera guide rail（1）Pass through the rotary shaft of bottom（2）Peace
It is attached to mechanical arm（7）End.
2. bridge quick visualization detection means according to claim 1, it is characterised in that：
Camera module includes monitoring camera（2）, measurement camera（3）With detection camera（4）, it is installed on each via mobile foundation
Camera guide rail（1）In；
Wherein, camera is measured（3）There is the lift with vertical lifting function by the way that bottom is additionally mounted（5）.
3. bridge quick visualization detection means according to claim 1, it is characterised in that：
Mechanical arm（7）Including multiple angled sections, each section is Telescopic rod structure.
4. bridge quick visualization detecting system, it is characterised in that：
Including camera module, mobile foundation, camera guide rail（1）, rotary shaft（2）, mechanical arm（7）And Surveillance center；
Camera module is installed on camera guide rail by mobile foundation（1）In, camera guide rail（1）Pass through the rotary shaft of bottom（2）Peace
It is attached to mechanical arm（7）End；
Camera module and Surveillance center's intercommunication, mobile foundation, rotary shaft（2）, mechanical arm（7）Respectively with Surveillance center's intercommunication.
5. bridge quick visualization detecting system according to claim 4, it is characterised in that：
Camera module includes monitoring camera（2）, measurement camera（3）With detection camera（4）, it is installed on each via mobile foundation
Camera guide rail（1）In；
Wherein, camera is measured（3）There is lift by the way that bottom is additionally mounted（5）, lift（5）With Surveillance center's intercommunication.
6. bridge quick visualization detecting system according to claim 4, it is characterised in that：
Mechanical arm（7）Including multiple angled sections, each section is Telescopic rod structure.
7. the detection method of bridge quick visualization detecting system, it is characterised in that：
Comprise the following steps：
Mobile foundation, rotary shaft are controlled by Surveillance center（2）And mechanical arm（7）, camera module is moved to test position, obtained
Take bridge apparent image, send to Surveillance center, through image procossing by the defect information that bridge machinery needs regarding from computer
Angle is prominent in order to machine recognition strengthen, and recognition result provides two-dimensional pixel information and 3D solid number in image
According to and be stored among Surveillance center.
8. the detection method of bridge quick visualization detecting system according to claim 7, it is characterised in that：
Specifically include following steps：
Step 1：Surveillance center starts monitoring camera（2）, according to monitoring camera（2）The real-time pictures information passed back, passes through
Control rotary shaft（2）And mechanical arm（7）Motion, the whole camera guide rail where mobile camera module（1）；
Step 2：When camera module reaches bridge structure component, start mobile foundation traverse measurement camera（3）With detection camera
（4）；
Step 3：Start detection camera（4）, shot, pass the photo of shooting back Surveillance center, identify Damage Types；If
Disease-free information, then into step 5；
Step 4：Start measurement camera（3）, by controlling lift（5）Shot, obtain the disease for having identified disease region
Photo, pass Surveillance center back, that runs Surveillance center passes through image procossing meter based on image procossing Defect inspection module, the module
Calculate disease geological information；
Step 5：Mobile foundation motion is manipulated, next shooting point is reached, continues to detect.
9. the detection method of bridge quick visualization detecting system according to claim 8, it is characterised in that：
In step 4, the operation of the image procossing based on image procossing Defect inspection module has following four mode：
1. image preprocessing, input is connected with image acquisition units output end, completes the pretreatment of image, and operation mainly includes
Image gray processing and gray level image enhancing；
2. graphical analysis, input is connected with the output end of image reorganization module, for analyzing the image after restructuring, sieve
Select image Bridge health problem characteristic, image analysis module is by the geological information of the disease of bridge, including area, length
Degree, width, shape and position are clearly identified；
3. store, using vector quantization memory technology storage information；
4. the output end of comparative analysis, its input and image analysis module is connected and is connected with memory, for other numbers
Com-parison and analysis is carried out according to historical data, for searching, calling historical data.
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| CN108896552A (en) * | 2018-05-09 | 2018-11-27 | 赵启林 | Disease automatic checkout system in bridge chamber |
| CN108918548A (en) * | 2018-04-28 | 2018-11-30 | 赵启林 | A kind of series connection assembled structure appearance is taken pictures detection device |
| CN109580657A (en) * | 2019-01-23 | 2019-04-05 | 郑州工程技术学院 | A kind of crack detection method in bridge quality testing |
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