CN108088906B - Bridge track detection system and method - Google Patents
Bridge track detection system and method Download PDFInfo
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- CN108088906B CN108088906B CN201711330932.2A CN201711330932A CN108088906B CN 108088906 B CN108088906 B CN 108088906B CN 201711330932 A CN201711330932 A CN 201711330932A CN 108088906 B CN108088906 B CN 108088906B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
Abstract
The invention relates to a bridge track detection system and a bridge track detection method, which are designed for efficiently and accurately detecting a bridge. The bridge track detection system comprises an image detection device and an ultrasonic detection device, wherein the ultrasonic detection device firstly passes through a detection area of a bridge, when the ultrasonic detection device detects that the detection area of the bridge has cracks, the controller controls the image acquisition device to shoot m images of the detection area, and when the ultrasonic detection device detects that the detection area of the bridge has no cracks, the controller controls the image acquisition device to shoot n images of the detection area, wherein m is larger than n, and m and n are positive integers. The invention can quickly detect the problems of the bridge.
Description
Technical Field
The invention relates to a bridge track detection system and method.
Background
The bridge deformation monitoring has important significance for mastering the health degree of the bridge and ensuring the safety of the bridge. At present, the common equipment of bridge deformation monitoring has: conventional ground measuring equipment, GPS bridge displacement detection equipment and radar deformation measuring equipment; however, in many cases, in some existing devices, the deformation of the bridge cannot be found in time, and the bridge can be reacted and treated in time, so that the property loss is huge and casualties are heavy.
Disclosure of Invention
In order to solve the above technical problems, the present invention aims to provide a bridge track detection system and method with characteristics of low cost, high efficiency, reliable performance, etc.
In order to achieve the above object, the bridge rail detection system of the present invention comprises: the device comprises transverse guide rails which are respectively arranged on two adjacent piers, the transverse guide rails are arranged on the piers through vacuum chucks, the vacuum chucks are connected with a vacuum tube, a first vertical guide rail and a second vertical guide rail are vertically arranged between the two transverse guide rails, guide wheels are respectively arranged at two ends of the first vertical guide rail and the second vertical guide rail, the guide wheels press the inner sides of the transverse guide rails to guide the first vertical guide rail and the second vertical guide rail to linearly move along the transverse guide rails, an image detection device is arranged on the first vertical guide rail and performs linear motion on the first vertical guide rail through a driving motor, an ultrasonic detection device is arranged on the second vertical guide rail and performs linear motion on the second vertical guide rail through the driving motor, and a transverse position sensor and a vertical position sensor are respectively arranged on the image detection device and the ultrasonic detection device, the transverse position sensor, the vertical position sensor, the image acquisition device, the ultrasonic detection device and the driving motor are respectively connected with the controller;
the image acquisition device is used for acquiring a bridge image;
the ultrasonic detection device is used for sending ultrasonic waves to the bridge;
the vertical sensor and the transverse sensor are used for positioning the positions of the image detection device and the ultrasonic detection device in a cross positioning mode;
the controller is used for controlling the moving tracks of the first vertical rail and the second vertical rail and the moving tracks of the image detection device and the ultrasonic detection device; storing the bridge image acquired by the image acquisition device, and analyzing and processing the acquired bridge image to determine whether a crack exists in the bridge and the position of the crack;
when the bridge detection is carried out, the first vertical guide rail and the second vertical guide rail are away from each other by a preset distance, the image acquisition device and the ultrasonic detection device move in the same direction, the ultrasonic detection device firstly passes through a detection area of the bridge, when the ultrasonic detection device detects that the detection area of the bridge has cracks, the controller controls the image acquisition device to shoot m images of the detection area, when the ultrasonic detection device detects that the detection area of the bridge has no cracks, the controller controls the image acquisition device to shoot n images of the detection area, wherein m is larger than n, and m and n are positive integers.
Further, the controller includes: a displacement control unit, an ultrasonic analysis unit, an image acquisition mode determining unit, an image preprocessing unit and an image analysis result output unit, wherein,
the displacement control unit is used for controlling the first vertical track, the second vertical track, the image acquisition device and the movement tracks of the ultrasonic detection device;
the ultrasonic analysis unit determines whether a crack exists in the current detection area based on the acquired ultrasonic feedback, and outputs a detection result to the image acquisition mode determination unit; when the ultrasonic analysis unit judges that the detection area has cracks, the image acquisition mode determining unit controls the image acquisition device to take more pictures of the area at one time than the number of pictures taken when the area is judged to have no cracks;
the image preprocessing unit is used for preprocessing the acquired image and outputting the preprocessed image to the image analysis result output unit;
the image analysis result output unit is used for analyzing the preprocessed image, determining whether a crack exists in a detection area corresponding to the image and analyzing a primary judgment result of crack parameters; the image acquisition mode determining unit judges whether the primary judgment result meets a preset re-shooting condition, if so, the image acquisition mode determining unit determines to shoot the detection area again according to the primary judgment result, and obtains a final judgment result according to the re-shot area image; if not, outputting the primary judgment result as a final judgment result;
and determining the area boundary and the crack position of the detection area according to the displacement control unit.
The bridge image acquisition system further comprises a display connected with the controller, wherein the display displays the acquired bridge image, and professional technicians manually correct the primary judgment result; and determining a mode of shooting the detection area again by a professional according to the acquired bridge image and the primary judgment result.
Furthermore, the image acquisition device comprises a first mechanical arm moving on the first vertical guide rail and an image collector arranged at the top end of the first mechanical arm, the first mechanical arm comprises a first telescopic rod, a second telescopic rod arranged on the first telescopic rod and a third telescopic rod arranged on the second telescopic rod, the image collector comprises a camera and a laser ranging device arranged on the camera, and the laser ranging device is arranged at the top end of the camera and used for measuring the distance from the camera to the bridge;
the ultrasonic detection device comprises a second mechanical arm and an ultrasonic flaw detector, the second mechanical arm moves on the second vertical guide rail, the ultrasonic flaw detector is arranged at the top end of the mechanical arm, the first mechanical arm comprises a first telescopic rod and a second telescopic rod arranged on the first telescopic rod, and the ultrasonic flaw detector is arranged at the top end of the second telescopic rod.
Further, be equipped with the rotation platform on the third telescopic link, be equipped with the installation pole on the rotation platform, the camera passes through hinge assembly and installs on the installation pole, realize the different shooting angles of camera in the coplanar through the hinge structure of rotation platform and camera and installation pole, still include camera lens posture capture device on the image acquisition device, camera lens posture capture device includes triaxial gyroscope inductor, acquires the current posture of camera lens through triaxial gyroscope inductor, according to predetermined camera lens posture, rotates platform and camera and the hinge assembly adjustment camera of installation pole to predetermined camera lens posture through the arm cooperation.
Furthermore, the first vertical guide rail and the second vertical guide rail are electromagnetic guide rails, electromagnetic wheels are arranged in the electromagnetic guide rails, the first mechanical arm and the second mechanical arm are respectively connected with the electromagnetic wheels, and when the electromagnetic guide rails and the electromagnetic wheels are electrified, the electromagnetic wheels are driven by a motor to move on the sliding rails, and the electromagnetic wheels and the electromagnetic guide rails are attracted together to position the first mechanical arm and the second mechanical arm.
In order to achieve the above object, the bridge rail detection method of the present invention comprises:
the ultrasonic detection device detects a detection area, judges whether the detection area has cracks or not,
if so, shooting m images of the detection area by the image acquisition device;
if the detection area does not exist, the image acquisition device shoots n images of the detection area;
storing the bridge image acquired by the image acquisition device, and analyzing and processing the acquired bridge image to determine whether a crack exists in the bridge and the position of the crack;
wherein m is more than n, and m and n are positive integers.
Further, still include: preprocessing the acquired image, analyzing the preprocessed image, determining whether a crack exists in a detection area corresponding to the image and analyzing a primary judgment result of crack parameters;
judging whether the primary judgment result meets a preset re-shooting condition or not, if so, determining to shoot the detection area again by the image acquisition mode determining unit according to the primary judgment result, and obtaining a final judgment result according to the re-shot image of the area; if not, outputting the primary judgment result as a final judgment result;
the zone boundaries and the fracture locations of the detection zone are determined.
Further, the pretreatment comprises: carrying out image filtering, image enhancement, scaling, cutting and color space transformation processing on the acquired image;
the fracture parameters include: the number of cracks, the extent of splay, radial extension and/or connectivity within the detection zone.
Further, the shooting mode at least comprises the following steps: the distance between the lens and the bridge, the shooting angle of the lens and the focal length of the lens.
By the scheme, the bridge track detection system and the bridge track detection method have the advantages that:
the method comprises the steps of firstly detecting a detection area with cracks through an ultrasonic detection device, determining whether the current detection area has cracks or not based on the ultrasonic detection device, and when the detection area has cracks, controlling an image acquisition device to shoot the area more than the number of pictures shot when the area is judged to have no cracks by the image acquisition mode determination unit, namely, the important area is treated in a key mode. Therefore, on one hand, the ultrasonic detection is combined with the image detection, so that the missed detection of the crack is avoided to a greater extent; on the other hand, on the premise that the detection area with the possibility of cracks is better analyzed by collecting a plurality of images, the operation cost of the detection area with the low possibility of cracks is avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a block diagram of an embodiment 1 of the bridge track detection system of the present invention;
FIG. 2 is a block diagram of embodiment 2 of the bridge track detection system of the present invention;
FIG. 3 is a flow chart of an embodiment 4 of the bridge track inspection method of the present invention;
fig. 4 is a flowchart of a bridge track detection method according to embodiment 5 of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the bridge rail detection system of the present embodiment includes: the device comprises transverse guide rails which are respectively arranged on two adjacent piers, the transverse guide rails are arranged on the piers through vacuum chucks, the vacuum chucks are connected with a vacuum tube, a first vertical guide rail and a second vertical guide rail are vertically arranged between the two transverse guide rails, guide wheels are respectively arranged at two ends of the first vertical guide rail and the second vertical guide rail, the guide wheels press the inner sides of the transverse guide rails to guide the first vertical guide rail and the second vertical guide rail to linearly move along the transverse guide rails, an image detection device is arranged on the first vertical guide rail and performs linear motion on the first vertical guide rail through a driving motor, an ultrasonic detection device is arranged on the second vertical guide rail and performs linear motion on the second vertical guide rail through the driving motor, and a transverse position sensor and a vertical position sensor are respectively arranged on the image detection device and the ultrasonic detection device, the transverse position sensor, the vertical position sensor, the image acquisition device, the ultrasonic detection device and the driving motor are respectively connected with the controller;
the image acquisition device is used for acquiring a bridge image;
the ultrasonic detection device is used for sending ultrasonic waves to the bridge;
the vertical sensor and the transverse sensor are used for positioning the positions of the image detection device and the ultrasonic detection device in a cross positioning mode;
the controller is used for controlling the moving tracks of the first vertical rail and the second vertical rail and the moving tracks of the image detection device and the ultrasonic detection device; storing the bridge image acquired by the image acquisition device, and analyzing and processing the acquired bridge image to determine whether a crack exists in the bridge and the position of the crack;
when the bridge detection is carried out, the first vertical guide rail and the second vertical guide rail are away from each other by a preset distance, the image acquisition device and the ultrasonic detection device move in the same direction, the ultrasonic detection device firstly passes through a detection area of the bridge, when the ultrasonic detection device detects that the detection area of the bridge has cracks, the controller controls the image acquisition device to shoot m images of the detection area, when the ultrasonic detection device detects that the detection area of the bridge has no cracks, the controller controls the image acquisition device to shoot n images of the detection area, wherein m is larger than n, and m and n are positive integers.
In this embodiment, when the detection area has a crack, the image capturing mode determining unit controls the image capturing device to capture more pictures of the area at one time than when it is determined that the area has no crack, that is, the important area is treated with emphasis. The ultrasonic detection and the image detection are carried out together, so that the missed detection of cracks is avoided to a large extent. Meanwhile, the specific situation that a crack area possibly exists can be better analyzed, and the operation cost of the detection area with low possibility of the crack is reduced.
The specific values of m and n in this embodiment are determined by those skilled in the art as needed.
Example 2
As shown in fig. 2, in the bridge track detection system according to this embodiment, on the basis of embodiment 1, the image acquisition device includes a first mechanical arm moving on the first vertical guide rail and an image acquirer arranged at a top end of the first mechanical arm, the first mechanical arm includes a first telescopic rod, a second telescopic rod arranged on the first telescopic rod, and a third telescopic rod arranged on the second telescopic rod, the image acquirer includes a camera and a laser ranging device arranged on the camera, and the laser ranging device is arranged at a top end of the camera and is used for measuring a distance from the camera to the bridge;
the ultrasonic detection device comprises a second mechanical arm and an ultrasonic flaw detector, the second mechanical arm moves on the second vertical guide rail, the ultrasonic flaw detector is arranged at the top end of the mechanical arm, the first mechanical arm comprises a first telescopic rod and a second telescopic rod arranged on the first telescopic rod, and the ultrasonic flaw detector is arranged at the top end of the second telescopic rod.
In this embodiment, be equipped with the rotation platform on the third telescopic link, be equipped with the installation pole on the rotation platform, the camera passes through hinge assembly and installs on the installation pole, realize the different shooting angles of camera in the coplanar through the hinge structure of rotation platform and camera and installation pole, still include camera lens posture capture device on the image acquisition device, camera lens posture capture device includes triaxial gyroscope inductor, acquires the current posture of camera lens through triaxial gyroscope inductor, according to predetermined camera lens posture, adjusts the predetermined camera lens posture that the camera lens arrived through the arm cooperation rotation platform and camera and the hinge assembly of installation pole.
The controller includes: a displacement control unit, an ultrasonic analysis unit, an image acquisition mode determining unit, an image preprocessing unit and an image analysis result output unit, wherein,
the displacement control unit is used for controlling the first vertical track, the second vertical track, the image acquisition device and the movement tracks of the ultrasonic detection device;
the ultrasonic analysis unit determines whether a crack exists in the current detection area based on the acquired ultrasonic feedback, and outputs a detection result to the image acquisition mode determination unit; when the ultrasonic analysis unit judges that the detection area has cracks, the image acquisition mode determining unit controls the image acquisition device to take more pictures of the area at one time than the number of pictures taken when the area is judged to have no cracks;
the image preprocessing unit is used for preprocessing the acquired image and outputting the preprocessed image to the image analysis result output unit;
the image analysis result output unit is used for analyzing the preprocessed image, determining whether a crack exists in a detection area corresponding to the image and analyzing a primary judgment result of crack parameters; the image acquisition mode determining unit judges whether the primary judgment result meets a preset re-shooting condition, if so, the image acquisition mode determining unit determines to shoot the detection area again according to the primary judgment result, and obtains a final judgment result according to the re-shot area image; if not, outputting the primary judgment result as a final judgment result;
and determining the area boundary and the crack position of the detection area according to the displacement control unit.
In this embodiment, one of the m and n acquired images is selected as a determination image or image analysis processing is performed using the m and n images at the same time, and the setting is made according to the specific situation.
In this embodiment, the shooting mode refers to the shooting number of the image acquisition device, the distance between the lens and the bridge, the shooting angle of the lens, and the focal length of the lens. Of course, the object of the second photographing is to photograph an image more favorable for fracture analysis in a targeted manner according to the result of the first determination.
The "again" in this embodiment means not only one time but also many times until an image is taken that can be well analyzed for cracks.
Example 3
The bridge track detection system of the embodiment further comprises a display connected with the controller on the basis of the embodiment 2, wherein the display displays the acquired bridge image, and a professional carries out manual correction on a primary judgment result; and determining a mode of shooting the detection area again by a professional according to the acquired bridge image and the primary judgment result. That is, the re-detection may be performed by judging whether the initial judgment result satisfies the condition of re-shooting according to a predetermined program, or may be performed by manually setting the re-shooting; there is also a case where it cannot be judged whether or not re-photographing should be performed by the primary judgment result of embodiment 2, and a skilled person is required to determine whether or not re-photographing should be performed and a photographing manner of the re-photographing.
Example 4
As shown in fig. 3, in the bridge track detection method according to this embodiment, the method is used to implement the bridge track detection system according to embodiment 1, and includes:
the ultrasonic detection device detects a detection area, judges whether the detection area has cracks or not,
if so, shooting m images of the detection area by the image acquisition device;
if the detection area does not exist, the image acquisition device shoots n images of the detection area;
storing the bridge image acquired by the image acquisition device, and analyzing and processing the acquired bridge image to determine whether a crack exists in the bridge and the position of the crack;
wherein m is more than n, and m and n are positive integers.
In this embodiment, when the detection area has a crack, the number of pictures taken for the area at one time is greater than that taken when the area is determined to have no crack, and the missed detection of the crack is avoided to a greater extent by means of the ultrasonic detection and the image detection. Meanwhile, the specific situation that a crack area possibly exists can be better analyzed, and the operation cost of the detection area with low possibility of the crack is reduced.
Example 5
As shown in fig. 4, the bridge track detection method according to this embodiment is used to implement the bridge track detection system according to embodiment 2, and further includes, on the basis of embodiment 4:
preprocessing the acquired image, analyzing the preprocessed image, determining whether a crack exists in a detection area corresponding to the image and analyzing a primary judgment result of crack parameters;
judging whether the primary judgment result meets a preset re-shooting condition or not, if so, determining to shoot the detection area again by the image acquisition mode determining unit according to the primary judgment result, and obtaining a final judgment result according to the re-shot image of the area; if not, outputting the primary judgment result as a final judgment result;
the zone boundaries and the fracture locations of the detection zone are determined.
In the above embodiments, in order to achieve better positioning of the image acquisition device and the ultrasonic detection device, the first vertical guide rail and the second vertical guide rail are electromagnetic guide rails, electromagnetic wheels are arranged in the electromagnetic guide rails, the first mechanical arm and the second mechanical arm are respectively connected to the electromagnetic wheels, and in a non-energized state, the electromagnetic pulleys are driven by the motor to move on the slide rails, and when the electromagnetic guide rails and the electromagnetic pulleys are energized, the electromagnetic pulleys and the electromagnetic guide rails are attracted together to position the first mechanical arm and the second mechanical arm.
In the foregoing embodiments, the preprocessing includes: carrying out image filtering, image enhancement, scaling, cutting and color space transformation processing on the acquired image;
in the above embodiments, the fracture parameters include: the number of cracks, the extent of splay, radial extension and/or connectivity within the detection zone.
The transverse displacement and the vertical displacement in the invention refer to the transverse displacement and the vertical displacement in a plane parallel to the bridge bottom. That is, the image detection device and the ultrasonic detection device are respectively provided with a horizontal position sensor and a vertical position sensor, that is, the image detection device is provided with the horizontal position sensor and the vertical position sensor, and the ultrasonic detection device is provided with the horizontal position sensor and the vertical position sensor.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A bridge rail detection system, comprising: the device comprises transverse guide rails which are respectively arranged on two adjacent piers, the transverse guide rails are arranged on the piers through vacuum chucks, the vacuum chucks are connected with a vacuumizing tube, a first vertical guide rail and a second vertical guide rail are vertically arranged between the two transverse guide rails, guide wheels are respectively arranged at two ends of the first vertical guide rail and the second vertical guide rail, the guide wheels press the inner sides of the transverse guide rails to guide the first vertical guide rail and the second vertical guide rail to linearly move along the transverse guide rails, an image detection device is arranged on the first vertical guide rail and performs linear motion on the first vertical guide rail through a driving motor, an ultrasonic detection device is arranged on the second vertical guide rail and performs linear motion on the second vertical guide rail through the driving motor, and a transverse position sensor and a vertical position sensor are respectively arranged on the image detection device and the ultrasonic detection device, the transverse position sensor, the vertical position sensor, the image acquisition device, the ultrasonic detection device and the driving motor are respectively connected with the controller;
the image acquisition device is used for acquiring a bridge image;
the ultrasonic detection device is used for sending ultrasonic waves to the bridge;
the vertical sensor and the transverse sensor are used for positioning the positions of the image detection device and the ultrasonic detection device in a cross positioning mode;
the controller is used for controlling the moving tracks of the first vertical guide rail and the second vertical guide rail and the moving tracks of the image detection device and the ultrasonic detection device; storing the bridge image acquired by the image acquisition device, and analyzing and processing the acquired bridge image to determine whether a crack exists in the bridge and the position of the crack;
when bridge detection is carried out, the first vertical guide rail and the second vertical guide rail are away from each other by a preset distance, the image acquisition device and the ultrasonic detection device move in the same direction, the ultrasonic detection device firstly passes through a detection area of the bridge, when the ultrasonic detection device detects that the detection area of the bridge has cracks, the controller controls the image acquisition device to shoot m images of the detection area, when the ultrasonic detection device detects that the detection area of the bridge has no cracks, the controller controls the image acquisition device to shoot n images of the detection area, wherein m is larger than n, and m and n are positive integers;
the bridge image acquisition system further comprises a display connected with the controller, the display displays the acquired bridge image, and professional technicians manually correct the primary judgment result; determining a mode of shooting the detection area again by a professional according to the acquired bridge image and the primary judgment result;
the controller includes: a displacement control unit, an ultrasonic analysis unit, an image acquisition mode determining unit, an image preprocessing unit and an image analysis result output unit, wherein,
the displacement control unit is used for controlling the first vertical track, the second vertical track, the image acquisition device and the movement tracks of the ultrasonic detection device;
the ultrasonic analysis unit determines whether a crack exists in the current detection area based on the acquired ultrasonic feedback, and outputs a detection result to the image acquisition mode determination unit; when the ultrasonic analysis unit judges that the detection area has cracks, the image acquisition mode determining unit controls the image acquisition device to take more pictures of the area at one time than the number of pictures taken when the area is judged to have no cracks;
the image preprocessing unit is used for preprocessing the acquired image and outputting the preprocessed image to the image analysis result output unit;
the image analysis result output unit is used for analyzing the preprocessed image, determining whether a crack exists in a detection area corresponding to the image and analyzing a primary judgment result of crack parameters; the image acquisition mode determining unit judges whether the primary judgment result meets a preset re-shooting condition, if so, the image acquisition mode determining unit determines to shoot the detection area again according to the primary judgment result, and obtains a final judgment result according to the re-shot area image; if not, outputting the primary judgment result as a final judgment result;
and determining the area boundary and the crack position of the detection area according to the displacement control unit.
2. The bridge track detection system according to claim 1, wherein the image acquisition device comprises a first mechanical arm moving on the first vertical guide rail and an image acquisition device arranged at the top end of the first mechanical arm, the first mechanical arm comprises a first telescopic rod, a second telescopic rod arranged on the first telescopic rod and a third telescopic rod arranged on the second telescopic rod, the image acquisition device comprises a camera and a laser ranging device arranged on the camera, and the laser ranging device is arranged at the top end of the camera and is used for measuring the distance from the camera to the bridge;
the ultrasonic detection device comprises a second mechanical arm and an ultrasonic flaw detector, the second mechanical arm moves on the second vertical guide rail, the ultrasonic flaw detector is arranged at the top end of the mechanical arm, the first mechanical arm comprises a first telescopic rod and a second telescopic rod arranged on the first telescopic rod, and the ultrasonic flaw detector is arranged at the top end of the second telescopic rod.
3. The bridge track detection system of claim 2, wherein a rotation platform is disposed on the third telescopic rod, a mounting rod is disposed on the rotation platform, the camera is mounted on the mounting rod through a hinge device, different shooting angles of the camera in the same plane are achieved through the rotation platform and a hinge structure of the camera and the mounting rod, the image acquisition device further comprises a lens posture capture device, the lens posture capture device comprises a triaxial gyroscope sensor, the current posture of the lens is acquired through the triaxial gyroscope sensor, and the predetermined lens posture reached by the lens is adjusted through the mechanical arm matching with the rotation platform and the hinge device of the camera and the mounting rod according to the predetermined lens posture.
4. The bridge track detection system according to claim 2, wherein the first vertical guide rail and the second vertical guide rail are electromagnetic guide rails, electromagnetic wheels are arranged in the electromagnetic guide rails, the first mechanical arm and the second mechanical arm are respectively connected with the electromagnetic wheels, and in a non-energized state, the electromagnetic pulleys are driven by a motor to move on the slide rails, and when the electromagnetic guide rails and the electromagnetic pulleys are energized, the electromagnetic pulleys and the electromagnetic guide rails are attracted together to position the first mechanical arm and the second mechanical arm.
5. A bridge rail detection method applying the bridge rail detection system according to any one of claims 1 to 4, comprising:
the ultrasonic detection device detects a detection area, judges whether the detection area has cracks or not,
if so, shooting m images of the detection area by the image acquisition device;
if the detection area does not exist, the image acquisition device shoots n images of the detection area;
storing the bridge image acquired by the image acquisition device, and analyzing and processing the acquired bridge image to determine whether a crack exists in the bridge and the position of the crack;
wherein m is more than n, and m and n are positive integers.
6. The bridge-track inspection method of claim 5, further comprising: preprocessing the acquired image, analyzing the preprocessed image, determining whether a crack exists in a detection area corresponding to the image and analyzing a primary judgment result of crack parameters;
judging whether the primary judgment result meets a preset re-shooting condition or not, if so, determining to shoot the detection area again by the image acquisition mode determining unit according to the primary judgment result, and obtaining a final judgment result according to the re-shot image of the area; if not, outputting the primary judgment result as a final judgment result;
the zone boundaries and the fracture locations of the detection zone are determined.
7. The bridge-track inspection method of claim 6, wherein the preprocessing comprises: carrying out image filtering, image enhancement, scaling, cutting and color space transformation processing on the acquired image;
the fracture parameters include: the number of cracks, the extent of splay, radial extension and/or connectivity within the detection zone.
8. The bridge rail detection method according to claim 7, wherein the shooting mode at least comprises: the distance between the lens and the bridge, the shooting angle of the lens and the focal length of the lens.
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| KR20150119639A (en) * | 2014-04-16 | 2015-10-26 | 하이드로날릭스 (주) | Robot designed for underwater search having sailing stability |
| CN106018416A (en) * | 2015-09-10 | 2016-10-12 | 来安县新元机电设备设计有限公司 | Bridge detection device and method |
| CN205839586U (en) * | 2016-07-15 | 2016-12-28 | 山西路桥集团试验检测中心有限公司 | A kind of bridge intelligent detection device |
| CN106774384A (en) * | 2016-12-05 | 2017-05-31 | 王源浩 | A kind of bridge machinery intelligent barrier avoiding robot |
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