CN108332926A - A kind of bridge cruising inspection system - Google Patents
A kind of bridge cruising inspection system Download PDFInfo
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- CN108332926A CN108332926A CN201810011567.7A CN201810011567A CN108332926A CN 108332926 A CN108332926 A CN 108332926A CN 201810011567 A CN201810011567 A CN 201810011567A CN 108332926 A CN108332926 A CN 108332926A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0033—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining damage, crack or wear
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Bridges Or Land Bridges (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of bridge cruising inspection systems, including：Unmanned plane, data transmission module, ground control centre, and the data acquisition module that is equipped on unmanned plane.Data acquisition module includes laser 3 d scanner and geological radar, and unmanned plane acquires the field data of bridge by laser 3 d scanner and geological radar.The field data of unmanned plane acquisition is sent to ground control centre by data transmission module.The data processing of ground control centre is handled the laser three-dimensional scanning data that laser 3 d scanner acquires with fault detection module, completes the three-dimensional modeling that region is detected to bridge, while handling the radar return data of geological radar acquisition.Data processing with fault detection module by analyzing three-dimensional modeling and radar return data, the defect for detecting bridge and the position where defect.The present invention can solve the technical problem that existing highway bridge routine inspection mode is of high cost, efficiency is low, means are single, reliability is low.
Description
Technical field
The present invention relates to engineering measurement fields, and in particular to a kind of bridge cruising inspection system is particularly applied to railroad bridge
Cruising inspection system.
Background technology
By 2013, domestic railway total kilometrage broke through 100,000 kilometers, and nearly ten thousand kilometers of high ferro operating mileage is accounted for by bridge
The ratio of circuit 52% calculates, and there are about more than 5,000 kilometers for China's high-speed rail bridge.Such as：Beijing-Tianjin inter-city bridge cumulative length accounts for completely just
The ratio of line overall length is 86.6%, and Beijing-Shanghai express railway 80.5%, intercity wide pearl is 94.0%, and military wide visitor aims at 48.5%, Harbin-to-Dalian
Visitor aims at 74.3%.According to《Mid-long term railway network plan》, China express railway develops is attached most importance to " four vertical four is horizontal ", and structure is fast
The main skeleton of fast passenger transportation network forms the railway transport of passengers channel of quick, convenient, big ability, is done step-by-step and separates lines for passenger and freight transport.In advance
The year two thousand twenty is counted, the whole nation builds Line for Passenger Transportation and is up to 1.6 ten thousand kilometers or more.It means that China will have within 8 years futures
Nearly 7,000 kilometers of high ferro will be built, and have 4,000 kilometers or so of high-speed rail bridge to be born.
Substructure of the bridge as track, to ensure safety, stationarity and the ride comfort of high-speed cruising condition
It is required that the detection of bridge is particularly important with repair.Due to the complexity of bridge machinery engineering, particularity, development bridge inspection
Equipment is surveyed, it is not only particularly necessary but also urgent.The disease of general bridge includes mainly：Disease of beam body, bearing damage, pier disease
With other affiliated facility diseases, and at present to the detection of bridge primarily directed to following disease carry out check or ordinary maintenance：1.
The inspection of bridge top bottom surface, abutment surface crackle；2. the inspection in inside concrete gap；3. the inspection of concrete crushing strength；4. living
The curb girder of dynamic bearing roll shaft length travel；5. the inspection of laminated rubber bearing；6. the inspection etc. of girder steel crackle.At this stage, bridge
Beam detection is mainly concluded using artificial visual inspection or by the methods of bridge inspection vehicle of small-sized assisted detector is carried
Bridge whether there is defect.All there is artificial ginseng either by large scale equipment, or with small-sized assisted detector in bridge machinery
With than the disadvantages such as great, the time is long, efficiency is low, of high cost, labor intensity is big, safety is low, and train operation circuit is occupied, inspection
Repair the time is limited by train operation, and the activity duration needs the technological deficiency carried out in skylight point, and its Checking on effect with
The experience and sense of responsibility of patrolman is directly related.Therefore, a kind of high degree of automation is studied, the bridge of energy all weather operations is split
Seam detection device seems extremely important.
In the prior art, mainly there is following documents related to the present patent application：
Document 1 was applied for Yin Dong on 04 30th, 2015, and, Publication No. open on 09 30th, 2015
The Chinese utility model patent of CN204676420U《Bridge quality device for fast detecting based on UAV system》.The practicality is new
The bridge quality device for fast detecting of type description includes Transporting equipment, unmanned plane detection platform and bridge quality detection apparatus, bridge
Beam quality detection apparatus is equipped in unmanned plane detection platform, and detection mechanical arm is arranged on Transporting equipment, has in detection mechanical arm
There are unmanned plane landing platform and unmanned plane running monitor device, unmanned plane detection platform to take off to bridge through unmanned plane landing platform
Region to be measured.
Document 2 was applied for Wuhan University on 04 28th, 2015, and, Publication No. open on 04 19th, 2017
The Chinese invention application of CN104843176A《One kind being used for bridge tunnel automatic detecting rotor wing unmanned aerial vehicle system and air navigation aid》.
The bridge tunnel automatic detecting rotor wing unmanned aerial vehicle system of invention description carries out independent navigation by GPS and laser radar, IMU
Rotor wing unmanned aerial vehicle cruising inspection system is realized in spacious bridge area using being utilized inside GPS navigation system and closed tunnel
Laser radar navigation system carries out autonomous inspection, dodges to bridge tunnel and motor vehicle by the realization of automatic obstacle-avoiding system,
The image of shooting key area beams back earth station, and the disease thematic map of bridge tunnel is generated by earth station, is used for related personnel.
Document 3 is that Group Plc of Su Jiao sections applied on 08 11st, 2015, and on December 02nd, 2015
Bulletin, notification number are the Chinese utility model patent of CN204833672《A kind of bridge monitoring data acquisition system based on unmanned plane
System》.The bridge monitoring data collecting system of utility model description includes unmanned plane, monitoring system and control system, monitoring
System is arranged on bridge to be monitored, is connect with UAV Communication, and set-up of control system is with control in data center, unmanned plane
System communication connection.Bridge monitoring data collecting system of the utility model based on unmanned plane stores data by unmanned plane, nobody
Machine flies to monitoring system position, receives the data of monitoring system transmission, overcomes existing wire transmission distance limitation and nothing
The technical issues of line transmission precision can not ensure.
Document 4 is that Shanghai Pujiang Qiao Sui bridges Management Co., Ltd applied on 2 04th, 2015, and in 04 month 2016
06 open, the Chinese invention application of Publication No. CN105460210A《Portable six rotor flying for bridge machinery
Device》.The portable six rotorcraft of invention description includes body, six foldable horn components, looks up camera head, two
Axis laser holder, ultrasonic obstacle avoidance apparatus and retractable landing gear, wherein foldable horn is by motor, blade, collision prevention structure, horn
And folding structure composition.The patent application is directed to bridge machinery purposes, and camera head is looked up in exploitation design, for shooting bridge bottom
Face and bridge pier defect information；Laser scanning and ranging instrument holder is designed, is used in the scanning of bridge bottom two dimensional character and bridge bottom without GPS
The positioning of aircraft under environment；The ultrasonic obstacle avoidance apparatus of design, is used for avoidance of the aircraft under complex environment；Foldable horn can
Convenient fast folding and expansion, efficiently solve the problems, such as that large-size unmanned vehicle is inconvenient to carry.
Document 5 is applied for Qiao Pei on December 29th, 2015, and, Publication No. open on 06 15th, 2016
The Chinese invention application of CN205313975U《A kind of Detection System for Bridge based on four wing unmanned planes》.The beam inspection of invention description
Examining system, including four wing unmanned planes, four wing unmanned planes include rotating vane, and rotating vane is provided with baffle liner；Four wing unmanned planes
On be provided with camera, communication module and microcontroller, microcontroller on four wing unmanned planes acceleration transducer and surpass
Sonic detection module connects.The utility model carries camera, microcontroller and various for detecting bridge on four wing unmanned planes
The sensor of beam can acquire high definition picture, the data informations such as video during four wing unmanned plane during flyings or fixed point, and lead to
Collected signal is sent to ground receiver end by the processing for crossing microcontroller via communication module；Ground receives number by terminal
According to decision-making foundation and aid decision can be provided after data for specialized engineering personnel.
Document 6 was that Sichuan is that a day construction project detection Co., Ltd applied on February 05th, 2016, and in 2017 08
The moon 15 is open, the Chinese invention application of Publication No. CN107042887《A kind of wired unmanned plane is used for the detection dress of abutment surface
It sets》.The detection device for abutment surface of patent application description, including rotor wing unmanned aerial vehicle, contact bar, power supply and elevator
Structure, wherein elevating mechanism further include variable-frequency motor, transmission shaft, reel and rack, and wherein variable-frequency motor is fixedly mounted in rack,
The output end of variable-frequency motor is fixedly connected with transmission shaft, and transmission shaft is fixed with reel I and reel II successively in an axial direction, rotor without
The contact bar of man-machine connection is connect with the positive and negative anodes output end of power supply respectively, the twisted rope on elevating mechanism reel respectively with contact bar
The same end connection, pass through elevating mechanism in the longitudinal direction controlled level operation rotor wing unmanned aerial vehicle observation device lifting, realize
Rotor wing unmanned aerial vehicle can fill up the technological gap of large bridge detection along contact bar axial direction level cruise shooting observation.
Although above six documents are proposed using unmanned plane as platform, carry high definition camera and acquire bridge data, complete
Bridge Crack is detected.But in the technical solution of above-mentioned six documents description, there is also following obvious shortcomings：
(1) it carries high definition camera and acquires bridge high definition picture, means are single, can only obtain bridge plane information, lack bridge
The defects of beam crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole depth or elevation information, detection result it is affected by environment
Greatly, reliability is low.
(2) camera obtain high-resolution picture, it is very strict to intensity of illumination, uniformity requirements, and under bridge illumination have it is bright
Dark areas needs to carry out light filling to camera in the insufficient region of illumination, does not all propose corresponding rational phase in above six documents
Machine light filling scheme.
(3) unmanned plane cruising ability and loading capacity limit the quantity and power for carrying light compensating lamp, while above six texts
It offers and rational planning is not done to the path of unmanned plane during flying, i.e. bridge raw data acquisition path, defect does not have precise positioning,
There is no systematic bridge data acquisition, transmission and processing scheme, difficulty is caused to maintenance and subsequent data analysis comparison.
Invention content
In view of this, the purpose of the present invention is to provide a kind of bridge cruising inspection system, to solve existing highway bridge routine inspection mode
Technical problem of high cost, efficiency is low, means are single, reliability is low.
In order to achieve the above-mentioned object of the invention, the present invention specifically provides a kind of technic relization scheme of bridge cruising inspection system,
A kind of bridge cruising inspection system is used for bridge inspection, including：Unmanned plane, data transmission module, ground control centre, and be equipped on
Data acquisition module on the unmanned plane.The data acquisition module includes laser 3 d scanner and geological radar, described
Unmanned plane acquires the field data of the bridge by the laser 3 d scanner and geological radar.The unmanned plane acquisition
Field data is sent to the ground control centre by the data transmission module.The data processing of the ground control centre
The laser three-dimensional scanning data that the laser 3 d scanner acquires are handled with fault detection module, are completed to the bridge
Beam is detected the three-dimensional modeling in region, while handling the radar return data of geological radar acquisition.The data
Processing with fault detection module by analyzing three-dimensional modeling and radar return data, detect the bridge defect and
Position where defect.
Preferably, the laser 3 d scanner scan respectively the bridge include abutment surface, bridge outer face, bridge bottom surface,
Movable bearing support, rubber support, girder steel inner region three-dimensional point information and form three dimensional point cloud, to reflect that the bridge is examined
Survey region include crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole the defects of.The data processing and fault detect
Module to three dimensional point cloud by carrying out spatial measurement to position the bridge including defect length, width, depth, height, position
Information including setting, while by being compared to the front and back laser three-dimensional scanning data acquired twice, to obtain the dynamic of defect
State variable quantity.
Preferably, the geological radar detects for realizing the inside concrete gap of the bridge.
Preferably, the data acquisition module further includes and ensuring the nothing for preventing the unmanned plane collision object
The ultrasonic radar of man-machine safety flight.
Preferably, the data acquisition module further includes for determining swashing for distance between the unmanned plane and measurand
Optar.
Preferably, the data processing and fault detection module include the data storage cell being sequentially connected, initial modeling
Unit and data gridding processing unit.The laser three-dimensional scanning that the data storage cell transmits the data transmission module
Data are stored, and the initial modeling unit is established after carrying out interference filtering pretreatment to the laser three-dimensional scanning data of storage
The three-dimensional point cloud model is converted to triangle gridding mould by initial three-dimensional point cloud model, the data gridding processing unit
Type, and abbreviation processing is carried out to rebuild the threedimensional model of the bridge to the triangle grid model.
Preferably, the ground control centre is additionally provided with unmanned aerial vehicle (UAV) control module, and the unmanned aerial vehicle (UAV) control module passes through
Control instruction is sent to the flight control modules of the unmanned plane by the data transmission module in real time, and the unmanned plane passes through institute
Data transmission module is stated by the unmanned aerial vehicle (UAV) control module of Flight Condition Data real-time Transmission to the ground control centre.
Preferably, the data acquisition module further includes GPS navigator, and the flight control modules are led by the GPS
Boat instrument obtains location information of the unmanned plane in flight course.The initial modeling unit is according to the laser three-dimensional scanning
Instrument forms the local positioning information of the bridge tested region and the Global localization information of the GPS navigator initial
Three dimensional point cloud, and pass through the miscellaneous point and redundant points in spatial point filtering or smoothing processing removal three dimensional point cloud.
Preferably, the discrete point cloud data obtained after pretreatment is converted to three-dimensional point cloud mould by the initial modeling unit
The three-dimensional point cloud model is converted to triangle grid model by type, the data gridding processing unit, and to the triangulation network
Triangle gridding in lattice model carries out abbreviation, in the case where maintaining the surface characteristics of the bridge constant, subtracts to the maximum extent
The quantity of few triangle gridding.
Preferably, the data processing and fault detection module further include fault detection unit, the fault detection unit
Spatial measurement is carried out to the three dimensional point cloud in the bridge threedimensional model that undergoes reconstruction, detects lacking on the bridge
Sunken and defect position.Defective locations and type are sent on portable handheld terminal by the fault detection unit simultaneously, by
Staff carries portable handheld terminal and is safeguarded to the bridge.
By implementing the technical solution for the bridge cruising inspection system that aforementioned present invention provides, have the advantages that：
(1) bridge cruising inspection system of the present invention is using unmanned plane as platform, at low cost, efficient, reliability is high, flexibility is big,
And be not required to occupy track, detection time is unrestricted, does not influence train operation, by installing avoidance radar, improves unmanned plane and flies
Capable safety；
(2) bridge cruising inspection system of the present invention uses laser scanning bridge three-dimensional information, laser scanning not to have temperature and illumination
It requires, camera imaging can be solved because illumination obtains image data, the low technical problem of anti-interference；
(3) bridge cruising inspection system of the present invention carries out amount of space by being carried out to bridge in three-dimensional modeling and point cloud data
Defect three-dimensional information is measured, by the processing to three dimensional point cloud, rebuilds the threedimensional model that bridge is detected region, Neng Goushi
Now the various dimensions of bridge defect are detected, are not only able to obtain the plane information of defect, moreover it is possible to obtain depth information, and can be accurate
Determine the specific location of position bridge defect；
(4) bridge cruising inspection system of the present invention, being capable of dynamic detection defect by being compared to front and back gathered data twice
The variable quantity of size can effectively instruct worker to carry out upkeep operation；
(5) bridge cruising inspection system of the present invention can complete the detection to bridge concrete internal voids using geological radar,
The perfect detection of internal hurt.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other embodiments are obtained according to these attached drawings.
Fig. 1 is a kind of function composition schematic diagram of specific embodiment of bridge cruising inspection system of the present invention；
Fig. 2 is a kind of system structure diagram of specific embodiment of bridge cruising inspection system of the present invention；
Fig. 3 is that the function composition of data storage and processing module shows in a kind of specific embodiment of bridge cruising inspection system of the present invention
It is intended to；
Fig. 4 is the structure composition frame of data storage and processing module in a kind of specific embodiment of bridge cruising inspection system of the present invention
Figure；
Fig. 5 is the schematic diagram that abutment surface inspection is carried out using bridge cruising inspection system of the present invention；
Fig. 6 is the schematic diagram that the face inspection of bridge outer is carried out using bridge cruising inspection system of the present invention；
Fig. 7 is the schematic diagram that bridge bottom surface inspection is carried out using bridge cruising inspection system of the present invention；
Fig. 8 is a kind of program flow diagram of specific embodiment of bridge method for inspecting based on present system；
Fig. 9 is the program circuit of data storage and processing procedure in a kind of specific embodiment of bridge cruising inspection system of the present invention
Figure；
In figure：1- unmanned planes, 2- data acquisition modules, 3- data transmission modules, the ground control centres 4-, the storage of 5- data
With processing module, 6- unmanned aerial vehicle (UAV) control modules, 7- bridges, 21- laser 3 d scanners, 22- geological radars, 23- laser rangings
Instrument, 24- ultrasonic radars, 51- data storage cells, the initial modeling units of 52-, 53- data gridding processing units, 54-- events
Hinder detection unit, 71- abutment surfaces, 72- bridges outer face, 73- bridges bottom surface.
Specific implementation mode
For the sake of quoting and understanding, by the technical term hereinafter used, writes a Chinese character in simplified form or abridge and be described below：
GPS：Global Positioning System, the abbreviation of global positioning system；
Point cloud data：Scanning data records in dots, each point includes three-dimensional coordinate, some may contain face
Color information (RGB) or Reflection intensity information (Intensity)；For point cloud data other than with geometric position, some also has face
Color information, colouring information is typically to obtain chromatic image by camera, then by the colouring information (RGB) of the pixel of corresponding position
Assign corresponding point in point cloud；The acquisition of strength information is the collected echo strength of laser scanner reception device, this intensity
Emitted energy of the information usually with the Facing material of target, roughness, incident angular direction and instrument, optical maser wavelength are related.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention carries out clear, complete description.Obviously, described embodiment is only
Only it is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
All other embodiment that art personnel are obtained without creative efforts belongs to the model that the present invention protects
It encloses.
As shown in attached drawing 1 to attached drawing 9, the specific embodiment of bridge cruising inspection system of the present invention is given, below in conjunction with the accompanying drawings
The invention will be further described with specific embodiment.
Embodiment 1
As shown in Figure 1 and Figure 2, a kind of specific embodiment of bridge cruising inspection system of the present invention is used for 7 inspection of bridge,
Including：Unmanned plane 1, data transmission module 3, ground control centre 4, and the data acquisition module 2 that is equipped on unmanned plane 1.Nothing
Man-machine 1 may be used the forms such as fixed-wing unmanned plane, multi-rotor unmanned aerial vehicle or unmanned helicopter.Wherein, data acquisition module 2 wraps
Include the various sensors being mounted on unmanned plane 1 for acquiring bridge field data.Data acquisition module 2 further comprises laser
Spatial digitizer 21 and geological radar 22.Unmanned plane 1 acquires showing for bridge 7 by laser 3 d scanner 21 and geological radar 22
Field data.The field data that unmanned plane 1 acquires is sent to ground control centre 4 by data transmission module 3.Ground control centre
The laser three-dimensional scanning data that 4 data processing acquires laser 3 d scanner 21 with fault detection module 5 are handled, complete
Pairs of bridge 7 is detected the three-dimensional modeling in region, while the radar return data acquired to geological radar 22 are handled.Data
Processing is with fault detection module 5 by analyzing three-dimensional modeling and radar return data, detecting the defect of bridge 7 and lacking
Position where falling into.Geological radar technology is a kind of geophysical probing technique, it continuously emits arteries and veins by transmitter to underground
Formula frequency electromagnetic waves are rushed, according to the back wave arrival time being recorded, the spread speed of electromagnetic wave in the medium, you can determine
The depth of interface or objective body can further judge the form of objective body according to the form, power and its frequecy characteristic of back wave
And property.Laser 3 d scanner 21 is acquired the field data of bridge 7, obtains the point cloud data of bridge 7 and to bridge 7
Detected region carry out reconstructing three-dimensional model, carry out Bridge Defect Detecting in point cloud data, detection content includes not only lacking
Sunken plane information, and depth information can be extracted, and the specific location of defect can be accurately positioned.In the present embodiment
In, geological radar 22 is detected by the inside concrete to bridge 7, is sentenced according to the form, power and its frequency of back wave
The gap of disconnected inside concrete.
As shown in attached drawing 5,6 and 7, it includes abutment surface 71, bridge outer face that laser 3 d scanner 21 scans bridge 7 respectively
72, bridge bottom surface 73, movable bearing support, rubber support, girder steel inner region three-dimensional point information and form three dimensional point cloud, with anti-
Reflect 7 detection zone of bridge include crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole the defects of.Data acquisition refers to
The related data of bridge 7 is acquired, this step is mainly completed by laser 3 d scanner 21.In order to obtain more complete and quality compared with
High bridge three-dimensional data needs to consider the planning such as scanning viewpoint, the selection of laser scanner and scanning resolution, scanning number
According to format and the problems such as expression.In addition to this, to recover fairly large threedimensional model, it is also necessary to introduce ancillary equipment into
The extraction of row related data, such as obtain the location information in 1 driving process of unmanned plane using GPS navigator.Data processing with
Fault detection module 5 to three dimensional point cloud by carrying out spatial measurement to position bridge 7 including defect length, width, depth, height
Information including degree, position, while by being compared to the front and back laser three-dimensional scanning data acquired twice, to obtain defect
Dynamic variable quantity.Therefore, the present embodiment bridge cruising inspection system to bridge 7 carry out defects detection type include but not limited to
Lower situation：
1, abutment surface 71, bridge outer face 72, bridge bottom surface 73, crack of box girder, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole
Hole, crack detection；
2, inside concrete gap is detected；
3, bondbeam, the detection of girder steel bead crack.
Geological radar 22 detects for realizing the inside concrete gap of bridge 7.Data acquisition module 2 further includes for preventing
Only 1 collision object of unmanned plane, and ensure the ultrasonic radar 24 of 1 safe flight of unmanned plane.Data acquisition module 2 further includes being used for
Determine that the laser range finder 23 of distance between unmanned plane 1 and measurand, the use of laser range finder 23 can ensure unmanned plane 1
The consistency of distance between measurand.
As shown in attached drawing 3 and attached drawing 4, data processing and the function of fault detection module 5 include：Receive bridge circuit scene
Data analyze data, determine defective locations, classify to defect (security risk), and what then output user needed is used to refer to
Lead the various reports of the maintenance of way.Data processing further comprises the data storage cell being sequentially connected with fault detection module 5
51, initial modeling unit 52 and data gridding processing unit 53.Three-dimensional bridge object of the present embodiment based on laser scanning data
Model Reconstruction is to carry out a series of subsequent processing completions, specific mistake by the range data obtained to laser 3 d scanner 21
Cheng Wei：The laser three-dimensional scanning data that data storage cell 51 transmits data transmission module 3 store.Initial modeling unit
The laser three-dimensional scanning data of 52 pairs of storages establish initial three-dimensional point cloud model after carrying out interference filtering pretreatment.Scanning process
Middle to obtain point cloud data largely unrelated with scanned object, this does not only take up a large amount of memory space, but also can be to rear
Many inconvenience are brought in continuous processing, therefore pretreated groundwork includes the filtering and assessment to three-dimensional data.Data
Three-dimensional point cloud model is converted (splicing) into triangle grid model, and to triangle grid model by gridding processing unit 53
Letter processing, to complete the reconstructing three-dimensional model that bridge 7 is detected region.Data processing can also be external with fault detection module 5
Output reconstructing three-dimensional model data are for showing.
Unmanned plane 1 includes complete machine and flight control system, and flight control system includes the sensors such as altimeter, gyroscope,
It is mainly used for realizing flying height, track and the gesture stability of unmanned plane 1, and ensures the safety and stability flight of unmanned plane 1.Ground
Control centre 4 is additionally provided with unmanned aerial vehicle (UAV) control module 6, and unmanned aerial vehicle (UAV) control module 6 is led to control instruction by data transmission module 3
It crosses wireless transmission and is sent to the flight control modules of unmanned plane 1 in real time, unmanned plane 1 is by data transmission module 3 by state of flight
Data are sent to the unmanned aerial vehicle (UAV) control module 6 of ground control centre 4 by being wirelessly transferred in real time.
Data acquisition module 2 further includes GPS navigator, and flight control modules obtain unmanned plane 1 by GPS navigator and flying
Location information during row.Initial modeling unit 52 is fixed to the part of 7 tested region of bridge according to laser 3 d scanner 21
The Global localization information of position information and GPS navigator forms initial three dimensional point cloud, and filters or put down by spatial point
Miscellaneous point in sliding processing removal three dimensional point cloud and redundant points.Initially the specific work process of modeling unit 52 is：It is logical first
The local positioning and Global localization for crossing unmanned plane 1 organize scan data, it is established that initial point cloud model.Through laser three
The primary data of the acquisition of scanner 21 is tieed up due to the protected from environmental and equipment error of itself, often there are many miscellaneous points.
On the one hand, it if these miscellaneous points cannot be effectively removed, will produce serious influence to the treatment effect of subsequent step.Another party
Face, if redundant points cannot be effectively removed, will seriously affect the processing speed of subsequent step since data volume is excessive.Therefore,
Initial treatment to three dimensional point cloud is the key that one step of reconstructing three-dimensional model.Currently, common processing method is mainly had time
Between point filtering, the methods of smooth can be effectively removed miscellaneous point and redundant points.
The model or discrete three dimensional point cloud obtained after initially pre-processing, cannot really and accurately reflect bridge
7 configuration of surface also needs further to convert three dimensional point cloud to triangle grid model, to reach preferably visualization effect
Fruit.The discrete point cloud data obtained after pretreatment is converted to three-dimensional point cloud model by initial modeling unit 52, at data gridding
Three-dimensional point cloud model is converted to triangle grid model by reason unit 53, and 7 surface of bridge showed through triangle gridding can be clear
Its profile is found out clearly, but in order to meet the needs of follow-up correlation step processing, is needed to initial triangle gridding
Letter.The principle of abbreviation is carried out to the triangle gridding in triangle grid model is, in the situation for maintaining the surface characteristics of bridge 7 constant
Under, the quantity of triangle gridding is reduced to the maximum extent.
Data processing still further comprises fault detection unit 54 with fault detection module 5, and fault detection unit 54 is to warp
The three dimensional point cloud crossed in 7 threedimensional model of bridge rebuild carries out spatial measurement, detects defect on bridge 7 and defect
Position, such as the defects of the crack of key position, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole, inside concrete gap, and
Classify to security risk, then exports the various reports for instructing the bridge maintenance of way that user needs.Fault detect
Defective locations and type are sent on portable handheld terminal by unit 54 simultaneously, and portable handheld terminal is carried by staff
It reaches defect place and upper track maintenance is carried out to bridge 7.Position and the picture of defect point are received by using portable handheld terminal,
Staff can be greatly facilitated to carry out defect repair.The carrier of ground control centre 4 can be various self-operating equipment,
Such as：Lorry, mobile inspection car etc..
The bridge cruising inspection system of the present embodiment description is platform with unmanned plane 1, passes through laser 3 d scanner 21, geology thunder
Up to the field data of 22 acquisition bridges 7, sent data in real time in the control of ground by data transmission (wireless communication) module 3
The data processing of the heart (computer control process center) 4 and fault detection module 5, data processing and fault detection module (carrier
Can be computer) 5 pairs by handling laser three-dimensional scanning data, the three-dimensional for completing to be detected bridge region is built
Mould, while the echo received to geological radar 22 is analyzed, and the specific position of the defect and defect point on bridge 7 is found out
It sets.The bridge cruising inspection system of the present embodiment description has that high degree of automation, safety is good, at low cost, flexibility is big, and inspection
Time is unrestricted, do not influence train operation, can all-weather operation the advantages that, and Put on file can be carried out to failure, then
Staff is instructed to safeguard.Meanwhile the bridge cruising inspection system of the present embodiment description is by carrying laser 3 d scanner 21
The three-dimensional point in the regions such as abutment surface 71, bridge bottom surface 72, bridge outer face 73, movable bearing support, laminated rubber bearing, girder steel is scanned respectively
Then information establishes the threedimensional model that bridge is detected region, it is with three-dimensional that three-dimensional point information, which scans obtained data,
The point cloud that the point of coordinate is formed, can directly carry out spatial measurement in cloud, and temperature and illumination are not wanted in laser scanning
It asks, can solve the problems, such as the even fogging image brought of uneven illumination, while there is high efficiency, high-precision advantage.This implementation
Example can obtain the high-resolution three-dimension point cloud data that bridge is detected region surface by 3 D laser scanning, can be very straight
See the defects of ground reflection bridge is detected the crack in region, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole problem.The present embodiment
Length, width, depth or the elevation information of bridge defect and specific location information can be accurately positioned by three-dimensional point measurement,
Simultaneously by the comparison of front and back gathered data twice, the dynamic variable quantity of defect information can be obtained.
Embodiment 2
As shown in Fig. 8, a kind of specific embodiment of the bridge method for inspecting based on system described in embodiment 1, including with
Lower step：
S101) unmanned plane 1 acquires showing for bridge 7 by carrying laser 3 d scanner 21 thereon and geological radar 22
Field data；
S102) field data that unmanned plane 1 acquires is sent to ground control centre 4 by data transmission module 3；
S103) data processing of ground control centre 4 swashs 21 acquisition of laser 3 d scanner with fault detection module 5
Light 3 d scan data is handled, and the three-dimensional modeling that region is detected to bridge 7 is completed, while geological radar 22 is acquired
Radar return data are handled；
S104) data processing is detected with fault detection module 5 by analyzing three-dimensional modeling and radar return data
The defect for going out bridge 7 and the position where defect.
Step S101) further comprise：
It includes abutment surface 71, bridge outer face 72, bridge bottom surface 73, activity branch that laser 3 d scanner 21 scans bridge 7 respectively
The three-dimensional point information in the regions such as seat, rubber support, girder steel simultaneously forms three dimensional point cloud, to reflect that 7 detection zone of bridge includes
Crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole the defects of.
Step S101) further comprise：
Geological radar 22 continuously emits pulsed frequency electromagnetic waves by the tested region to bridge 7, and receives electromagnetic wave
Echo-signal detects the inside concrete gap of bridge 7.
Unmanned plane 1 prevents 1 collision object of unmanned plane by the ultrasonic radar 24 of carrying thereon, and ensures unmanned plane 1
Safe flight.
Unmanned plane 1 is by carrying laser range finder 23 determination the distance between unmanned plane 1 and measurand thereon.
The processing procedure of data processing and fault detection module 5 is primarily directed to the bridge obtained by laser three-dimensional scanning
The point cloud data for being detected region is handled, including point cloud data storage, data preprocessing, cloud data registration are (just
The three-dimensional point cloud model of beginning is established), the flows such as data gridding (including mesh simplification), rebuild the three-dimensional that bridge is detected region
Model, and Crack Detection is carried out in three dimensional point cloud.Meanwhile geology radar signal returns are analyzed, detect coagulation
Native internal voids.As shown in Fig. 9, step S103) in data processing and the processing procedure of fault detection module 5 further wrap
It includes：
S1031) the laser three-dimensional scanning data transmitted to data transmission module 3 store；
S1032 initial three-dimensional point cloud is established after) carrying out interference filtering pretreatment to the laser three-dimensional scanning data of storage
Model；
S1033 three-dimensional point cloud model) is converted into triangle grid model, and to triangle grid model carry out abbreviation processing with
Rebuild the threedimensional model of bridge 7.
Control instruction is sent to nothing by the unmanned aerial vehicle (UAV) control module 6 of ground control centre 4 in real time by data transmission module 3
Man-machine 1 flight control modules, unmanned plane 1 is by data transmission module 3 by Flight Condition Data real-time Transmission to unmanned plane control
Molding block 6.
Step S104) further comprise the steps：
Spatial measurement, which is carried out, by the three dimensional point cloud in 7 threedimensional model of bridge to undergoing reconstruction positions the packet of bridge 7
The information including defect length, width, depth, height, position is included, detects the position of the defect and defect on bridge 7.Together
When, by being compared to the front and back laser three-dimensional scanning data acquired twice, to obtain the dynamic variable quantity of defect.Simultaneously will
Defective locations and type are sent on portable handheld terminal, and carrying portable handheld terminal by staff carries out bridge 7
It safeguards.
Flight control modules obtain position of the unmanned plane 1 in flight course by the GPS navigator being mounted on unmanned plane 1
Confidence ceases.Step S1032) further comprise：
Data processing is with fault detection module 5 according to laser 3 d scanner 21 to the local positioning of 7 tested region of bridge
The Global localization information of information and GPS navigator forms initial three dimensional point cloud, and by spatial point filtering or smoothly
Miscellaneous point in processing removal point cloud data and redundant points.Data processing is discrete by what is obtained after pretreatment with fault detection module 5
Point cloud data is converted to three-dimensional point cloud model.
Step S1033) further comprise：
Three-dimensional point cloud model is converted into triangle grid model, and to the triangle gridding in triangle grid model
Letter reduces the quantity of triangle gridding to the maximum extent in the case where maintaining the surface characteristics of bridge 7 constant.
By implementing the technical solution of the bridge cruising inspection system of specific embodiment of the invention description, following technology can be generated
Effect：
(1) the bridge cruising inspection system of specific embodiment of the invention description is at low cost, efficient, can using unmanned plane as platform
It is big by property height, flexibility, and be not required to occupy track, detection time is unrestricted, does not influence train operation, passes through and installs avoidance thunder
It reaches, improves the safety of unmanned plane during flying；
(2) the bridge cruising inspection system of specific embodiment of the invention description uses laser scanning bridge three-dimensional information, laser to sweep
It retouches and temperature and illumination is not required, camera imaging can be solved because illumination obtains image data, the low technology of anti-interference is asked
Topic；
(3) the bridge cruising inspection system of specific embodiment of the invention description to bridge by carrying out three-dimensional modeling, and point cloud
Spatial measurement is carried out in data and obtains defect three-dimensional information, by the processing to three dimensional point cloud, is rebuild bridge and is detected region
Threedimensional model, can realize to the detection of the various dimensions of bridge defect, be not only able to obtain the plane information of defect, moreover it is possible to obtain
Depth information, and the specific location of bridge defect can be accurately positioned；
(4) specific embodiment of the invention description bridge cruising inspection system by being compared to front and back gathered data twice,
It is capable of the variable quantity of dynamic detection flaw size, worker can be effectively instructed to carry out upkeep operation；
(5) the bridge cruising inspection system of specific embodiment of the invention description can be completed using geological radar to bridge concrete
The detection of internal voids, the perfect detection of internal hurt.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed with preferred embodiment as above, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, in the case where not departing from the Spirit Essence and technical solution of the present invention, all using in the methods and techniques of the disclosure above
Appearance makes many possible changes and modifications to technical solution of the present invention, or is revised as the equivalent embodiment of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention is made to the above embodiment any simple according to the technical essence of the invention
Modification, equivalent replacement, equivalence changes and modification still fall within the range of technical solution of the present invention protection.
Claims (10)
1. a kind of bridge cruising inspection system is used for bridge (7) inspection, including：Unmanned plane (1), data transmission module (3), ground control
Center (4) processed, and the data acquisition module (2) that is equipped on the unmanned plane (1)；The data acquisition module (2) includes swashing
Light spatial digitizer (21) and geological radar (22), the unmanned plane (1) pass through the laser 3 d scanner (21) and geology
Radar (22) acquires the field data of the bridge (7)；The field data of unmanned plane (1) acquisition passes through the data transmission
Module (3) is sent to the ground control centre (4)；The data processing of the ground control centre (4) and fault detection module
(5) the laser three-dimensional scanning data of the laser 3 d scanner (21) acquisition are handled, is completed to the bridge (7) quilt
The three-dimensional modeling of detection zone, while the radar return data of the geological radar (22) acquisition are handled；The data
Processing by analyzing three-dimensional modeling and radar return data, detects the bridge (7) with fault detection module (5)
Position where defect and defect.
2. bridge cruising inspection system according to claim 1, it is characterised in that：The laser 3 d scanner (21) is swept respectively
It includes that abutment surface (71), bridge outer face (72), bridge bottom surface (73), movable bearing support, rubber support, girder steel exist to retouch the bridge (7)
The three-dimensional point information of inner region simultaneously forms three dimensional point cloud, with reflect the bridge (7) detection zone include crack, honeycomb,
Pitted skin, peeling, arrisdefect, cavity, hole the defects of；The data processing is with fault detection module (5) by three-dimensional point
Cloud data carry out spatial measurement and position information of the bridge (7) including defect length, width, depth, height, position,
Simultaneously by being compared to the front and back laser three-dimensional scanning data acquired twice, to obtain the dynamic variable quantity of defect.
3. bridge cruising inspection system according to claim 1 or 2, it is characterised in that：The geological radar (22) for realizing
The inside concrete gap of the bridge (7) detects.
4. bridge cruising inspection system according to claim 3, it is characterised in that：The data acquisition module (2) further includes using
In preventing the unmanned plane (1) collision object, and ensure the ultrasonic radar (24) of the unmanned plane (1) safe flight.
5. bridge cruising inspection system according to claim 4, it is characterised in that：The data acquisition module (2) further includes using
In the laser range finder (23) for determining the unmanned plane (1) distance between measurand.
6. according to claim 1,2,4 or 5 any one of them bridge cruising inspection systems, it is characterised in that：The data processing with
Fault detection module (5) includes at the data storage cell (51) being sequentially connected, initial modeling unit (52) and data gridding
Manage unit (53)；The laser three-dimensional scanning data that the data storage cell (51) transmits the data transmission module (3) into
Row storage, the initial modeling unit (52) are established just after carrying out interference filtering pretreatment to the laser three-dimensional scanning data of storage
The three-dimensional point cloud model is converted to triangle gridding mould by the three-dimensional point cloud model of beginning, the data gridding processing unit (53)
Type, and abbreviation processing is carried out to rebuild the threedimensional model of the bridge (7) to the triangle grid model.
7. bridge cruising inspection system according to claim 6, it is characterised in that：The ground control centre (4) is additionally provided with
Unmanned aerial vehicle (UAV) control module (6), the unmanned aerial vehicle (UAV) control module (6) are real-time by control instruction by the data transmission module (3)
The flight control modules of the unmanned plane (1) are sent to, the unmanned plane (1) will be flown by the data transmission module (3)
Status data real-time Transmission to the ground control centre (4) unmanned aerial vehicle (UAV) control module (6).
8. bridge cruising inspection system according to claim 7, it is characterised in that：The data acquisition module (2) further includes GPS
Navigator, the flight control modules obtain position of the unmanned plane (1) in flight course by the GPS navigator to be believed
Breath；The initial modeling unit (52) is according to the laser 3 d scanner (21) to the part of the bridge (7) tested region
The Global localization information of location information and the GPS navigator forms initial three dimensional point cloud, and is filtered by spatial point
Wave or the miscellaneous point in smoothing processing removal three dimensional point cloud and redundant points.
9. bridge cruising inspection system according to claim 7 or 8, it is characterised in that：The initial modeling unit (52) will be pre-
The discrete point cloud data obtained after processing is converted to three-dimensional point cloud model, and the data gridding processing unit (53) is by described three
Dimension point cloud model is converted to triangle grid model, and carries out abbreviation to the triangle gridding in the triangle grid model, is maintaining
In the case that the surface characteristics of the bridge (7) is constant, the quantity of the triangle gridding is reduced to the maximum extent.
10. bridge cruising inspection system according to claim 9, it is characterised in that：The data processing and fault detection module
(5) further include fault detection unit (54), the fault detection unit (54) is to the bridge (7) threedimensional model for undergoing reconstruction
In three dimensional point cloud carry out spatial measurement, detect the position of the defect and defect on the bridge (7)；The failure inspection
It surveys unit (54) while defective locations and type being sent on portable handheld terminal, portable hand-held is carried by staff
Bridge described in terminal-pair (7) is safeguarded.
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| CN201810011567.7A CN108332926A (en) | 2018-01-05 | 2018-01-05 | A kind of bridge cruising inspection system |
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|---|---|---|---|
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Application publication date: 20180727 |