CN109143246A - Underwater pile detection method, system, device and storage medium - Google Patents
Underwater pile detection method, system, device and storage medium Download PDFInfo
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- CN109143246A CN109143246A CN201810739841.2A CN201810739841A CN109143246A CN 109143246 A CN109143246 A CN 109143246A CN 201810739841 A CN201810739841 A CN 201810739841A CN 109143246 A CN109143246 A CN 109143246A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The present invention provides a kind of underwater pile detection methods comprising the steps of: image data obtaining step: obtaining the image data from camera；Sonar data acquisition step: the sonar data from sonar are obtained；Data processing step: according to image data and sonar data, detection information is generated.Correspondingly, the present invention also provides a kind of underwater pile detection system, device and readable storage medium storing program for executing.The present invention uses camera and sonar to detect underwater pile simultaneously, can understand the breakage of underwater pile immediately and destroy position and degree, in advance maintenance and repair and avoids major accident.
Description
Technical field
The present invention relates to underwater detection fields, and in particular, to a kind of underwater pile detection method, system, device and deposits
Storage media.
Background technique
With the development of national economy, more and more great engineerings with appearance, among this just include it is many it is large-scale across
Sea-bridge beam, waterborne building etc., these building constructions are supported on the water surface by many underwater piles, so to underwater
The detection of pile foundation also just shows particularly important.
The detection of underwater pile and land difference, needed professional to dive into the water in the past and checked underwater pile,
Nowadays the development of robot industry checks underwater pile with underwater robot, avoids personnel's danger that accidents happened.But
It is since underwater environment is severe, the result that existing underwater robot detects underwater pile is often not ideal enough, can not be timely
Accurate discovery surface checking, reveals muscle.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of underwater pile detection methods, system, device
And storage medium.
The underwater pile detection method provided according to the present invention comprising the steps of:
Image data obtaining step: the image data from camera is obtained；
Sonar data acquisition step: the sonar data from sonar are obtained；
Data processing step: according to image data and sonar data, detection information is generated.
Preferably, image data includes long distance image data and/or low coverage image data；
The image data obtaining step comprises the steps of:
Long distance is around shooting step: enable camera carry out surrounding shooting to underwater pile in the first set distance range,
Obtain long distance image data；
Long distance image processing step: handling long distance image data, obtains long distance Image detection information；
It furthers and shoots judgment step: according to long distance Image detection information, generating long distance around holding signal or the shooting that furthers
Control signal；
Close-up photography step: it according to the shooting control signal that furthers of acquisition, enables in cam movement to the second set distance
Fixed point shooting is carried out to underwater pile, obtains low coverage image data.
Preferably, the long distance image processing step comprises the steps of:
Gray processing step: gray processing processing is carried out to long distance image data, obtains gray processing long distance image；
Noise removes step: being filtered to gray processing long distance image, noise long distance image is removed in acquisition；
Gray scale difference calculates step: calculating and removes the gray scale difference of adjacent pixel in noise long distance image, obtaining gray scale difference is more than the
The location information of the pixel of one given threshold, the pixel forms primary dcreening operation information；
Continuity verification step: being more than the number and second of the contiguous pixels of given threshold according to gray scale difference in primary dcreening operation information
Given threshold generates long distance Image detection information；
When in primary dcreening operation information gray scale difference be more than given threshold contiguous pixels number less than the second given threshold when, further
It shoots and generates long distance in judgment step around holding signal；When gray scale difference is more than the contiguous pixels of given threshold in primary dcreening operation information
When number is more than or equal to the second given threshold, furthering to shoot generates the shooting control signal that furthers in judgment step.
Preferably, in the data processing step, the detection information includes crackle breach detection information, the detection of undergauge number
Information and abrasivity detection information；
Data processing step also includes alarming step: when detection information is more than setting value, generating alarm signal.
The present invention also provides a kind of underwater pile detection systems, comprising with lower module:
Image data obtains module: obtaining the image data from camera；
Sonar data acquisition module: the sonar data from sonar are obtained；
Data processing module: according to image data and sonar data, detection information is generated.
Preferably, image data includes long distance image data and/or low coverage image data；
It includes with lower module that the image data, which obtains module:
Long distance is around shooting module: enable camera carry out surrounding shooting to underwater pile in the first set distance range,
Obtain long distance image data；
Long distance image processing module: handling long distance image data, obtains long distance Image detection information；
It furthers and shoots judgment module: according to long distance Image detection information, generating long distance around holding signal or the shooting that furthers
Control signal；
Close-up photography module: it according to the shooting control signal that furthers of acquisition, enables in cam movement to the second set distance
Fixed point shooting is carried out to underwater pile, obtains low coverage image data.
Preferably, the long distance image processing module includes with lower module:
Gray processing module: gray processing processing is carried out to long distance image data, obtains gray processing long distance image；
Noise removes module: being filtered to gray processing long distance image, noise long distance image is removed in acquisition；
Gray scale difference computing module: calculating and remove the gray scale difference of adjacent pixel in noise long distance image, and obtaining gray scale difference is more than the
The location information of the pixel of one given threshold, the pixel forms primary dcreening operation information；
Continuity confirmation module: being more than the number and second of the contiguous pixels of given threshold according to gray scale difference in primary dcreening operation information
Given threshold generates long distance Image detection information；
When in primary dcreening operation information gray scale difference be more than given threshold contiguous pixels number less than the second given threshold when, further
It shoots and generates long distance in judgment module around holding signal；When gray scale difference is more than the contiguous pixels of given threshold in primary dcreening operation information
When number is more than or equal to the second given threshold, furthering to shoot generates the shooting control signal that furthers in judgment module.
Preferably, in the data processing module, the detection information includes crackle breach detection information, the detection of undergauge number
Information and abrasivity detection information；
Data processing module also includes alarm module: when detection information is more than setting value, generating alarm signal.
The present invention also provides a kind of underwater pile detection devices, include underwater robot, and the underwater robot includes
Frame structure, camera, sonar and controller；Camera, sonar and controller are respectively mounted on the frame structure；
The controller includes above-mentioned underwater pile detection system.
The present invention also provides a kind of computer readable storage medium for being stored with computer program, the computer programs
The step of above-mentioned underwater pile detection method is realized when being executed by processor.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention simultaneously detects underwater pile using camera and sonar, can understand underwater pile immediately
Breakage and destruction position and degree, in advance maintenance and repair avoid major accident.
2, multi-beam sonar detection can emit simultaneously and receive multiple wave beams to target object progress all standing measurement, fortune
There are the series of advantages such as work efficiency is high, and data collection point is intensive with multi-beam sonar detection, can accurately calculate water outlet
The undergauge number and riverbed of lower bridge pier are to submerged structure abrasivity.
3, the present invention by the low-light (level) high-definition camera dive carried to designated depth to underwater pile and bridge pier into
360 degree of row, around camera shooting, check for potential danger, if discovery crackle breach etc. close-ups can be analyzed again.
4, camera can be adjusted between short distance with respect to pile foundation remote in the present invention, remote lower increase
Shooting efficiency, it is closely lower to obtain the influence information being more clear, and the distance between two kinds switchings can carry out automatically.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is underwater pile detection method flow chart；
Fig. 2 is long distance image processing flow chart of steps.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
Underwater pile detection method provided by the invention comprising the steps of: image data obtaining step: it obtains to come from and take the photograph
As the image data of head；Sonar data acquisition step: the sonar data from sonar are obtained；Data processing step: according to image
Data and sonar data generate detection information.
Image data includes long distance image data and/or low coverage image data.The image data obtaining step include with
Lower step: long distance is around shooting step: enabling camera carry out surrounding shooting to underwater pile in the first set distance range, obtains
Take long distance image data；Long distance image processing step: handling long distance image data, obtains long distance Image detection information；
It furthers and shoots judgment step: according to long distance Image detection information, generating long distance around holding signal or the shooting control signal that furthers；
Close-up photography step: it according to the shooting control signal that furthers of acquisition, enables in cam movement to the second set distance to snag
Base carries out fixed point shooting, obtains low coverage image data.
Preferably, the long distance image processing step comprises the steps of: gray processing step: carrying out to long distance image data
Gray processing processing, obtains gray processing long distance image；Noise removes step: being filtered to gray processing long distance image, obtains denoising
Point long distance image；Gray scale difference calculates step: calculating the gray scale difference for removing adjacent pixel in noise long distance image, obtaining gray scale difference is more than
The location information of the pixel of first given threshold, the pixel forms primary dcreening operation information；Continuity verification step: according in primary dcreening operation information
Gray scale difference is more than the number and the second given threshold of the contiguous pixels of given threshold, generates long distance Image detection information；Work as primary dcreening operation
In information gray scale difference be more than given threshold contiguous pixels number less than the second given threshold when, further and shoot in judgment step
Long distance is generated around holding signal；When gray scale difference is more than that the number of the contiguous pixels of given threshold is more than or equal to the in primary dcreening operation information
When two given thresholds, furthering to shoot generates the shooting control signal that furthers in judgment step.Preferably, the data processing step
In, the detection information includes crackle breach detection information, undergauge number detection information and abrasivity detection information；Data processing
Step also includes alarming step: when detection information is more than setting value, generating alarm signal.
The present invention also provides a kind of computer readable storage medium for being stored with computer program, the computer programs
The step of above-mentioned underwater pile detection method is realized when being executed by processor.
Correspondingly, the present invention also provides a kind of underwater pile detection systems, comprising with lower module: image data obtains mould
Block: the image data from camera is obtained；Sonar data acquisition module: the sonar data from sonar are obtained；Data processing
Module: according to image data and sonar data, detection information is generated.
Image data includes long distance image data and/or low coverage image data.The image data obtain module include with
Lower module: long distance is around shooting module: enabling camera carry out surrounding shooting to underwater pile in the first set distance range, obtains
Take long distance image data；Long distance image processing module: handling long distance image data, obtains long distance Image detection information；
It furthers and shoots judgment module: according to long distance Image detection information, generating long distance around holding signal or the shooting control signal that furthers；
Close-up photography module: it according to the shooting control signal that furthers of acquisition, enables in cam movement to the second set distance to snag
Base carries out fixed point shooting, obtains low coverage image data.
Preferably, the long distance image processing module includes with lower module: gray processing module: being carried out to long distance image data
Gray processing processing, obtains gray processing long distance image；Noise removes module: being filtered to gray processing long distance image, obtains denoising
Point long distance image；Gray scale difference computing module: calculating the gray scale difference for removing adjacent pixel in noise long distance image, obtains gray scale difference and is more than
The location information of the pixel of first given threshold, the pixel forms primary dcreening operation information；Continuity confirmation module: according in primary dcreening operation information
Gray scale difference is more than the number and the second given threshold of the contiguous pixels of given threshold, generates long distance Image detection information；Work as primary dcreening operation
In information gray scale difference be more than given threshold contiguous pixels number less than the second given threshold when, further and shoot in judgment module
Long distance is generated around holding signal；When gray scale difference is more than that the number of the contiguous pixels of given threshold is more than or equal to the in primary dcreening operation information
When two given thresholds, furthering to shoot generates the shooting control signal that furthers in judgment module.Preferably, the data processing module
In, the detection information includes crackle breach detection information, undergauge number detection information and abrasivity detection information；Data processing
Module also includes alarm module: when detection information is more than setting value, generating alarm signal.
The present invention also provides a kind of underwater pile detection devices, include underwater robot, and the underwater robot includes
Frame structure, camera, sonar and controller；Camera, sonar and controller are respectively mounted on the frame structure.The control
Device processed includes above-mentioned underwater pile detection system.Preferably, the camera is low-light (level) high-definition camera, while equipped with indigo plant
Cameo glass cover and headlamp can also obtain in muddy dark underwater environment and clearly shoot photo.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of underwater pile detection method, which is characterized in that comprise the steps of:
Image data obtaining step: the image data from camera is obtained；
Sonar data acquisition step: the sonar data from sonar are obtained；
Data processing step: according to image data and sonar data, detection information is generated.
2. underwater pile detection method according to claim 1, which is characterized in that image data includes long distance image data
And/or low coverage image data；
The image data obtaining step comprises the steps of:
Long distance is around shooting step: enabling camera carry out surrounding shooting to underwater pile in the first set distance range, obtains
Long distance image data；
Long distance image processing step: handling long distance image data, obtains long distance Image detection information；
Further and shoot judgment step: according to long distance Image detection information, generation long distance, which is surround, to be kept signal or furthers to shoot control
Signal；
Close-up photography step: it according to the shooting control signal that furthers of acquisition, enables in cam movement to the second set distance to water
Lower pile foundation carries out fixed point shooting, obtains low coverage image data.
3. underwater pile detection method according to claim 2, which is characterized in that the long distance image processing step includes
Following steps:
Gray processing step: gray processing processing is carried out to long distance image data, obtains gray processing long distance image；
Noise removes step: being filtered to gray processing long distance image, noise long distance image is removed in acquisition；
Gray scale difference calculates step: calculating and removes the gray scale difference of adjacent pixel in noise long distance image, obtaining gray scale difference is more than first to set
Determine the pixel of threshold value, the location information of the pixel forms primary dcreening operation information；
Continuity verification step: being more than the number and the second setting of the contiguous pixels of given threshold according to gray scale difference in primary dcreening operation information
Threshold value generates long distance Image detection information；
When in primary dcreening operation information gray scale difference be more than given threshold contiguous pixels number less than the second given threshold when, further shooting
Long distance is generated in judgment step around holding signal；When gray scale difference is more than the number of the contiguous pixels of given threshold in primary dcreening operation information
When more than or equal to the second given threshold, furthering to shoot generates the shooting control signal that furthers in judgment step.
4. underwater pile detection method according to claim 1, which is characterized in that described in the data processing step
Detection information includes crackle breach detection information, undergauge number detection information and abrasivity detection information；
Data processing step also includes alarming step: when detection information is more than setting value, generating alarm signal.
5. a kind of underwater pile detection system, which is characterized in that comprising with lower module:
Image data obtains module: obtaining the image data from camera；
Sonar data acquisition module: the sonar data from sonar are obtained；
Data processing module: according to image data and sonar data, detection information is generated.
6. underwater pile detection system according to claim 5, which is characterized in that image data includes long distance image data
And/or low coverage image data；
It includes with lower module that the image data, which obtains module:
Long distance is around shooting module: enabling camera carry out surrounding shooting to underwater pile in the first set distance range, obtains
Long distance image data；
Long distance image processing module: handling long distance image data, obtains long distance Image detection information；
Further and shoot judgment module: according to long distance Image detection information, generation long distance, which is surround, to be kept signal or furthers to shoot control
Signal；
Close-up photography module: it according to the shooting control signal that furthers of acquisition, enables in cam movement to the second set distance to water
Lower pile foundation carries out fixed point shooting, obtains low coverage image data.
7. underwater pile detection system according to claim 6, which is characterized in that the long distance image processing module includes
With lower module:
Gray processing module: gray processing processing is carried out to long distance image data, obtains gray processing long distance image；
Noise removes module: being filtered to gray processing long distance image, noise long distance image is removed in acquisition；
Gray scale difference computing module: calculating and remove the gray scale difference of adjacent pixel in noise long distance image, and obtaining gray scale difference is more than first to set
Determine the pixel of threshold value, the location information of the pixel forms primary dcreening operation information；
Continuity confirmation module: being more than the number and the second setting of the contiguous pixels of given threshold according to gray scale difference in primary dcreening operation information
Threshold value generates long distance Image detection information；
When in primary dcreening operation information gray scale difference be more than given threshold contiguous pixels number less than the second given threshold when, further shooting
Long distance is generated in judgment module around holding signal；When gray scale difference is more than the number of the contiguous pixels of given threshold in primary dcreening operation information
When more than or equal to the second given threshold, furthering to shoot generates the shooting control signal that furthers in judgment module.
8. underwater pile detection system according to claim 5, which is characterized in that described in the data processing module
Detection information includes crackle breach detection information, undergauge number detection information and abrasivity detection information；
Data processing module also includes alarm module: when detection information is more than setting value, generating alarm signal.
9. a kind of underwater pile detection device, which is characterized in that include underwater robot, the underwater robot includes frame knot
Structure, camera, sonar and controller；Camera, sonar and controller are respectively mounted on the frame structure；
The controller includes underwater pile detection system described in any one of claim 5 to 8.
10. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the computer program is located
The step of reason device realizes underwater pile detection method described in any one of Claims 1-4 when executing.
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| CN116164747A (en) * | 2022-12-15 | 2023-05-26 | 广东智能无人系统研究院(南沙) | Positioning and navigation method and system for underwater robot |
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| CN109143246B (en) | 2020-07-14 |
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