CN110609038B - Structural damage identification method and system based on unmanned aerial vehicle image - Google Patents
Structural damage identification method and system based on unmanned aerial vehicle image Download PDFInfo
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Abstract
According to the invention, the consumption-level unmanned aerial vehicle is used for carrying out image acquisition on the damaged structure, the real-time image is transmitted to the computer, the image processing module in the computer is used for preprocessing the image, the unmanned aerial vehicle image is converted into a gray scale image, the preprocessed image is stored and input into the structure damage identification module, and the damage condition of the structure is finally output through structural image analysis processing. The method overcomes the defects of the traditional structural damage identification mode, has the damage identification effects of convenience, accuracy and high efficiency, and combines the image processing technology and the unmanned aerial vehicle photogrammetry technology to realize the quick acquisition of the damage position and the damage degree of the structure.
Description
Technical Field
The invention relates to the field of structural health monitoring, in particular to a structural damage identification method and system based on unmanned aerial vehicle images.
Background
With the increase of economic development and the demand of people on living environment, various building structures come out, and the structures have a certain service life, but after suffering from natural disasters or damage caused by human factors, the structures can be damaged to a certain extent, and if the specific situations of damage and damage cannot be found as early as possible, the damage to the structures can cause personal and property loss which is difficult to estimate, so that the health monitoring of the structures is particularly important.
The traditional structure health monitoring method generally arranges sensors on a structure, judges the damage condition of the structure through sensor signals, is limited due to the complexity of measuring environment and the condition difficult to determine, arranges a plurality of sensors on a large-scale structure, is not practical, has low measuring efficiency and is difficult to arrange the sensors on the structure when measuring structures which are difficult to approach.
Disclosure of Invention
The invention mainly aims to provide a structure identification method based on unmanned aerial vehicle images, aiming at the limitation of the traditional sensor monitoring method, the unmanned aerial vehicle is applied to the structural health monitoring, and the rapid and high-precision monitoring of the structure is realized.
It is a further object of the present invention to provide a structure recognition system based on images of unmanned aerial vehicles.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a structural damage identification method based on unmanned aerial vehicle images comprises the following steps:
s1: acquiring an image including a structure to be identified by using an unmanned aerial vehicle, and transmitting the image to a computing module through wireless communication;
s2: the calculation module receives and stores the image and then preprocesses the image;
s3: acquiring dynamic displacement of a structure in the preprocessed image;
s4: determining a curvature mode of the structure through dynamic displacement of the structure;
s5: the damage position and the damage degree of the structure are determined through the curvature mode of the structure.
The curvature mode changes along with the change of the rigidity of the structure, when the structure is damaged, the rigidity of the structure is reduced, and the curvature mode is increased, so that the damaged unit and the damaged degree of the structure are determined.
Preferably, before step S1, a curvature mode of the undamaged structure is obtained by acquiring an image of the structure to be identified in the undamaged state. The damage level of the truncated structure is determined by comparing the difference in curvature modes between damaged and undamaged.
Preferably, the preprocessing the image in step S2 includes performing a graying process and an image filtering on the image.
Preferably, step S3 specifically includes the following steps:
s3.1: further processing the preprocessed imageDividing the structure into n sections according to the size of the structure, wherein the distance between two adjacent sections is l ij I =1,2, \8230, n, j = i +1 and j is not greater than n;
s3.2: obtaining the displacement y of each module of the structure i ，i＝1,2,…,n，y i Is the dynamic displacement of the ith segment.
Preferably, the structure is divided into n segments, each segment being of equal length.
Preferably, the determining the curvature mode of the structure through the dynamic displacement of the structure in step S4 specifically includes the following steps:
and (3) calculating the curvature mode of each adjacent 3 sections of the structure by the following method:
and S5, determining the damage position and the damage degree of the structure through the curvature modes of the structure, specifically, comparing the curvature modes obtained through calculation in S4 to obtain the damage position and the damage degree of the structure.
The utility model provides a structural damage identification system based on unmanned aerial vehicle image, includes unmanned aerial vehicle, image acquisition module, wireless communication module, calculation module, image processing module and structural damage identification module, wherein:
the image acquisition module is arranged on the unmanned aerial vehicle, acquires an image comprising a structure to be identified, and transmits the image of the structure to be identified to the calculation module through the wireless communication module;
the calculation module comprises an information receiving and storing unit and an image preprocessing unit, wherein after the information receiving and storing unit receives and stores the images in the unmanned aerial vehicle, the image preprocessing unit performs graying processing on the images and performs image filtering;
the image processing module processes the processed image to acquire the dynamic displacement of the structure in the image;
the structural damage identification module determines a curvature mode of the structure according to the dynamic displacement of the structure, and determines the damage position and the damage degree of the structure through the curvature mode.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the unmanned aerial vehicle-based structural health monitoring system disclosed by the invention has the advantages that the unmanned aerial vehicle is used for carrying out structural damage identification of structural health monitoring, the damage identification effects of convenience, accuracy and high efficiency are realized, meanwhile, the traditional structural damage identification mode is overcome, the unmanned aerial vehicle can be used for carrying out structural damage identification to obtain the structural health condition, finally, the unmanned aerial vehicle-based structural health monitoring identification system is integrated, and the damage position and the damage degree of the structure are rapidly obtained by combining an image processing technology and an unmanned aerial vehicle photogrammetry technology.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of the system of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described with reference to the drawings and the embodiments.
Example 1
The embodiment provides a structural damage identification method based on an unmanned aerial vehicle image, as shown in fig. 1, including the following steps:
s1: acquiring an image including a structure to be identified by using an unmanned aerial vehicle, and transmitting the image to a computing module through wireless communication;
s2: the calculation module receives and stores the image and preprocesses the image;
s3: acquiring dynamic displacement of a structure in the preprocessed image;
s4: determining a curvature mode of the structure through dynamic displacement of the structure;
s5: the damage position and the damage degree of the structure are determined through the curvature mode of the structure.
Before step S1, a curvature mode of the undamaged structure is obtained by acquiring an image of the undamaged structure to be identified.
The preprocessing of the image in the step S2 includes performing graying processing and image filtering on the image.
The step S3 specifically includes the following steps:
s3.1: further processing the preprocessed image, dividing the structure into n sections according to the size of the structure, wherein the distance between two adjacent sections is l ij I =1,2, \8230, n, j = i +1 and j is not greater than n;
s3.2: obtaining the displacement y of each module of the structure i ，i＝1,2,…,n，y i Is the dynamic displacement of the ith segment.
The structure is divided into n sections, each section being of equal length.
In step S4, the curvature mode of the structure is determined through the dynamic displacement of the structure, and the method specifically includes the following steps:
and (3) calculating the curvature mode of each adjacent 3 sections of the structure by the following method:
and S5, determining the damage position and the damage degree of the structure through the curvature modes of the structure, specifically, comparing the curvature modes obtained through the calculation in S4 to obtain the damage position and the damage degree of the structure.
Example 2
This embodiment provides a structure identification system based on unmanned aerial vehicle image, as fig. 2, including unmanned aerial vehicle, image acquisition module, wireless communication module, calculation module, image processing module and structural damage identification module, wherein:
the image acquisition module is arranged on the unmanned aerial vehicle, acquires an image comprising a structure to be identified, and transmits the image of the structure to be identified to the calculation module through the wireless communication module;
the calculation module comprises an information receiving and storing unit and an image preprocessing unit, wherein after the information receiving and storing unit receives and stores the images in the unmanned aerial vehicle, the image preprocessing unit performs graying processing on the images and performs image filtering;
the image processing module processes the processed image to acquire the dynamic displacement of the structure in the image;
the structural damage identification module determines a curvature mode of the structure according to the dynamic displacement of the structure, and determines the damage position and the damage degree of the structure through the curvature mode.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (4)
1. A structural damage identification method based on unmanned aerial vehicle images is characterized by comprising the following steps:
s1: acquiring an image including a structure to be identified by using an unmanned aerial vehicle, and transmitting the image to a computing module through wireless communication;
s2: the calculation module receives and stores the image and then preprocesses the image;
s3: acquiring dynamic displacement of a structure in the preprocessed image;
s4: determining a curvature mode of the structure through the dynamic displacement of the structure;
s5: determining the damage position and the damage degree of the structure through the curvature mode of the structure;
the step S2 of preprocessing the image comprises the steps of carrying out gray processing and image filtering on the image;
the step S3 specifically includes the following steps:
s3.1: further processing the preprocessed image, dividing the structure into n sections according to the size of the structure, wherein the distance between two adjacent sections is l i,j I =1,2, \8230, n, j = i +1 and j is not greater than n;
s3.2: obtaining the displacement y of each segment of the structure i ，i＝1,2,…,n，y i Is the dynamic displacement of the ith segment;
in step S4, the curvature mode of the structure is determined through the dynamic displacement of the structure, and the method specifically includes the following steps:
and (3) calculating the curvature mode of each adjacent 3 sections of the structure by the following method:
2. the method for identifying structural damage based on unmanned aerial vehicle image according to claim 1, wherein before step S1, a curvature mode of the structure when the structure is not damaged is obtained by acquiring an image of the structure to be identified when the structure is not damaged.
3. The method for identifying structural damage based on unmanned aerial vehicle images according to claim 1, wherein step S5 is to determine the damage position and the damage degree of the structure through the curvature modes of the structure, specifically, by comparing the curvature modes calculated in step S4, and obtain the damage position and the damage degree of the structure.
4. The structural damage identification system of the structural damage identification method based on the unmanned aerial vehicle image according to claim 1, comprising an unmanned aerial vehicle, an image acquisition module, a wireless communication module, a calculation module, an image processing module and a structural damage identification module, wherein:
the image acquisition module is arranged on the unmanned aerial vehicle, acquires an image comprising a structure to be identified, and transmits the image of the structure to be identified to the calculation module through the wireless communication module;
the calculation module comprises an information receiving and storing unit and an image preprocessing unit, wherein after the information receiving and storing unit receives and stores the images in the unmanned aerial vehicle, the image preprocessing unit performs graying processing on the images and performs image filtering;
the image processing module processes the processed image to acquire the dynamic displacement of the structure in the image;
the structure damage identification module determines the curvature mode of the structure according to the dynamic displacement of the structure, and determines the damage position and the damage degree of the structure through the curvature mode;
the image processing module obtains the dynamic displacement of the structure in the image specifically as follows:
further processing the preprocessed image, dividing the structure into n sections according to the size of the structure, wherein the distance between two adjacent sections is l i,j I =1,2, \8230, n, j = i +1 and j is not greater than n;
obtaining the displacement y of each segment of the structure i ，i＝1,2,…,n，y i Is the dynamic displacement of the ith segment;
the structural damage identification module determines the curvature mode of the structure through the dynamic displacement of the structure, and specifically comprises the following steps:
and (3) calculating the curvature mode of each adjacent 3 sections of the structure by the following method:
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