CN111928899A - Bridge safety evaluation system based on guardrail robot - Google Patents
Bridge safety evaluation system based on guardrail robot Download PDFInfo
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- CN111928899A CN111928899A CN202010825682.5A CN202010825682A CN111928899A CN 111928899 A CN111928899 A CN 111928899A CN 202010825682 A CN202010825682 A CN 202010825682A CN 111928899 A CN111928899 A CN 111928899A
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a bridge safety evaluation system based on a guardrail robot, and relates to the technical field of bridge and pier detection. In the invention: an infrared sensing probe on the infrared distance sensing mechanism detects and receives the reflected distance, but outputs an abnormal position signal which exceeds the standard parameter range; the guardrail robot inspection device continues to move forwards, the ultrasonic sensing mechanism carries out comprehensive detection on the pier to be detected, and meanwhile secondary sound wave sensing detection is carried out on the position where the infrared distance sensing mechanism detects the abnormal signal; and a voice alarm is added when the wide-angle camera device collects images of the bridge pier, and the images are transmitted to a background to be manually checked and synchronously stored. The invention can accurately detect and judge the installation state of the fixing bolt on the pier, the crack damage on the pier and the like, particularly accurately judge the state of the fixing bolt on the pier, and can accurately find the potential safety hazard of connection between the pier and the guardrail in time.
Description
Technical Field
The invention belongs to the technical field of bridge and pier detection, and particularly relates to a bridge safety evaluation system based on a guardrail robot.
Background
The bridge needs regular inspection during operation, and the detection modes of most domestic bridges at present are manual detection modes such as scaffold building, aerial work platform and bridge detection vehicle. In the process of automatically inspecting bridge guardrails and bridge piers, bolts appearing on the bridge piers fall off, and cracks, damages and the like appearing on the bridge piers need to be subjected to sensing analysis and detection.
The existing image acquisition device for acquiring images of the bridge pier and analyzing bolts, cracks and the like on the bridge pier has great limitation. When the bolt on the pier is loosened but not separated from the screw hole, the potential safety hazard can not be accurately analyzed obviously by the image analysis method.
Disclosure of Invention
The invention aims to provide a bridge safety evaluation system based on a guardrail robot, which can be used for carrying out high-precision detection and judgment on the installation state of a fixing bolt on a pier, crack damage and the like on the pier, particularly carrying out precise judgment on the state of the fixing bolt on the pier, and effectively reducing the potential safety hazard of connection between the pier and a guardrail.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a bridge safety evaluation system based on a guardrail robot, which comprises a detection device part and a detection system part, wherein the detection device part comprises a pier to be detected and a guardrail robot inspection device for sensing, detecting and analyzing the pier to be detected; the guardrail robot inspection device is provided with an ultrasonic sensing mechanism; a plurality of longitudinally distributed wide-angle cameras are arranged on the guardrail robot inspection device.
The infrared distance sensing mechanism is provided with a plurality of infrared sensing probes which are longitudinally distributed; a plurality of longitudinally distributed ultrasonic probes are arranged on the ultrasonic sensing mechanism; the infrared distance sensing mechanism is positioned at the front side part of the walking direction of the guardrail robot inspection device; the wide-angle camera device is positioned at the rear side part of the walking direction of the guardrail robot inspection device; the ultrasonic sensing mechanism is positioned between the infrared distance sensing mechanism and the wide-angle camera device.
The detection system part comprises the following links:
in the first step, an infrared sensing probe on the infrared distance sensing mechanism detects and receives the reflected distance, but outputs an abnormal position signal which exceeds the standard parameter range.
And in the second link, the guardrail robot inspection device continues to move forwards, the ultrasonic sensing mechanism carries out comprehensive detection on the pier to be detected, and meanwhile, secondary sound wave sensing detection is carried out on the position where the infrared distance sensing mechanism detects the abnormal signal.
And in the third step, when the bolt at the same position is detected to be abnormal in the first step and the second step, a voice alarm is added when the wide-angle camera device collects images of the bridge pier, the images are transmitted to a background to be manually checked, and video storage is synchronously performed.
As a preferred technical scheme of the invention, the guardrail robot inspection device is provided with a first installation base frame; a first longitudinal adjusting guide groove is formed in the first mounting base frame; the infrared distance sensing mechanism is arranged on the first adjusting guide groove of the first mounting base frame in a matched mode; the adjusting and mounting position of the infrared distance sensing mechanism is matched with the mounting position of the bolt on the pier.
As a preferred technical scheme of the invention, the frequency sections of a plurality of ultrasonic probes on the ultrasonic sensing mechanism are not overlapped and interfered with each other; the sensing detection range of the ultrasonic sensing mechanism is matched with the longitudinal height of the pier to be detected.
As a preferred technical scheme of the present invention, when a distance between an infrared sensing probe on the infrared distance sensing mechanism and a pier to be detected is L, a depth of a bolt hole on the pier to be detected is X, and a distance between a bolt protruding from the bolt hole after the bolt is installed on the pier to be detected is D, a distance parameter detected by the infrared sensing probe on the infrared distance sensing mechanism is [ L + X, L-D ].
When the distance parameters detected by an infrared sensing probe on the infrared distance sensing mechanism are in [ L-D, L ], the bolt is normally installed without abnormal state; and when the distance parameter (L-D, 0) detected by the infrared sensing probe on the infrared distance sensing mechanism, the bolt is loosened, and an abnormal signal b is output.
As a preferred technical scheme of the invention, in the process of image acquisition of a pier to be detected by the wide-angle camera device, image information is synchronously transmitted to the image analysis system, the image analysis system carries out positioning type image analysis on the positions of abnormal signals detected by the infrared distance sensing mechanism and the ultrasonic sensing mechanism, specific contents of abnormal states are judged, and the judged image information is synchronously transmitted to the manual platform.
The invention has the following beneficial effects:
according to the guardrail robot inspection device, the infrared distance sensing mechanism, the ultrasonic sensing mechanism and the wide-angle camera device are arranged on the guardrail robot inspection device, and the installation state of the fixing bolts on the bridge piers, the crack damage and the like on the bridge piers are detected and judged at high precision through sequential and multi-index sensing detection and analysis, particularly the state of the fixing bolts on the bridge piers is accurately judged, so that the potential safety hazard of connection between the bridge piers and guardrails can be effectively reduced.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a (side view) part of a guardrail robot inspection device in the invention;
FIG. 2 is a schematic structural view of a (front view) portion of the guardrail robot inspection device of the present invention;
FIG. 3 is a logic diagram of a portion of the multi-mode bridge pier anomaly detection according to the present invention;
FIG. 4 is a logic diagram of a portion of the multi-mode bridge pier anomaly detection according to the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-pier to be detected; 2-guardrail robot inspection device; 3-an infrared distance sensing mechanism; 4-ultrasonic sensing mechanism; 5-wide-angle camera device; 101-bolt falling state; 102-bolt assembled state; 103-bridge pier crack state; 201-a first mounting pedestal; 202-a first adjustment guide slot; 203-image light filling device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
Example one
As shown in fig. 1 and 2, an infrared distance sensing mechanism 3 is adjustably mounted on the guardrail robot inspection device 2; the guardrail robot inspection device 2 is provided with an ultrasonic sensing mechanism 4; the guardrail robot inspection device 2 is provided with a plurality of longitudinally distributed wide-angle camera devices 5; the infrared distance sensing mechanism 3 is provided with a plurality of infrared sensing probes which are longitudinally distributed; a plurality of longitudinally distributed ultrasonic probes are arranged on the ultrasonic sensing mechanism 4; the infrared distance sensing mechanism 3 is positioned at the front side part of the guardrail robot inspection device 2 in the walking direction; the wide-angle camera device 5 is positioned at the rear side part of the guardrail robot inspection device 2 in the walking direction; the ultrasonic sensing mechanism 4 is positioned between the infrared distance sensing mechanism 3 and the wide-angle camera device 5;
the detection system part comprises the following links:
in the first step, an infrared sensing probe on the infrared distance sensing mechanism 3 detects, receives the reflected distance, and outputs an abnormal position signal which exceeds the standard parameter range.
And in the second link, the guardrail robot inspection device 2 continues to move forward, the ultrasonic sensing mechanism 4 carries out comprehensive detection on the pier 1 to be detected, and meanwhile, secondary sound wave sensing detection is carried out on the position where the infrared distance sensing mechanism 3 detects the abnormal signal.
And in the third step, when the bolt at the same position is detected to be abnormal in the first step and the second step, a voice alarm is added when the wide-angle camera device 5 acquires an image of the pier, the image is transmitted to a background to be manually checked, and the video is synchronously stored.
As shown in fig. 1 and 2, a first mounting base frame 201 is arranged on the guardrail robot inspection device 2; a first longitudinal adjusting guide groove 202 is formed on the first mounting base frame 201; the infrared distance sensing mechanism 3 is arranged on the first adjusting guide groove 202 of the first mounting pedestal 201 in a matching way; the adjusting and mounting position of the infrared distance sensing mechanism 3 is matched with the mounting position of the bolt on the pier.
As shown in fig. 1 and 2, the frequency bands of the ultrasonic probes on the ultrasonic sensing mechanism 4 do not overlap with each other; the sensing detection range of the ultrasonic sensing mechanism 4 is matched with the longitudinal height of the pier 1 to be detected.
In the sensing detection analysis of the bridge pier:
and setting the distance between the infrared sensing probe on the infrared distance sensing mechanism 3 and the pier 1 to be detected as L, the depth of the bolt hole on the pier 1 to be detected as X, and the distance between the bolt protruding out of the bolt hole after the bolt is installed on the pier 1 to be detected as D, wherein the distance parameter detected by the infrared sensing probe on the infrared distance sensing mechanism 3 is [ L + X, L-D ].
A. When the distance parameters detected by the infrared sensing probe on the infrared distance sensing mechanism 3 are in [ L-D, L ], the bolt is normally installed without abnormal state.
B. When the distance parameters detected by the infrared sensing probe on the infrared distance sensing mechanism 3 are in L, L + X ], the problem that the bolt completely falls off exists, and an abnormal signal a is output.
C. When the distance parameter (L-D, 0) detected by the infrared sensing probe on the infrared distance sensing mechanism 3 has the bolt loosening problem, an abnormal signal b is output.
In the process of image acquisition of the pier 1 to be detected, the wide-angle camera device 5 synchronously transmits image information to the image analysis system, and the image analysis system performs positioning type image analysis on the positions of abnormal signals detected by the infrared distance sensing mechanism 3 and the ultrasonic sensing mechanism 4, judges the specific content of the abnormal state and synchronously transmits the judged image information to the artificial platform.
Example two
In the invention:
when an abnormality such as a crack or a breakage occurs on the pier 1 to be detected, the ultrasonic sensing mechanism 4 can effectively detect the abnormality (the crack or the breakage occurs on a perfect pier, and the ultrasonic reflection and the sensing are greatly different from perfect parts around the breakage).
When the outside weather is cloudy or passes through some tunnels to be detected, the brightness on the bridge pier is low, and the image light supplement device 203 which is obliquely arranged is additionally arranged above the wide-angle camera device 5 to supplement light for illumination.
In the image analysis system, a sample training learning technology is adopted for a pier image, a screw hole pattern on the pier and a bolt pattern, and the image analysis system belongs to the mature technology of the existing image sample deep learning.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. Bridge security evaluation system based on guardrail robot, including detection device part and detecting system part, the detection device part is including waiting to detect pier (1) and waiting to detect that pier (1) carries out sensing detection analysis's guardrail robot inspection device (2), its characterized in that:
the guardrail robot inspection device (2) is adjustably provided with an infrared distance sensing mechanism (3);
the guardrail robot inspection device (2) is provided with an ultrasonic sensing mechanism (4);
a plurality of longitudinally distributed wide-angle camera devices (5) are arranged on the guardrail robot inspection device (2);
a plurality of infrared sensing probes longitudinally distributed are arranged on the infrared distance sensing mechanism (3);
a plurality of longitudinally distributed ultrasonic probes are arranged on the ultrasonic sensing mechanism (4);
the infrared distance sensing mechanism (3) is positioned at the front side part of the guardrail robot inspection device (2) in the walking direction;
the wide-angle camera device (5) is positioned at the rear side part of the guardrail robot inspection device (2) in the walking direction;
the ultrasonic sensing mechanism (4) is positioned between the infrared distance sensing mechanism (3) and the wide-angle camera device (5);
the detection system part comprises the following links:
in the first step, an infrared sensing probe on the infrared distance sensing mechanism (3) detects, receives the reflected distance and outputs an abnormal position signal which exceeds the standard parameter range;
in the second step, the guardrail robot inspection device (2) continues to move forwards, the ultrasonic sensing mechanism (4) carries out comprehensive detection on the pier (1) to be detected, and meanwhile secondary sound wave sensing detection is carried out on the position where the infrared distance sensing mechanism (3) detects the abnormal signal;
and in the third step, when the bolt states at the same position are detected to be abnormal in the first step and the second step, a voice alarm is added when the wide-angle camera device (5) collects images of the bridge pier, the images are transmitted to a background to be manually checked, and video storage is synchronously performed.
2. The guardrail robot-based bridge safety assessment system of claim 1, wherein:
the guardrail robot inspection device (2) is provided with a first mounting base frame (201);
a first longitudinal adjusting guide groove (202) is formed in the first mounting base frame (201);
the infrared distance sensing mechanism (3) is arranged on a first adjusting guide groove (202) of the first mounting base frame (201) in a matched mode;
and the adjusting and mounting position of the infrared distance sensing mechanism (3) is matched with the mounting position of the bolt on the pier.
3. The guardrail robot-based bridge safety assessment system of claim 1, wherein:
the frequency sections of a plurality of ultrasonic probes on the ultrasonic sensing mechanism (4) are not overlapped and interfered with each other;
the sensing detection range of the ultrasonic sensing mechanism (4) is matched with the longitudinal height of the pier (1) to be detected.
4. The guardrail robot-based bridge safety assessment system of claim 1, wherein:
setting the distance between an infrared sensing probe on the infrared distance sensing mechanism (3) and a pier (1) to be detected as L, the depth of a bolt hole on the pier (1) to be detected as X, and the distance between a bolt protruding out of the bolt hole after the bolt is installed on the pier (1) to be detected as D, wherein distance parameters detected by the infrared sensing probe on the infrared distance sensing mechanism (3) are [ L + X, L-D ];
when the distance parameters detected by the infrared sensing probe on the infrared distance sensing mechanism (3) are in [ L-D, L ], the bolt is normally installed without abnormal state;
when the distance parameter detected by an infrared sensing probe on the infrared distance sensing mechanism (3) is in (L, L + X), the problem that the bolt completely falls off exists, and an abnormal signal a is output;
when the distance parameters (L-D, 0) detected by the infrared sensing probe on the infrared distance sensing mechanism (3) have the problem of bolt loosening, an abnormal signal b is output.
5. The guardrail robot-based bridge safety assessment system of claim 1, wherein:
the method is characterized in that in the process of image acquisition of a pier (1) to be detected, the wide-angle camera device (5) synchronously transmits image information to the image analysis system, the image analysis system carries out positioning type image analysis on positions where abnormal signals are detected by the infrared distance sensing mechanism (3) and the ultrasonic sensing mechanism (4), specific contents of abnormal states are judged, and the judged image information is synchronously transmitted to the artificial platform.
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| CN202010825682.5A CN111928899A (en) | 2020-08-17 | 2020-08-17 | Bridge safety evaluation system based on guardrail robot |
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| CN202010825682.5A CN111928899A (en) | 2020-08-17 | 2020-08-17 | Bridge safety evaluation system based on guardrail robot |
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| CN114354625A (en) * | 2021-12-30 | 2022-04-15 | 中铁大桥局集团有限公司 | Prefabricated pier detection device |
| CN114778558A (en) * | 2022-06-07 | 2022-07-22 | 成都纵横通达信息工程有限公司 | Bridge monitoring device, system and method based on video image |
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