CN111945538A - Convenient bridge floor crack repairing device - Google Patents
Convenient bridge floor crack repairing device Download PDFInfo
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- CN111945538A CN111945538A CN202010839314.6A CN202010839314A CN111945538A CN 111945538 A CN111945538 A CN 111945538A CN 202010839314 A CN202010839314 A CN 202010839314A CN 111945538 A CN111945538 A CN 111945538A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/0966—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for filling or priming, with or without working the surface of the filling or applying particulate material thereto, e.g. for filling the joints of stone-sett paving
- E01C23/0973—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for filling or priming, with or without working the surface of the filling or applying particulate material thereto, e.g. for filling the joints of stone-sett paving with liquid or semi-liquid materials, e.g. crack sealants
- E01C23/098—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for filling or priming, with or without working the surface of the filling or applying particulate material thereto, e.g. for filling the joints of stone-sett paving with liquid or semi-liquid materials, e.g. crack sealants and working the surface of the filling or applying particulate material thereto, e.g. smoothing, gritting
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention provides a convenient bridge deck crack repairing device, which comprises a device body; the bottom of the device body is provided with a frame-shaped bracket, and front and rear cross beams of the frame-shaped bracket are arranged into a roller-shaped structure; an inner rotating shaft is arranged on the axis of the roller-shaped structure, and two ends of the inner rotating shaft are respectively connected with the left and right cross beams of the frame-shaped bracket through bearings; synchronous belt wheels are respectively arranged at the positions of the inner rotating shaft close to the end parts of the left side and the right side, and synchronous toothed belts are arranged on the two synchronous belt wheels on the same side of the left side and the right side; the inner rotating shaft is connected with a driving motor; the bottom of the device body is also provided with a vacuum generator at the center of the frame-shaped bracket; a horizontal sealing clapboard is arranged between the bottom of the device body and the frame-shaped bracket; a closed space is formed among the horizontal sealing partition plate, the frame-shaped bracket and the bridge floor; the device body front end is provided with the material loading module, and the material loading module is used for coating the crack repairing agent that is used for crack repair to the crack department on bridge surface. The method can meet the requirements of repairing cracks of bridge floors at different angles.
Description
Technical Field
The invention relates to the field of intelligent bridge repairing equipment, in particular to a convenient bridge deck crack repairing device.
Background
At present, some tiny cracks are easy to appear on the surface of a bridge, such as the surface of a concrete or asphalt structure of a pavement, a bridge pier and the like due to various reasons of construction or long-term overhaul and the like, and the quality and the safety of the bridge can be gradually influenced if the repair is not carried out in time after the tiny cracks appear.
In the prior art, there are some devices specially used for repairing cracks on bridge pavements, such repairing devices are usually provided with a flat pressing roller device in front of the device, and after injecting crack repairing agent into cracks, the cracks are rolled by the flat pressing roller to complete the repairing of the cracks on the pavements, but such repairing devices can only repair pavements and are not suitable for repairing cracks on bridge piers or bridge side surfaces.
Disclosure of Invention
In view of the above problems, the present invention is directed to a convenient bridge deck crack repairing apparatus.
The purpose of the invention is realized by adopting the following technical scheme:
the bridge deck crack repairing device convenient to use comprises a device body;
the bottom of the device body is provided with a frame-shaped bracket, and the front and rear cross beams of the frame-shaped bracket are arranged into a roller-shaped structure; an inner rotating shaft is arranged on the axis of the roller-shaped structure, and two ends of the inner rotating shaft are respectively connected with the left and right cross beams of the frame-shaped bracket through bearings; synchronous belt wheels are respectively arranged at the positions of the inner rotating shaft close to the end parts of the left side and the right side, and synchronous toothed belts are arranged on the synchronous belt wheels at the same side of the left side and the right side; the inner rotating shaft is connected with a driving motor;
the bottom of the device body is also provided with a vacuum generator at the center of the frame-shaped bracket;
a horizontal sealing clapboard is arranged between the bottom of the device body and the frame-shaped bracket; a closed space is formed among the horizontal sealing partition plate, the frame-shaped bracket and the bridge floor;
the device body front end is provided with the material loading module, and the material loading module is used for coating the crack repairing agent that is used for crack repair to the crack department on bridge surface.
In one embodiment, the outer edges of the left and right cross beams are provided with lateral sealing partitions which are nested in the synchronous toothed belts and have a shape matched with the shape surrounded by the synchronous toothed belts.
In one embodiment, the outer sides of the roll-shaped structures of the front and rear cross beams are sleeved with sealing sleeves, wherein the sealing sleeves are made of elastic deformation materials.
In one embodiment, the timing belt is an elastically deformable material.
In one embodiment, the device body is provided with an operating handle.
In one embodiment, a control module is arranged in the device body, and the control module is connected with the driving motor, the feeding module and the vacuum generator and is used for driving the driving motor, the feeding module and the vacuum generator to operate after receiving the instruction.
In one embodiment, the control module comprises a communication unit, wherein the communication unit is used for being connected with a remote control terminal in a wireless network manner; and receiving a control instruction sent by a remote control terminal.
In one embodiment, the device body is further provided with a camera module, and the camera module is used for collecting the image information of the bridge surface in front of the device and transmitting the collected image of the bridge surface to the control module.
In one embodiment, the control module further transmits the acquired bridge surface image to a remote control terminal through a communication unit.
The remote control terminal is used for displaying the bridge surface image and sending a control instruction to the repairing device; and controlling the feeding module to perform feeding operation on the designated area.
In one embodiment, the control module further comprises a crack detection unit, wherein the crack detection unit is used for performing crack detection processing on the acquired bridge surface image to acquire crack information existing in the bridge surface image;
the control module further controls the feeding module to align the position of the crack in front of the device for feeding the filling agent according to the crack information acquired through the bridge surface image.
The invention has the beneficial effects that:
aiming at the problem that the existing repairing device has poor repairing effect on planes of piers, bridge sides and the like in a bridge along the vertical direction, the convenient bridge crack repairing device is provided, a frame-shaped support is arranged at the bottom of a device body, and a front cross beam and a rear cross beam of the frame-shaped support are provided with rotatable roller-shaped structures as lower compression rollers; meanwhile, a driving motor is arranged to assist the lower pressing roller to move forwards; meanwhile, the lower compression rollers of the front and rear cross beams are provided with synchronous belt wheels and synchronous toothed belts which are matched with each other, so that the front and rear lower compression rollers can rotate uniformly.
Sealing clapboards are arranged on the side surfaces and the upper surface of the frame-shaped support, so that a sealing space is formed between the frame-shaped support and the surface of the bridge floor to be repaired, and meanwhile, a vacuum generator is arranged at the bottom of the device body to extract air in the sealing space, so that the repairing device can be adsorbed on the bridge floor; meanwhile, the pressure difference after vacuum pumping is used for providing the pressure of the repairing device to the vertical direction of the bridge deck.
When fine microcracks of the bridge deck need to be repaired, the repairing device is driven to roll over the crack position only after the crack repairing agent is coated in the cracks, and the crack position is flattened through the lower pressing roller, so that the repair of the cracks is completed. Under the action of the vacuum generator, the repairing device can be tightly attached to a bridge floor (side face or road surface and the like) in the advancing process, and can meet the requirements of repairing horizontal, vertical and plane cracks at any angle in a bridge.
Simultaneously this application patching device convenient to carry, it is convenient to use, can satisfy the demand of different occasions to bridge floor crack repair.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a structural view of a bridge deck crack repairing apparatus according to the present invention;
FIG. 2 is a top view of the frame-shaped support of the present invention;
FIG. 3 is a front view of the frame bracket of the present invention;
FIG. 4 is a left side view of the frame-shaped support of the present invention;
FIG. 5 is a block diagram of the control module of the present invention;
FIG. 6 is a block diagram of a control module according to one embodiment of the present invention;
FIG. 7 is a block diagram of a control module according to another embodiment of the present invention;
fig. 8 is a frame configuration diagram of a control module according to still another embodiment of the present invention.
Reference numerals:
1-device body, 2-frame type bracket, 3-vacuum generator, 4-horizontal sealing partition plate, 5-driving motor, 6-feeding module, 7-control module, 8-camera module, 21 a-front beam, 21 b-rear beam, 22-internal rotating shaft, 23-bearing, 24 a-left beam, 24 b-right beam, 25-synchronous belt wheel, 26-synchronous toothed belt, 71-, 72-crack detection unit, 721-pretreatment unit, 722-edge detection unit, 723-binarization unit and 724-crack identification unit.
Detailed Description
The invention is further described in connection with the following application scenarios.
Referring to fig. 1 to 4, there is shown a convenient bridge deck crack repair apparatus comprising an apparatus body 1;
the bottom of the device body 1 is provided with a frame-shaped bracket 2, and a front beam 21a and a rear beam 21b of the frame-shaped bracket 2 are arranged into a roller-shaped structure; an inner rotating shaft 22 is arranged on the axis of the roller-shaped structure, and two ends of the inner rotating shaft 22 are respectively connected with a left cross beam 24a and a right cross beam 24b of the frame-shaped bracket 2 through bearings 23; the positions of the inner rotating shaft 22 close to the left and right ends are respectively provided with a synchronous belt wheel 25, wherein the two same-side synchronous belt wheels 25 on the left and right sides are provided with synchronous toothed belts 26; the inner rotating shaft 22 is connected with the driving motor 5;
the bottom of the device body 1 is also provided with a vacuum generator 3 at the center of the frame-shaped bracket 2;
a horizontal sealing clapboard 4 is arranged between the bottom of the device body 1 and the frame-shaped bracket 2; a closed space is formed among the horizontal sealing partition plate 4, the frame-shaped bracket 2 and the bridge floor;
the front end of the device body 1 is provided with a feeding module 6, and the feeding module 6 is used for coating a crack repairing agent for repairing cracks on the surface of the bridge.
In one embodiment, the outer edges of the left and right beams 24a, 24b are provided with lateral sealing partitions, which, in cooperation with the timing belt 26, are shaped to fit the shape enclosed by the timing belt 26;
in one scenario, the left and right beams 24a and 24b are provided with connecting blocks inside to be fixedly connected with the apparatus body 1.
In one scenario, the horizontal sealing partition 4 is provided with an opening that is adapted to the suction opening of the vacuum generator 3, so that the vacuum generator 3 can draw air from the enclosed space.
In one scenario, in order to ensure the sealing performance of the enclosed space, corresponding elastic sealing components can be arranged on the inner rotating shaft 22, the synchronous pulley 25, the driving motor 5 shaft, the lateral sealing partition plate and the horizontal sealing partition plate 4 as required, so that the sealing performance of the enclosed space is ensured.
In one embodiment, the outer sides of the roller-shaped structures of the front cross beam 21a and the rear cross beam 21b are sleeved with sealing sleeves, wherein the sealing sleeves are made of elastic deformation materials; so as to ensure the sealing requirements of the front side and the rear side of the frame-shaped bracket 2 and meet the requirement of filling cracks.
In one embodiment, the connection between the inner rotary shaft 22 and the drive motor 5, the lateral sealing partition and the drive motor 5
In one embodiment, the timing belt 26 is an elastically deformable material; so as to ensure the sealing requirements of the left side and the right side of the frame type bracket 2.
In the above-described embodiments of the present application,
aiming at the problem that the existing repairing device has poor repairing effect on planes of piers, bridge sides and the like in a bridge along the vertical direction, the convenient bridge crack repairing device is provided, a frame-shaped support 2 is arranged at the bottom of a device body 1, and a front cross beam 21b and a rear cross beam 21b of the frame-shaped support 2 are provided with rotatable roller-shaped structures as lower compression rollers; meanwhile, a driving motor 5 is arranged to assist the lower pressure roller to move forwards; meanwhile, the lower press rolls of the front and rear cross beams 21b are provided with synchronous belt wheels 25 and synchronous toothed belts 26 which are matched with each other, so that the front and rear lower press rolls can rotate uniformly.
Sealing clapboards are arranged on the side surface and the upper surface of the frame-shaped support 2, so that a sealing space is formed between the frame-shaped support 2 and the surface of the bridge floor to be repaired, and meanwhile, a vacuum generator 3 is arranged at the bottom of the device body 1 to extract air in the sealing space, so that the repairing device can be adsorbed on the bridge floor; meanwhile, the pressure difference after vacuum pumping is used for providing the pressure of the repairing device to the vertical direction of the bridge deck.
When fine microcracks of the bridge deck need to be repaired, the repairing device is driven to roll over the crack position only after the crack repairing agent is coated in the cracks, and the crack position is flattened through the lower pressing roller, so that the repair of the cracks is completed. Under the action of the vacuum generator 3, the repairing device can be tightly attached to a bridge floor (side face or road surface and the like) in the advancing process, and can meet the requirements of repairing cracks of planes at horizontal, vertical and any angles in a bridge.
Simultaneously this application patching device convenient to carry, it is convenient to use, can satisfy the demand of different occasions to bridge floor crack repair.
In a scene, after the crack repairing agent is coated in the crack repairing process, a certain amount of pressure needs to be provided for the crack part so that the crack repairing agent is integrally fused with the crack, but in the case that certain specific surfaces (such as bridge bottoms, piers and the like) in a bridge are not easy to apply pressure to the specific surfaces, the vacuum generator 3 is arranged to provide adsorption force and pressure perpendicular to the bridge floor so as to ensure the crack repairing effect, the crack repairing method and the crack repairing device can be suitable for repairing bridge deck cracks in different directions in the bridge, and the adaptability is high.
In one embodiment, referring to fig. 5, a control module 7 is disposed in the device body 1, and the control module 7 is connected to the driving motor 5, the feeding module 6 and the vacuum generator 3, and is configured to drive the driving motor 5, the feeding module 6 and the vacuum generator 3 to operate after receiving the instruction.
In one embodiment, the apparatus body 1 is provided with an operating handle. The repairing device is pushed to move forwards by operating the handle.
In one scenario, the crack repairing device proposed in the present application may be operated in a semi-manual manner. An operating handle (such as an operating rod, a pushing handle and the like) is arranged on the device body 1; the prosthetic device may be advanced by manual pushing.
When carrying out crack repair to pier, or bridge side etc. position that the level is lower, at first start vacuum generator 3, with the surface that crack repair device laminating needs was repaired simultaneously, vacuum generator 3 laminates crack repair device on the bridge floor in the short time, simultaneously under the effect of frictional force for repair device solid vertical fixation is on waiting to repair the surface. After filling the crack repairing agent in the crack, driving the repairing device to advance by starting the driving motor 5 under the action of the human force (or directly under the action of the driving motor 5), enabling the roller-shaped structure (lower compression roller) in front of the repairing device to roll over the position of the crack, and flattening the crack by the roller-shaped structure under the action of the adsorption force; and finishing the repair of the crack.
In one embodiment, the operating handle is provided with a control button, and a control instruction is sent to the control module 7 through the control button.
While the driving motor 5 provides a forward movement assisting/direct driving force of the lower press roll through the inner rotary shaft 22 in cooperation with the reduction unit.
In one embodiment, the device body 1 can be externally connected with an additional lower pressure roller device; so as to meet the requirement of expanding the repairing device.
In one embodiment, referring to fig. 6, the control module 7 includes a communication unit 71, the communication unit 71 is configured to connect with a remote control terminal by way of a wireless network; and receiving a control instruction sent by a remote control terminal.
Under the action of the vacuum generator 3, the repairing device can be adsorbed in bridge floors in different directions, and can climb or walk upside down independently; meanwhile, the communication unit 71 is arranged in the control module 7, so that remote operation is realized, and the service performance of the repairing device is improved.
In one embodiment, the device body 1 is further provided with a camera module 8, and the camera module 8 is used for collecting bridge surface image information in front of the device and transmitting the collected bridge surface image to the control module 7.
In one embodiment, referring to fig. 8, the control module 7 further transmits the acquired bridge surface image to a remote control terminal through a communication unit 71.
Through set up camera module 8 on device body 1, send the bridge surface image that the camera acquireed to distal end control terminal simultaneously and play in real time, can satisfy the demand that carries out remote operation to the patching device, supply operating personnel to acquire the bridge surface image in patching device the place ahead in real time to send corresponding control command through distal end control terminal.
The remote control terminal is used for displaying the bridge surface image and sending a control instruction to the repairing device; and controlling the feeding module 6 to perform feeding operation on the designated area.
The feeding module 6 comprises a storage tank and a feeding head, wherein the storage tank is used for storing the crack repairing agent; the feed head comprises a pressure device for ejecting the crack repair agent from the storage tank.
Meanwhile, the feeding module 6 adopts control modes such as a mechanical arm and the like to realize three-dimensional space movement control of the feeding head and aim at the designated area to spray the crack repairing agent.
In the above embodiment, an embodiment is provided in which the repair device is remotely controlled to perform the repair operation on the crack of the bridge deck, when the crack repair device is attached to the bridge deck to be repaired, the remote control terminal receives the image information of the surface of the bridge acquired while the repair device is moving forward, and observes the image of the surface of the bridge to find the crack existing therein, and simultaneously stops the repair device from moving forward and moves to a position away from the crack by a suitable distance; the feeding module 6 is controlled to be aligned with the crack filling crack repairing agent through a remote control terminal; and after the filling is finished, continuously driving the repairing device to move forward, wherein in the moving process of the repairing device, a lower compression roller in front of the repairing device rolls the crack, and the repairing agent of the crack is flattened to finish the repairing of the crack.
In one embodiment, the control module 7 further includes a crack detection unit 72, where the crack detection unit 72 is configured to perform crack detection processing on the acquired bridge surface image, and acquire crack information existing in the bridge surface image;
the control module 7 further controls the loading module 6 to align the position of the crack in front of the device for loading the filling agent according to the crack information obtained by the image of the surface of the bridge.
In one embodiment, the crack detection unit 72 further includes:
a preprocessing unit 721 configured to perform denoising processing on the received bridge surface image, remove noise interference included in the image surface image, and output a preprocessed bridge surface image;
the edge detection unit 722 is configured to perform edge detection processing on the preprocessed bridge surface image to obtain an edge detection result in the image;
a binarization unit 723, configured to perform binarization processing on the preprocessed bridge surface image according to an edge detection result, and output a binarized image;
and the crack identification unit 724 is configured to perform crack identification processing according to the binarized image, and acquire crack information in the image, where the crack information includes crack positioning information, crack width information, and crack trend information.
When a crack in front of the device is detected, the control module 7 further controls the feeding module 6 to align with the crack position in front of the device for feeding according to the positioning information of the crack, the width information of the crack and the trend information of the crack, which are acquired by the crack detection unit 72; and when the feeding is finished, the driving device continues to move forwards.
In the above embodiment, a technical solution for automatically completing crack detection and repair by a repair device is further provided, where the repair device acquires image information of a bridge surface through the camera module 8, and identifies crack information in the image through the crack detection unit 72 thereon, when the crack information is identified, the repair device automatically controls the feeding mechanism to align with the crack position for crack repair agent filling, and automatically drives the crack repair device to advance after the crack is filled, and the crack position is rolled by the pressing roller to complete crack leveling. The intelligent level is high.
In an embodiment, the preprocessing unit 721 is also adapted to preprocess the acquired bridge surface image during remote operation and transmit the preprocessed bridge surface image to a remote control terminal, so as to improve the accuracy of determining whether micro cracks exist according to the acquired bridge surface image by an operator. That is, referring to fig. 7, the control module 7 includes a preprocessing unit 721, and the preprocessing unit 721 is configured to perform denoising processing on the received bridge surface image, remove noise interference included in the image surface image, and output the preprocessed bridge surface image. The control module 7 sends the preprocessed bridge surface image to the remote control terminal through the communication unit 71.
In one embodiment, the preprocessing unit 721 performs denoising processing on the received bridge surface image to remove noise interference included in the image surface image, and includes:
1) performing wavelet packet decomposition processing on the acquired bridge surface image according to the set wavelet basis and the number of decomposition layers to respectively acquire a high-frequency wavelet coefficient and a low-frequency wavelet coefficient;
2) and carrying out adaptive threshold processing on the obtained high-frequency wavelet coefficient, wherein the adopted adaptive threshold function is as follows:
in the formula, w' (j, k) represents the kth high-frequency wavelet coefficient of the jth layer after threshold processing, w (j, k) represents the kth high-frequency wavelet coefficient of the jth layer before threshold processing, lambda represents a set threshold, beta represents a limit tuning parameter, wherein beta belongs to [1.5,5], sgn (·) represents a symbolic function; j represents the decomposition layer number of the current high-frequency wavelet coefficient;
and reconstructing according to the high-frequency wavelet coefficient and the low-frequency wavelet coefficient after threshold processing, and preprocessing the bridge surface image.
Aiming at the noise interference caused by a large amount of environments (such as electromagnetic waves generated by vehicles or large-scale equipment, severe weather and the like) in the actual working environment of the crack repairing device, so that the bridge surface image receives the noise interference when being acquired, the image quality is poor, and the accuracy and the effect of subsequent remote operation or intelligent crack detection are influenced, therefore, the embodiment provides a technical scheme for removing the noise of the bridge surface image, firstly, the acquired bridge surface image is subjected to wavelet packet decomposition to acquire a high-frequency wavelet coefficient and a low-frequency wavelet coefficient of the bridge surface image, and simultaneously, aiming at the high-frequency wavelet coefficient, an improved threshold processing function is provided to carry out threshold processing on the high-frequency wavelet coefficient, the threshold function is particularly considered to be processed under the condition that the high-frequency wavelet coefficient is smaller, so that the threshold function is more smooth in the part, the condition that the part with a small coefficient is subjected to zero setting processing in a traditional threshold processing function so as to remove part of useful information is avoided, the characteristic of the micro crack in the image can be adapted, and the noise interference is removed to the maximum extent while the information of the micro crack is kept. The performance of bridge surface pretreatment is improved.
In one embodiment, in the preprocessing unit 721, the threshold λ is set as follows:
1) respectively calculating the mean value h (j) and the variance f (j) of the high-frequency wavelet coefficients according to the high-frequency wavelet coefficients obtained under different decomposition layer numbers;
2) respectively obtaining high-frequency wavelet coefficient fluctuation factors b (j) under different decomposition layer numbers, wherein the adopted fluctuation factor function is as follows:
3) recording the decomposition layer number j where the fluctuation factor is maximum according to the fluctuation factor obtained under different decomposition layer numbersp；
4) The set threshold λ is obtained using the following threshold setting function:
in the formula, λ represents a set threshold value, and med (w (j)) represents the jthpMedian of the coefficients of the layer high-frequency wavelet, h (1) and h (j)p) Respectively represent layer 1 and jpMean value of layer high frequency wavelet coefficients; n represents the length of the signal.
In the above embodiment, an improved threshold setting technical solution for wavelet threshold processing is provided, in which characteristics of high-frequency wavelet coefficients of each layer obtained during decomposition of multiple layers of wavelet packets are combined, and a high-frequency wavelet coefficient in the number of wavelet decomposition layers that can most reflect noise characteristics is selected as a basis for setting a threshold, so that the setting of the threshold can be more suitable for characteristics of noise interference, and the performance of removing the noise interference by performing threshold processing on the high-frequency wavelet coefficients according to a threshold function is further improved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be analyzed by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A convenient bridge deck crack repairing device is characterized by comprising a device body;
the device comprises a device body, wherein a frame-shaped support is arranged at the bottom of the device body, and a front cross beam and a rear cross beam of the frame-shaped support are of roller-shaped structures; an inner rotating shaft is arranged on the axis of the roller-shaped structure, and two ends of the inner rotating shaft are respectively connected with the left and right cross beams of the frame-shaped bracket through bearings; synchronous belt wheels are respectively arranged at the positions of the inner rotating shaft close to the end parts of the left side and the right side, and synchronous toothed belts are arranged on the synchronous belt wheels at the same side of the left side and the right side; the inner rotating shaft is connected with a driving motor;
a vacuum generator is also arranged at the bottom of the device body and positioned at the center of the frame-shaped bracket;
a horizontal sealing partition plate is arranged between the bottom of the device body and the frame-shaped bracket; a closed space is formed among the horizontal sealing partition plate, the frame-shaped bracket and the bridge floor;
the device comprises a device body and is characterized in that a feeding module is arranged at the front end of the device body and used for coating a crack repairing agent for repairing cracks on the surface of a bridge at the cracks.
2. The convenient bridge deck crack repairing device of claim 1, wherein the outer edges of the left and right crossbeams are provided with lateral sealing partition plates, the lateral sealing partition plates are nested in the synchronous toothed belts, and the shapes of the lateral sealing partition plates are matched with the shapes surrounded by the synchronous toothed belts.
3. The convenient bridge deck crack repairing device according to claim 1, wherein a sealing sleeve is sleeved outside the front and rear beam roller-shaped structures, wherein the sealing sleeve is made of an elastic deformation material; and/or
The synchronous toothed belt is made of an elastic deformation material.
4. The convenient bridge deck crack repairing device according to claim 1, wherein a control module is arranged in the device body, and the control module is connected with the driving motor, the feeding module and the vacuum generator and is used for driving the driving motor, the feeding module and the vacuum generator to operate after receiving the command.
5. The convenient bridge deck crack repairing device according to claim 4, wherein the control module comprises a communication unit, and the communication unit is used for being connected with a remote control terminal through a wireless network; and receiving a control instruction sent by a remote control terminal.
6. The convenient bridge deck crack repairing device according to claim 5, wherein a camera module is further arranged on the device body, and the camera module is used for collecting bridge surface image information in front of the device and transmitting the collected bridge surface image to the control module.
7. The convenient bridge deck crack repair device of claim 6, wherein the control module further transmits the acquired bridge surface image to a remote control terminal through a communication unit.
The remote control terminal is used for displaying the bridge surface image and sending a control instruction to the repairing device; and controlling the feeding module to perform feeding operation on the designated area.
8. The convenient bridge deck crack repairing device according to claim 6, wherein the control module further comprises a crack detection unit, the crack detection unit is used for performing crack detection processing on the acquired bridge surface image to acquire crack information existing in the bridge surface image;
the control module further controls the feeding module to align the position of the crack in front of the device to perform feeding operation of the filling agent according to the crack information acquired through the bridge surface image.
9. A convenient bridge deck crack repair arrangement according to claim 8, wherein the crack detection unit further comprises:
the preprocessing unit is used for performing noise removal processing on the received bridge surface image, removing noise interference contained in the image surface image and outputting the preprocessed bridge surface image;
the edge detection unit is used for carrying out edge detection processing on the preprocessed bridge surface image to obtain an edge detection result in the image;
the binarization unit is used for carrying out binarization processing on the preprocessed bridge surface image according to the edge detection result and outputting a binarization image;
and the crack identification unit is used for carrying out crack identification processing according to the binary image and acquiring crack information in the image, wherein the crack information comprises crack positioning information, crack width information and crack trend information.
10. The convenient bridge deck crack repairing device according to claim 6, wherein the preprocessing unit performs denoising processing on the received bridge surface image to remove noise interference contained in the image surface image, and comprises:
1) performing wavelet packet decomposition processing on the acquired bridge surface image according to the set wavelet basis and the number of decomposition layers to respectively acquire a high-frequency wavelet coefficient and a low-frequency wavelet coefficient;
2) and carrying out adaptive threshold processing on the obtained high-frequency wavelet coefficient, wherein the adopted adaptive threshold function is as follows:
in the formula, w' (j, k) represents the kth high-frequency wavelet coefficient of the jth layer after threshold processing, w (j, k) represents the kth high-frequency wavelet coefficient of the jth layer before threshold processing, lambda represents a set threshold, beta represents a limit tuning parameter, wherein beta belongs to [1.5,5], sgn (·) represents a symbolic function; j represents the decomposition layer number of the current high-frequency wavelet coefficient;
and reconstructing according to the high-frequency wavelet coefficient and the low-frequency wavelet coefficient after threshold processing, and preprocessing the bridge surface image.
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| CN202010839314.6A CN111945538A (en) | 2020-08-19 | 2020-08-19 | Convenient bridge floor crack repairing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114150549A (en) * | 2021-12-13 | 2022-03-08 | 朱英智 | Safe reinforcing apparatus in road and bridge crack |
| CN117269196A (en) * | 2023-11-21 | 2023-12-22 | 德州硕达公路工程有限公司 | Bridge construction quality's detection device |
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2020
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114150549A (en) * | 2021-12-13 | 2022-03-08 | 朱英智 | Safe reinforcing apparatus in road and bridge crack |
| CN117269196A (en) * | 2023-11-21 | 2023-12-22 | 德州硕达公路工程有限公司 | Bridge construction quality's detection device |
| CN117269196B (en) * | 2023-11-21 | 2024-01-30 | 德州硕达公路工程有限公司 | Bridge construction quality's detection device |
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Application publication date: 20201117 |