CN112067633B - Steel construction building engineering quality intelligent detection system based on machine vision - Google Patents
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Abstract
The invention discloses a steel structure building engineering quality intelligent detection system based on machine vision, which comprises a detection route setting module, a detection area dividing module, an area counting module, an unmanned aerial vehicle, an area X-ray detection module, a first GPS positioning module, a second GPS positioning module, an unmanned aerial vehicle moving route adjusting module, a radiographic film marking module, a radiographic film processing module, an area welding quality analysis module and a building quality comprehensive analysis module, wherein the invention divides the surface area of the semi-spherical steel structure building engineering, simultaneously carries out X-ray detection on each sub-area flown by the unmanned aerial vehicle to obtain a building comprehensive quality coefficient, realizes the comprehensive quality detection of the semi-spherical steel structure building engineering, shortens the detection period, improves the detection accuracy, and simultaneously can visually reflect the quality of the building engineering, greatly meeting the quality detection requirement of the steel structure building engineering.
Description
Technical Field
The invention belongs to the technical field of constructional engineering quality detection, and particularly relates to a steel structure constructional engineering quality intelligent detection system based on machine vision.
Background
Along with the development of the construction industry, the application of steel structure buildings is more and more common, especially, the hemispherical steel structure buildings are often used in theaters, airports and high-speed rail buildings due to attractive appearance, the steel structures are used as frames of the buildings, the frames are formed by splicing a plurality of rigid members, the building size is large, the design is very complex, in order to guarantee the safety of the hemispherical steel structure building engineering, the quality of the hemispherical steel structure building engineering needs to be detected, and the quality of the hemispherical steel structure building engineering depends on the welding quality of the splicing parts of the steel members to a great extent.
Traditional hemisphere steel construction building engineering quality detection means mainly observes some steel construction welding position through the total powerstation, through contrasting with design model data, detects the welding quality of steel construction building, but this kind of detection method detection cycle length just detects density not enough, is difficult to realize direct-viewing comprehensive detection, for the defect of solving traditional hemisphere steel construction building engineering quality detection means, now proposes a solution.
Disclosure of Invention
The invention aims to provide a steel structure building engineering quality intelligent detection system based on machine vision, which divides detection sub-areas on the surface of a semispherical steel structure building engineering, controls an unmanned aerial vehicle to obtain the welding quality of a steel structure welding area of each sub-area by using an X-ray detection method for each sub-area, and overcomes the defects of the traditional semispherical steel structure building engineering quality detection means.
The purpose of the invention can be realized by the following technical scheme:
an intelligent detection system for the quality of steel structure constructional engineering based on machine vision comprises a detection route setting module, a detection area dividing module, an unmanned aerial vehicle, an area X-ray detection module, a radiographic film marking module, a radiographic film processing module, an area welding quality analysis module and a building quality comprehensive analysis module, wherein the detection route setting module is connected with the detection area dividing module;
the detection route setting module is used for setting a detection route for carrying out flight detection on the semispherical steel structure building engineering through an unmanned aerial vehicle, and the setting step of the detection route comprises the following steps:
s1: dividing the radius length of the hemispherical steel structure building engineering from a vertex A to a sphere center O into a plurality of radius sections according to a preset length interval, taking a node where adjacent radius sections are intersected as a position node, so as to obtain a plurality of position nodes on the radius length, and marking each position node according to the sequence from the vertex of the hemispherical structure to the sphere center, wherein the position nodes are marked as 1,2,... i,... n;
s2: respectively taking each position node as a center, and making a horizontal straight line, wherein each horizontal straight line is respectively intersected with the hemispherical steel structure at two intersection points;
s3: taking each position node as a circle center, taking the distance from each position node to an intersection point of the corresponding hemispherical steel structure as a radius to form a circle, obtaining a plurality of circles, taking the circumferential track of each circle as a flight detection route of the unmanned aerial vehicle, numbering the flight detection routes according to the circle center mark sequence corresponding to the circle, and marking the routes as c1, c2,. till.. ci,. till.. cn;
the detection area dividing module is used for dividing the circumferential angle of 360 degrees at the top of a hemisphere of the hemispherical steel structure building engineering according to a preset angle, making a plurality of arcs by taking the top point A of the hemisphere as a starting point, dividing the degrees by taking the angle between the arcs as a set angle, and intersecting the made arcs with the bottom of the hemisphere structure respectively, wherein the obtained arcs are marked according to a preset sequence and are marked as a1, a2, a.aj.a.am;
meanwhile, the detection area dividing module is used for intersecting the obtained arcs and the obtained circumferences obtained by the detection route setting module, the intersecting lines of the arcs and the circumferences divide the surface area of the whole hemispherical steel structure into a plurality of sub-areas which are connected with each other and have the same area, and the sub-areas are respectively marked as p11, p12,. till.. pij,. till.. pmn according to the circumferential marks and the arc marks which are intersected with the sub-areas;
the regional X-ray detection module is used for carrying out X-ray irradiation on each sub-region through which the unmanned aerial vehicle flies by using an X-ray detector carried on the unmanned aerial vehicle when the unmanned aerial vehicle flies in each set detection route, and the emitted rays penetrate through the surface of the steel structure construction engineering of the sub-region to be imaged and recorded through radiographic films so as to obtain the radiographic films of the structures of the sub-regions;
the radiographic film marking module is used for marking the obtained radiographic films of the sub-region structures according to the serial numbers of the sub-regions and sending the marked radiographic films of the sub-region structures to the radiographic film processing module;
the ray negative film processing module is used for processing the received marked ray films of the sub-region structures in a darkroom to obtain the ray negative films of the sub-region structures, inputting the obtained ray negative films of the sub-region structures into a computer, performing denoising, edge detection and image enhancement preprocessing operations by using digital image processing software to obtain the processed ray negative films of the sub-region structures, and sending the processed ray negative films of the sub-region structures to the region welding quality analysis module;
the area welding quality analysis module is used for carrying out building structure quality analysis on the received processed ray negative of each sub-area structure, and comprises a welding sub-area counting unit, a region welding area calculating unit and a welding quality coefficient analysis unit;
the ray negative gray scale counting unit counts the ray negative of the sub-area structure with steel structure welding in each sub-area structure ray negative according to the characteristic that the blank area, the steel structure and the steel structure welding area in each sub-area have different transmission intensity to the X-ray and reflect the different gray scales displayed on the ray negative, and the ray negative is marked as a welding sub-area;
the area welding area calculation unit amplifies the counted structural ray negatives of each welding subarea, performs image segmentation on the structural ray negatives of each welding subarea according to a steel structure and a welding point distribution area in the welding subarea, reserves the structural ray negatives of the steel structure and the welding area, focuses the structural ray negatives of each welding subarea and the welding point distribution area on the welding area, checks whether gray values of all parts of the welding area are consistent, if the gray values are inconsistent, indicates that the welding area is incomplete, the area welding area calculation unit screens the structural ray negatives of each welding subarea which are incomplete in welding from the structural ray negatives of each welding subarea, the welding subareas which are incomplete in welding are sequentially marked as p11, p12,. plk,. puv, and according to the contour outline of the welding area in the structural ray negatives of each welding subarea which is incomplete in welding subarea and the contour of the welding subarea, creating a contour three-dimensional graph to obtain the area of a welding area and the area of an incomplete welding area, which are respectively marked as s 'and s';
the welding quality coefficient analysis unit is used for counting the welding quality coefficient of each welding incomplete sub-area according to the obtained welding area and the welding incomplete area in each welding incomplete sub-area, and sending the counted result to the building quality comprehensive analysis module;
and the building quality comprehensive analysis module receives the welding quality coefficients of the welding sub-regions with incomplete welding sent by the region welding quality analysis module and carries out building comprehensive quality coefficient statistics.
In some embodiments, the unmanned aerial vehicle further comprises a GPS positioning module, wherein the GPS positioning module comprises a first GPS positioning module and a second GPS positioning module, the first GPS positioning module is connected with the detection area dividing module, boundary lines of all sub-areas are obtained according to the divided sub-areas, boundary coordinates of all sub-areas are obtained by the first GPS positioning module according to the boundary lines of all sub-areas, and the boundary coordinates are sent to the unmanned aerial vehicle moving route adjusting module; and the second GPS positioning module is installed on the unmanned aerial vehicle and used for acquiring the position coordinate of the unmanned aerial vehicle in the annular flight detection process and sending the position coordinate to the unmanned aerial vehicle moving route adjusting module.
In some embodiments, the unmanned aerial vehicle movement path adjusting module is respectively connected with the first GPS positioning module and the second GPS positioning module, receives the boundary coordinates of each sub-region sent by the first GPS positioning module, receives the position coordinates of the unmanned aerial vehicle in the circular flight detection process sent by the second GPS positioning module, compares the received boundary coordinates of each sub-region with the position coordinates of the unmanned aerial vehicle in the circular flight detection process one by one according to the numbering sequence of the sub-region, and directly performs X-ray detection on the sub-region if the flight position coordinates of the unmanned aerial vehicle are within the sub-region boundary position coordinates at this time; and if the flight position coordinate of the unmanned aerial vehicle is not in the corresponding sub-area boundary position coordinate, performing route navigation according to the flight position coordinate of the unmanned aerial vehicle and the corresponding sub-area boundary position coordinate at the moment to obtain an optimal navigation route, and sending the optimal navigation route to the unmanned aerial vehicle.
In some embodiments, the unmanned aerial vehicle is connected with the unmanned aerial vehicle movement route adjusting module, receives the optimal navigation route sent by the unmanned aerial vehicle movement route adjusting module, and flies to the corresponding sub-area boundary position coordinates from the flight position at this time according to the optimal navigation route, so as to perform X-ray detection on the sub-area.
In some embodiments, the device further comprises a region area counting module which is connected with the detection region dividing module, calculates the surface area of the hemispherical steel structure according to the sphere radius of the hemispherical steel structure, and counts the area of the sub-regions according to the number of the sub-regions divided by the detection region dividing module.
In some embodiments, the sub-region area is calculated by
Wherein R is sphere radius, and K is the number of divided subregions.
In some embodiments, the welding quality coefficient of each welding incomplete welding subarea is calculated by
ξlkWelding quality coefficient, s, of a welding subregion represented as plk-th weld incompletelk"area of incomplete welding region in incomplete welding sub-region denoted as plk-th welding, slk' weld zone area in sub-area of weld represented as incomplete weld plk-th, slkIndicated as the area of the incomplete sub-area of the plk-th weld.
In some embodiments, the building comprehensive quality coefficient is calculated by the formula
The invention has the beneficial effects that:
(1) the invention divides the surface area of the semispherical steel structure building engineering by the detection route setting module and the detection area dividing module, sets the detection flight route of the unmanned aerial vehicle, meanwhile, an X-ray detector carried by the unmanned aerial vehicle is used for carrying out X-ray detection on each sub-area which flies through, a welding quality analysis module is combined to obtain the welding quality of the welding sub-area according to the X-ray detection result, further obtaining the comprehensive quality coefficient of the building, realizing the quick and effective quality detection of the semispherical steel structure building engineering, shortening the detection period, having the characteristics of simple operation and high intelligent degree, and the detection density is high, the surface of the whole semispherical steel structure constructional engineering can be comprehensively detected, meanwhile, the obtained comprehensive quality coefficient of the building can visually reflect the quality of the hemispherical steel structure building, and the quality detection requirement on the hemispherical steel structure building engineering is greatly met.
(2) According to the invention, the first GPS positioning module and the second GPS positioning module are arranged to respectively position each partitioned sub-area boundary and the geographical position of unmanned aerial vehicle flight detection, the positioning information acquired by the two GPS positioning modules is compared by combining with the unmanned aerial vehicle moving route adjusting module, and meanwhile, the optimal navigation route is acquired for the unmanned aerial vehicle which is not in the position coordinate of the corresponding sub-area boundary, so that the unmanned aerial vehicle flight detection position can be adjusted to the corresponding sub-area position in real time, the situation that the position of the unmanned aerial vehicle during flight cannot be acquired is avoided, and further the X-ray detector cannot be controlled to detect the partitioned sub-areas.
(3) The invention detects the construction engineering quality of the semispherical steel structure by utilizing the characteristics of high detection efficiency, high detection precision and no damage of an X-ray detection method, does not damage the construction engineering surface in the detection process, improves the detection accuracy and further ensures the safety of the building.
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 block diagram of the system of the present invention;
FIG. 2 is a block diagram of a regional weld quality analysis module of the present invention;
fig. 3 is a schematic diagram illustrating the detection area division of the semispherical steel structure constructional engineering of the present invention.
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.
Referring to fig. 1-3, an intelligent detection system for steel structure construction engineering quality based on machine vision comprises a detection route setting module, a detection area dividing module, an area statistic module, an unmanned aerial vehicle, an area X-ray detection module, a first GPS positioning module, a second GPS positioning module, an unmanned aerial vehicle moving route adjusting module, a radiographic film marking module, a radiographic film processing module, an area welding quality analyzing module and a building quality comprehensive analyzing module, wherein the detection route setting module is connected with the detection area dividing module, the detection area dividing module is respectively connected with the first GPS positioning module and the area statistic module, the unmanned aerial vehicle moving route adjusting module is respectively connected with the first GPS positioning module and the second GPS positioning module, and the unmanned aerial vehicle is respectively connected with the second GPS positioning module, the detection route setting module, the unmanned aerial vehicle moving route adjusting module and the area X-ray detection module, the ray film marking module is connected with the regional X-ray detection module, the ray film processing module is connected with the ray film marking module, the regional welding quality analysis module is respectively connected with the ray film processing module and the regional area statistics module, and the building quality comprehensive analysis module is connected with the regional welding quality analysis module.
The detection route setting module is used for setting a detection route for carrying out flight detection on the semispherical steel structure building engineering through the unmanned aerial vehicle, and the setting step of the detection route comprises the following steps:
s1: dividing the radius length of the hemispherical steel structure building engineering from a vertex A to a sphere center O into a plurality of radius sections according to a preset length interval, taking a node where adjacent radius sections are intersected as a position node, so as to obtain a plurality of position nodes on the radius length, and marking each position node according to the sequence from the vertex of the hemispherical structure to the sphere center, wherein the position nodes are marked as 1,2,... i,... n;
s2: respectively taking each position node as a center, and making a horizontal straight line, wherein each horizontal straight line is respectively intersected with the hemispherical steel structure at two intersection points;
s3: and taking each position node as a circle center, taking the distance from each position node to a corresponding intersection point of the hemispherical steel structure as a radius to form a circle, obtaining a plurality of circles, taking the circumferential track of each circle as a flight detection route of the unmanned aerial vehicle, numbering the flight detection routes according to the circle center mark number sequence corresponding to the circle, and marking the flight detection routes as c1, c2, i.
According to the invention, the unmanned aerial vehicle is used for detection, so that a large amount of manpower detection cost is reduced, and meanwhile, the annular flight detection route of the unmanned aerial vehicle is set according to the shape characteristics of the hemispherical steel structure constructional engineering, so that the unmanned aerial vehicle can be attached to the surface of the constructional engineering in real time in the flight process and can detect the surface of the engineering.
The detection area dividing module is used for dividing the circumferential angle of the top of the hemisphere of the hemispherical steel structure building engineering by 360 degrees according to a preset angle, taking the vertex A of the hemisphere as a starting point to form a plurality of arcs, taking the angle between the arcs as a set angle dividing degree, and respectively intersecting the plurality of arcs with the bottom of the hemisphere, wherein the obtained arcs are marked according to a preset sequence and are sequentially marked as a1, a2,. aj,. am;
meanwhile, the detection area dividing module divides each obtained arc and each circumference obtained by the detection route setting module into intersection, the intersection line of each arc and each circumference divides the whole hemispherical steel structure surface area into a plurality of sub-areas which are connected with each other and have the same area, each sub-area is respectively marked as p11, p12,. pij,. once. pmn according to the circumference mark number and the arc mark number of each sub-area intersection, and the number of each divided sub-area is counted and sent to the area counting module.
The region area statistic module is used for calculating the area according to the hemisphereThe sphere radius of the steel structure is calculated, the surface area of the hemispherical steel structure is calculated, and the area of the subarea is counted according to the number of the subareas divided by the detection area dividing module
In the formula, R represents the radius of a sphere, K represents the number of divided sub-regions, and the region area statistical module sends the statistical sub-region area to the region welding quality analysis module.
The preferred embodiment provides data support for the subsequent calculation of the welding quality coefficient of the welding subregion by calculating the area of the region.
The GPS positioning module comprises a first GPS positioning module and a second GPS positioning module, the first GPS positioning module acquires boundary lines of all sub-regions according to the divided sub-regions, obtains boundary coordinates of all sub-regions by using the first GPS positioning module according to the boundary lines of all sub-regions, and sends the boundary coordinates to the unmanned aerial vehicle moving route adjusting module; and the second GPS positioning module is installed on the unmanned aerial vehicle and used for acquiring the position coordinate of the unmanned aerial vehicle in the annular flight detection process and sending the position coordinate to the unmanned aerial vehicle moving route adjusting module.
The unmanned aerial vehicle moving route adjusting module is used for receiving boundary coordinates of each sub-area sent by the first GPS positioning module, receiving position coordinates of the unmanned aerial vehicle in the annular flight detection process sent by the second GPS positioning module, comparing the received boundary coordinates of each sub-area with the position coordinates of the unmanned aerial vehicle in the annular flight detection process one by one according to the numbering sequence of the sub-areas, and directly carrying out X-ray detection on the sub-area if the flight position coordinates of the unmanned aerial vehicle are in the boundary position coordinates of the sub-area at the moment; and if the flight position coordinate of the unmanned aerial vehicle is not in the corresponding sub-area boundary position coordinate, performing route navigation according to the flight position coordinate of the unmanned aerial vehicle and the corresponding sub-area boundary position coordinate at the moment to obtain an optimal navigation route, and sending the optimal navigation route to the unmanned aerial vehicle.
This preferred embodiment is through setting up first GPS orientation module and second GPS orientation module and respectively fix a position each subregion border of division and unmanned aerial vehicle flight detection's geographical position and fix a position, and combine unmanned aerial vehicle to remove the route adjustment module and compare the locating information that two GPS orientation modules acquireed, obtain the best navigation route to the unmanned aerial vehicle not in corresponding subregion border position coordinate simultaneously, can adjust unmanned aerial vehicle flight detection position in the subregion position that corresponds in real time, avoid unable position of acquireing unmanned aerial vehicle when flying, and then unable control X ray detection instrument detects the subregion of division, the best navigation route that its acquireed provides the route support for adjusting unmanned aerial vehicle flight position to corresponding subregion border position coordinate at the back, and unmanned aerial vehicle flight route adjustment speed has been improved.
The unmanned aerial vehicle receives the optimal navigation route sent by the unmanned aerial vehicle moving route adjusting module and flies to the corresponding sub-area boundary position coordinate from the time to the optimal navigation route according to the flying position so as to perform X-ray detection on the sub-area.
The regional X-ray detection module is used for carrying out X-ray irradiation on each subregion that unmanned aerial vehicle flies through the X-ray detection instrument that carries on the unmanned aerial vehicle when utilizing unmanned aerial vehicle to fly at each detection route of setting for, and detection density is big, can carry out comprehensive detection to whole hemisphere steel construction building engineering surface, has avoided the tradition to utilize the total powerstation to observe the shortcoming that partial steel construction welding position's detection density is not enough, and the ray that the X-ray detection instrument launched penetrates subregion steel construction building engineering surface and carries out the video picture record through the ray film, obtains each subregion structure ray film.
According to the preferred embodiment, the detection method for detecting the quality of the semispherical steel structure building engineering is characterized by high detection efficiency, high detection precision and no damage, the surface of the building engineering is not damaged in the detection process, the detection accuracy and efficiency are improved, and the detection period is shortened.
The ray film marking module is used for marking the obtained ray films of the structures of the sub-regions according to the serial numbers of the sub-regions and sending the marked ray films of the structures of the sub-regions to the ray film processing module.
In the preferred embodiment, the obtained ray films of the structure of each sub-region are marked according to the serial numbers of each sub-region, so that the condition that the obtained ray films of the structure of the sub-region and the divided sub-regions are not signed and subsequent welding quality coefficient calculation is difficult to perform is avoided.
And the ray negative film processing module is used for processing the received marked ray negative films of the sub-area structures in a darkroom to obtain the ray negative films of the sub-area structures, inputting the obtained ray negative films of the sub-area structures into a computer, performing denoising, edge detection and image enhancement preprocessing operations by using digital image processing software to obtain the processed ray negative films of the sub-area structures, and sending the processed ray negative films of the sub-area structures to the area welding quality analysis module.
The area welding quality analysis module receives the processed ray negatives of each sub-area structure sent by the ray negative processing module and receives the sub-area sent by the area counting module to analyze the quality of the building structure, and the building structure quality analysis module comprises a welding sub-area counting unit, an area welding area calculating unit and a welding quality coefficient analysis unit;
and the ray negative gray scale counting unit counts the ray negative of the sub-region structure with steel structure welding in each sub-region structure ray negative according to the characteristic that the blank region, the steel structure and the steel structure welding region in each sub-region have different transmission intensities to the X-ray and reflect the different gray scales displayed on the ray negative, and the ray negative is marked as a welding sub-region.
The area welding area calculation unit amplifies the counted structural ray negatives of each welding subarea, performs image segmentation on the structural ray negatives of each welding subarea according to a steel structure and a welding point distribution area in the welding subarea, reserves the structural ray negatives of the steel structure and the welding area, focuses the structural ray negatives of each welding subarea and the welding point distribution area on the welding area, checks whether gray values of all parts of the welding area are consistent, if the gray values are inconsistent, indicates that the welding area is incomplete, the area welding area calculation unit screens the structural ray negatives of each welding subarea which are incomplete in welding from the structural ray negatives of each welding subarea, the welding subareas which are incomplete in welding are sequentially marked as p11, p12,. plk,. puv, and according to the contour outline of the welding area in the structural ray negatives of each welding subarea which is incomplete in welding subarea and the contour of the welding subarea, creating a contour three-dimensional graph to obtain the area of a welding area and the area of an incomplete welding area, which are respectively marked as s 'and s';
the welding quality coefficient analysis unit is used for counting the welding quality coefficients of the incomplete welding subregions according to the obtained welding region area, the incomplete welding region area and the obtained subregion area in the incomplete welding subregions
ξlkWelding quality coefficient, s, of a welding subregion represented as plk-th weld incompletelk"area of incomplete welding region in incomplete welding sub-region denoted as plk-th welding, slk' weld zone area in sub-area of weld represented as incomplete weld plk-th, slkAnd (4) representing the area of the sub-area with incomplete plk-th welding, and sending a statistical result to a building quality comprehensive analysis module.
The building quality comprehensive analysis module receives the welding quality coefficients of all welding incomplete welding subareas sent by the area welding quality analysis module and counts the building comprehensive quality coefficients
Xi in the formulalkWelding quality coefficient, s, of a welding subregion represented as plk-th weld incompletelk"area of incomplete welding region in incomplete welding sub-region denoted as plk-th welding, slk' weld zone area in sub-area of weld represented as incomplete weld plk-th, slkThe area of the incomplete weld sub-region, denoted as plk-th weld, and R, the radius of the sphere. The comprehensive quality coefficient of the building obtained by the comprehensive analysis module of the building quality realizes the quantification of the comprehensive quality of the construction engineering of the semispherical steel structure, so that related personnel can intuitively understand the quality of the semispherical steel structure building, namely a steel knotAnd providing related reference basis for quality management of construction engineering.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (6)
1. The utility model provides a steel construction building engineering quality intellectual detection system based on machine vision which characterized in that: the system comprises a detection route setting module, a detection area dividing module, an unmanned aerial vehicle, an area X-ray detection module, a radiographic film marking module, a radiographic film processing module, an area welding quality analysis module and a building quality comprehensive analysis module, wherein the detection route setting module is connected with the detection area dividing module;
the detection route setting module is used for setting a detection route for carrying out flight detection on the semispherical steel structure building engineering through an unmanned aerial vehicle, and the setting step of the detection route comprises the following steps:
s1: dividing the radius length of the hemispherical steel structure building engineering from a vertex A to a sphere center O into a plurality of radius sections according to a preset length interval, taking a node where adjacent radius sections are intersected as a position node, so as to obtain a plurality of position nodes on the radius length, and marking each position node according to the sequence from the vertex of the hemispherical structure to the sphere center, wherein the position nodes are marked as 1,2,... i,... n;
s2: respectively taking each position node as a center, and making a horizontal straight line, wherein each horizontal straight line is respectively intersected with the hemispherical steel structure at two intersection points;
s3: taking each position node as a circle center, taking the distance from each position node to an intersection point of the corresponding hemispherical steel structure as a radius to form a circle, obtaining a plurality of circles, taking the circumferential track of each circle as a flight detection route of the unmanned aerial vehicle, numbering the flight detection routes according to the circle center mark sequence corresponding to the circle, and marking the routes as c1, c2,. till.. ci,. till.. cn;
the detection area dividing module is used for dividing the circumferential angle of 360 degrees at the top of a hemisphere of the hemispherical steel structure building engineering according to a preset angle, making a plurality of arcs by taking the top point A of the hemisphere as a starting point, dividing the degrees by taking the angle between the arcs as a set angle, and intersecting the made arcs with the bottom of the hemisphere structure respectively, wherein the obtained arcs are marked according to a preset sequence and are marked as a1, a2, a.aj.a.am;
meanwhile, the detection area dividing module is used for intersecting the obtained arcs and the obtained circumferences obtained by the detection route setting module, the intersecting lines of the arcs and the circumferences divide the surface area of the whole hemispherical steel structure into a plurality of sub-areas which are connected with each other and have the same area, and the sub-areas are respectively marked as p11, p12,. till.. pij,. till.. pmn according to the circumferential marks and the arc marks which are intersected with the sub-areas;
the regional X-ray detection module is used for carrying out X-ray irradiation on each sub-region through which the unmanned aerial vehicle flies by using an X-ray detector carried on the unmanned aerial vehicle when the unmanned aerial vehicle flies in each set detection route, and the emitted rays penetrate through the surface of the steel structure construction engineering of the sub-region to be imaged and recorded through radiographic films so as to obtain the radiographic films of the structures of the sub-regions;
the radiographic film marking module is used for marking the obtained radiographic films of the sub-region structures according to the serial numbers of the sub-regions and sending the marked radiographic films of the sub-region structures to the radiographic film processing module;
the ray negative film processing module is used for processing the received marked ray films of the sub-region structures in a darkroom to obtain the ray negative films of the sub-region structures, inputting the obtained ray negative films of the sub-region structures into a computer, performing denoising, edge detection and image enhancement preprocessing operations by using digital image processing software to obtain the processed ray negative films of the sub-region structures, and sending the processed ray negative films of the sub-region structures to the region welding quality analysis module;
the area welding quality analysis module is used for carrying out building structure quality analysis on the received processed ray negative of each sub-area structure, and comprises a welding sub-area counting unit, a region welding area calculating unit and a welding quality coefficient analysis unit;
the ray negative gray scale counting unit counts the ray negative of the sub-area structure with steel structure welding in each sub-area structure ray negative according to the characteristic that the blank area, the steel structure and the steel structure welding area in each sub-area have different transmission intensity to the X-ray and reflect the different gray scales displayed on the ray negative, and the ray negative is marked as a welding sub-area;
the area welding area calculation unit amplifies the counted structural ray negatives of each welding subarea, performs image segmentation on the structural ray negatives of each welding subarea according to a steel structure and a welding point distribution area in the welding subarea, reserves the structural ray negatives of the steel structure and the welding area, focuses the structural ray negatives of each welding subarea and the welding point distribution area on the welding area, checks whether gray values of all parts of the welding area are consistent, if the gray values are inconsistent, indicates that the welding area is incomplete, the area welding area calculation unit screens the structural ray negatives of each welding subarea which are incomplete in welding from the structural ray negatives of each welding subarea, the welding subareas which are incomplete in welding are sequentially marked as p11, p12,. plk,. puv, and according to the contour outline of the welding area in the structural ray negatives of each welding subarea which is incomplete in welding subarea and the contour of the welding subarea, creating a contour three-dimensional graph to obtain the area of a welding area and the area of an incomplete welding area, which are respectively marked as s 'and s';
the welding quality coefficient analysis unit is used for counting the welding quality coefficient of each welding incomplete sub-area according to the obtained welding area and the welding incomplete area in each welding incomplete sub-area, and sending the counted result to the building quality comprehensive analysis module;
the building quality comprehensive analysis module receives the welding quality coefficients of all welding incomplete sub-areas sent by the area welding quality analysis module and carries out building comprehensive quality coefficient statistics;
the calculation formula of the welding quality coefficient of each welding incomplete welding subarea is
ξlkWelding quality coefficient, s, of a welding subregion represented as plk-th weld incompletelk"area of incomplete welding region in incomplete welding sub-region denoted as plk-th welding, slk' weld zone area in sub-area of weld represented as incomplete weld plk-th, slkArea of the sub-area indicated as incomplete plk-th weld;
the calculation formula of the building comprehensive quality coefficient is
2. The steel structure construction engineering quality intelligent detection system based on machine vision according to claim 1, characterized in that: the unmanned aerial vehicle positioning system is characterized by further comprising a GPS positioning module, wherein the GPS positioning module comprises a first GPS positioning module and a second GPS positioning module, the first GPS positioning module is connected with the detection area dividing module, boundary lines of all sub-areas are obtained according to the divided sub-areas, boundary coordinates of all sub-areas are obtained by the first GPS positioning module according to the boundary lines of all sub-areas, and the boundary coordinates are sent to the unmanned aerial vehicle moving route adjusting module; and the second GPS positioning module is installed on the unmanned aerial vehicle and used for acquiring the position coordinate of the unmanned aerial vehicle in the annular flight detection process and sending the position coordinate to the unmanned aerial vehicle moving route adjusting module.
3. The steel structure construction engineering quality intelligent detection system based on machine vision according to claim 2, characterized in that: the unmanned aerial vehicle moving route adjusting module is respectively connected with the first GPS positioning module and the second GPS positioning module, receives the boundary coordinates of each sub-area sent by the first GPS positioning module, receives the position coordinates of the unmanned aerial vehicle in the annular flight detection process sent by the second GPS positioning module, compares the received boundary coordinates of each sub-area with the position coordinates of the unmanned aerial vehicle in the annular flight detection process one by one according to the number sequence of the sub-areas, and directly performs X-ray detection on the sub-area if the flight position coordinates of the unmanned aerial vehicle are within the sub-area boundary position coordinates at the moment; and if the flight position coordinate of the unmanned aerial vehicle is not in the corresponding sub-area boundary position coordinate, performing route navigation according to the flight position coordinate of the unmanned aerial vehicle and the corresponding sub-area boundary position coordinate at the moment to obtain an optimal navigation route, and sending the optimal navigation route to the unmanned aerial vehicle.
4. The steel structure construction engineering quality intelligent detection system based on machine vision according to claim 3, characterized in that: the unmanned aerial vehicle is connected with the unmanned aerial vehicle moving route adjusting module, receives the optimal navigation route sent by the unmanned aerial vehicle moving route adjusting module, and flies to the corresponding sub-area boundary position coordinates from the moment according to the optimal navigation route so as to perform X-ray detection on the sub-area.
5. The steel structure construction engineering quality intelligent detection system based on machine vision according to claim 1, characterized in that: the device also comprises a region area counting module which is connected with the detection region dividing module, the surface area of the hemispherical steel structure is calculated according to the radius of the sphere of the hemispherical steel structure, and the area of the sub-regions is counted according to the number of the sub-regions divided by the detection region dividing module.
6. The steel structure construction engineering quality intelligent detection system based on machine vision according to claim 5, characterized in that: the calculation method of the area of the subarea comprises the following steps
Wherein R is sphere radius, and K is the number of divided subregions.
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