CN113189111B - Visual detection system and detection method for appearance defects of steel structure net rack - Google Patents
Visual detection system and detection method for appearance defects of steel structure net rack Download PDFInfo
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- CN113189111B CN113189111B CN202110462990.0A CN202110462990A CN113189111B CN 113189111 B CN113189111 B CN 113189111B CN 202110462990 A CN202110462990 A CN 202110462990A CN 113189111 B CN113189111 B CN 113189111B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8883—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges involving the calculation of gauges, generating models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Abstract
[0001] The invention belongs to the technical field of building engineering safety detection, and discloses a visual detection system and a visual detection method for appearance defects of a steel structure net rack. The invention only needs to add the cheap walkway plate and the moving device, has low cost, can neglect the influence on the stress of the structure and has simple modification; the detection system runs in the space of the net rack, and the design of the suspension type walkway plate and the moving device is convenient for flexibly changing the detection route; the invention is based on the computer vision technology, and is combined with the image acquisition mechanism, thereby realizing the rapidity, automation and accuracy of the evaluation of the condition of the steel structure net rack.
Description
Technical Field
The invention belongs to the technical field of constructional engineering safety detection, and particularly relates to a visual detection system and a visual detection method for appearance defects of a steel structure net rack.
Background
In recent years, steel structure net frames are widely applied to large-span structures such as public venues, industrial plants and the like by virtue of excellent span and low cost, but the steel structure net frames face the problems of difficult and expensive quality damage monitoring. The damage of the steel structure net rack comprises cracks, crack propagation, corrosion, bolt looseness and the like. The damage detection mode of the traditional steel structure net rack has two types, one type is manual inspection, and a trained inspector refers to relevant specifications to carry out visual inspection. However, such inspections have the disadvantage of being time consuming, laborious, expensive and dangerous. The other is sensor monitoring, and the sensor detection can quantitatively know the structural state by measuring physical quantities such as acceleration, strain, displacement and the like, but the spatial resolution is limited and a dense sensor array needs to be installed.
Computer vision technology analysis is the main direction of civil engineering improvement detection technology in recent years, so that the computer vision technology is necessary to be applied to defect detection of steel structure net racks, the detection cost is reduced, and the detection efficiency and accuracy are improved.
Disclosure of Invention
The invention aims to provide a visual detection system and a visual detection method for the appearance defects of a steel structure net rack, aiming at solving the problems of complex implementation, higher cost and limited accuracy of the existing detection system.
The technical content of the invention is as follows:
a visual inspection system for appearance defects of a steel structure net rack comprises a walkway plate mechanism, a moving device, an image acquisition mechanism and an image processing mechanism;
the walkway plate mechanism is detachably arranged below the steel structure net rack;
the moving device can be controlled to walk on the walkway plate mechanism;
the image acquisition mechanism is arranged on the mobile device and can acquire images of the appearance of the steel structure net rack in an all-dimensional manner;
the image processing mechanism comprises a computer and system software thereof, and AI identification is carried out on the acquired image through a computer vision technology to obtain a detection result.
In a particular embodiment, the walkway plate mechanism is mounted by a gondola.
In a specific embodiment, the hanging flower basket is anomalous rectangular frame, and the upper frame strip of frame is sunken to the middle part, sunken department be used for with steel pipe laminating of steel structure rack, image acquisition mechanism includes mounting bracket and camera, the mounting bracket with the mobile device is connected, the mounting bracket is convex and highly be less than the hanging flower basket after combining with the mobile device, mounting bracket and one section distance in steel pipe interval form the cladding to the steel pipe, and the camera distributes can be shot completely steel pipe circumference on the mounting bracket.
Further, the camera includes three at least, one is located arc-shaped mounting bracket bottom center, and two symmetries set up on the mounting bracket and are higher than the sunken department of hanging flower basket.
In a specific embodiment, the image capturing mechanism further comprises a light source, the light source is connected with a light source controller, and the light source is used for providing light source supplement for the camera under the condition of poor light.
In one embodiment, the moving device is a remotely controlled cart.
In one embodiment, the lower frame strip of the rectangular frame is used as a support, and the walkway plate is laid on the lower frame strip.
The invention also discloses a visual detection method for the appearance defects of the steel structure net rack by using the visual detection system for the appearance defects of the steel structure net rack, which comprises the following steps:
step 1: mounting the walkway plate below a steel structure net rack of the target detection section;
step 2: controlling a mobile device provided with an image acquisition mechanism to move on a walkway plate;
and step 3: controlling an image acquisition mechanism to carry out omnibearing shooting and image acquisition relative to the appearance of a steel pipe of the steel structure net rack during traveling;
and 4, step 4: after the image is intelligently processed by the image processing mechanism, the type of the appearance defect of the steel structure net rack is identified, and a detection result is output.
Further, the method also comprises a key inspection step, wherein the mobile device is controlled to a preset position to acquire the image at the position again according to the position of the suspicious defect in the detection result output in the step 4, and the defect judgment is made through a manual work or an image processing mechanism.
Due to the adoption of the technical scheme, the invention has the advantages that:
1) Compared with the expensive labor cost and intensive sensor arrangement in the prior art, the scheme only needs to additionally install the low-cost walkway plate and the mobile device, and the cost is low;
2) Because the dead weight of the walkway plate is very small, the scheme has negligible influence on the stress of the structure, only simple and easy installation is needed, and the operation is simple;
3) The detection system runs in the space of the net rack, and the design of the suspended walkway plate and the moving device is convenient for flexibly changing the detection route;
4) By designing the structures of the hanging basket and the mounting frame, the comprehensiveness of the shooting of the camera is ensured under the condition of reducing the detection cost as much as possible, so that the dead angle of detection is reduced;
5) The invention is based on the computer vision technology, and is combined with the image acquisition mechanism, thereby realizing the rapidity and the automation of the condition evaluation of the steel structure net rack, realizing a new damage detection method, reducing the manual intervention, reducing the cost, improving the spatial resolution, and promoting and realizing the automatic state evaluation of the steel structure net rack.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of a visual inspection system for the appearance defects of the steel structure net rack of the invention;
the attached drawings illustrate a hanging basket 1, a mounting frame 2, a camera 3, a moving device 4 and a steel pipe 5.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Example 1
A visual inspection system for appearance defects of a steel structure net rack comprises a walkway plate mechanism, a moving device, an image acquisition mechanism and an image processing mechanism; the walkway plate mechanism is detachably mounted below the steel structure net rack, and is used for walking of the mobile device, specifically, the walkway plate mechanism can be preferably mounted through a hanging basket which is hung on a steel pipe, the walkway plate can be directly laid in a space with a support at the lower part of the hanging basket, and can also be mounted with the hanging basket through a hook and the like, and the mounting mode is simple and convenient to mount and dismount in the later period, the steel structure net rack does not need to be modified, the implementation is more convenient, the self-weight load of the walkway plate is determined by the size of the walkway plate, and the determination can be carried out according to the redundant bearing capacity measured and calculated by the steel structure net rack; the mobile device can automatically walk on the walkway plate mechanism, and particularly can be a remote control trolley which can be controlled to move on the walkway plate at a certain speed through a terminal; the image acquisition mechanism is arranged on the mobile device and can acquire images of the appearance defects of the steel structure net rack, the acquisition of the images needs to be ensured to be completely covered, and the image acquisition mechanism can be ensured by controlling the running speed of the mobile device, the shooting angle and the shooting frequency of the image acquisition mechanism; the image processing mechanism comprises a computer and system software, and AI identification is carried out on the acquired image through a computer vision technology to obtain a detection result.
Further, as shown in fig. 1, hanging flower basket 1 is anomalous rectangular frame, and the upper frame strip of frame is sunken to the middle part, sunken department be used for with the steel pipe of steel structure rack is laminated, image acquisition mechanism includes mounting bracket 2 and camera 3, mounting bracket 2 is arc and highly is less than hanging flower basket 1 after combining with mobile device 4, mounting bracket 2 with mobile device 4 is connected to form the cladding to steel pipe 5 with 5 one section distances in steel pipe interval, camera 3 distributes can shoot 5 circumference of steel pipe completely on the mounting bracket 2. The mounting frame 2 is designed to be arc-shaped and coats the steel pipe 5, so that the camera 3 can shoot in all directions after being mounted on the inner side, the overall height of the mounting frame 2 and the mobile device 4 is lower than that of the hanging basket 1, the hanging basket 1 is irregularly designed, the middle part of the hanging basket 1 is sunken downwards, the two sides of the sunken part are provided with surplus spaces for allowing the mounting frame 2 to pass through, if the hanging basket 1 is designed to be a conventional rectangular frame, the height of the camera is certainly lower than that of the hanging basket by the mounting frame 2, and if the height of the camera 3 is too low, the upper surface of the steel pipe 5 cannot be shot effectively.
Furthermore, the cameras include three at least, and one is located circular arc mounting bracket bottom center, and two symmetries set up on the mounting bracket and are higher than the sunken department of hanging flower basket. Three cameras are installed in proper positions, and omnidirectional shooting can be guaranteed to the steel pipe. Use the camera to get 1/3 CDD collocation 4mm camera focus as the example, the irradiation angle is 69.9, be close to the camera irradiation range for circular can deduce by the mathematical relationship that irradiation range is the biggest just when the camera steel pipe is apart from distance being r/sin 34.95-r, wherein r is the steel pipe radius, in addition both ends camera slightly be higher than the steel pipe upper surface can.
Furthermore, the image acquisition mechanism still includes the light source, the light source is connected with light source controller, the light source is used for providing the light source for the camera under the poor condition of light and supplyes. Especially, the camera positioned at the center of the bottom of the arc-shaped mounting frame is poor in light shielding by the upper steel pipe, and the light source controller is used for supplying power to the light source, controlling the brightness of the light source and controlling the illumination state of the light source, so that image acquisition is clearer.
Furthermore, the lower frame strip of the rectangular frame is used as a support, and the walkway plate is laid on the lower frame strip.
The visual inspection system for the appearance defects of the steel structure net rack has the following working principle: the method comprises the steps of adopting a camera with fast imaging and fidelity to shoot the surface of a steel structure net rack, converting the shot surface into an image signal, converting the image signal into a digital signal, transmitting the digital signal to an image processing mechanism, carrying out AI identification on information such as pixel distribution, brightness and color of a target image by the image processing mechanism, specifically carrying out picture adjustment or parameter compensation based on a camera shooting angle by using existing commercial software such as matlab and the like, classifying defects identified in the picture by using a convolutional neural network, mainly comprising defect types such as cracks, bolt looseness, corrosion and the like, and then carrying out fuzzy identification on loss according to a classification result.
The invention also discloses a visual detection method for the appearance defects of the steel structure net rack by using the visual detection system for the appearance defects of the steel structure net rack, which comprises the following steps:
step 1: installing a walkway plate below a steel structure net rack of the target detection section;
step 2: controlling a mobile device provided with an image acquisition mechanism to move on a walkway plate, and determining the moving speed of the mobile device according to the focusing speed of a camera so as to ensure the effectiveness and comprehensiveness of shooting, wherein preferably, the speed control degree of a trolley is lower than 5m/min;
and step 3: the image acquisition mechanism is controlled to shoot and acquire images in all directions relative to the appearance of the steel pipe of the steel structure net rack during traveling, and the background system can customize and set the running path of the trolley and the shooting frequency of the camera so as to ensure the completion of shooting;
and 4, step 4: after the image is intelligently processed by the image processing mechanism, the type of the appearance defect of the steel structure net rack is identified, and a detection result is output.
Furthermore, after the rapid inspection general survey, the suspicious damage defect points can be subjected to key exploration. Therefore, the detection method further comprises a key inspection step, wherein the mobile device is controlled to move to a preset position to acquire the image at the position again according to the position of the suspicious defect output in the step 4, and defect judgment is made through a manual or image processing mechanism.
Compared with the prior art, the invention has the following advantages that compared with the expensive labor cost and the intensive sensor arrangement in the prior art, the scheme only needs to additionally install the low-cost walkway plate and a small amount of moving devices, and the cost is low; because the dead weight of the walkway plate is very small, the scheme has negligible influence on the stress of the structure, only simple and easy installation is needed, and the operation is simple; the detection system runs in the space of the net rack, the design of the suspended walkway plate and the moving device is convenient for flexibly changing the detection route, and compared with the sliding chute technology, the detection system can effectively detect the ball nodes; the invention is based on the computer vision technology, and is combined with the image acquisition mechanism, thereby realizing the rapidity and the automation of the condition evaluation of the steel structure net rack, realizing a new damage detection method, reducing the manual intervention, reducing the cost, improving the spatial resolution, and promoting and realizing the automatic state evaluation of the steel structure net rack.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A visual inspection system for appearance defects of a steel structure net rack is characterized by comprising a walkway plate mechanism, a moving device, an image acquisition mechanism and an image processing mechanism;
the walkway plate mechanism is detachably arranged below the steel structure net rack;
the size of the walkway plate determines the dead weight load of the walkway plate, and the dead weight load is determined according to the redundant bearing capacity measured and calculated by the steel structure net rack;
the moving device can be controlled to walk on the walkway plate mechanism;
the image acquisition mechanism is arranged on the mobile device and can acquire images of the appearance of the steel structure net rack in all directions;
the image processing mechanism comprises a computer and system software thereof, and the detection result is obtained after AI identification is carried out on the acquired image through a computer vision technology;
the walkway plate mechanism is installed through a hanging basket;
the hanging basket is an irregular rectangular frame, an upper frame strip of the frame is sunken towards the middle, the sunken part is used for being attached to a steel pipe of the steel structure net rack, the image acquisition mechanism comprises an installation frame and a camera, the installation frame is connected with the mobile device, the installation frame is arc-shaped, the height of the installation frame after being combined with the mobile device is lower than that of the hanging basket, the installation frame and the steel pipe are spaced by a certain distance and wrap the steel pipe, and the cameras are distributed on the installation frame and can completely shoot the steel pipe in the circumferential direction;
the cameras are at least three, one camera is positioned in the center of the bottom of the circular arc-shaped mounting frame, and the two cameras are symmetrically arranged on the mounting frame and are higher than the sunken parts of the hanging basket;
the integral height of the mounting frame and the mobile device is lower than that of the hanging basket, the hanging basket is irregularly designed, and the middle part of the hanging basket is downwards sunken, so that redundant spaces are reserved on two sides of the sunken part and the mounting frame can pass through the hanging basket;
the acquisition of the image needs to ensure complete coverage, and is ensured by controlling the running speed of the mobile device, the shooting angle and the shooting frequency of the image acquisition mechanism;
the camera takes 1/3 CDD and matches with a 4mm lens focal length, the irradiation angle is 69.9 degrees, the irradiation range of the camera is approximate to a circle, and the irradiation range is just the maximum when the distance between the steel pipe of the camera and the steel pipe of the camera is r/sin 34.95-r according to the mathematical relationship.
2. The visual inspection system for the appearance defects of the steel structure net rack according to claim 1, wherein the image acquisition mechanism further comprises a light source, the light source is connected with a light source controller, and the light source is used for providing light source supplement for a camera under the condition of poor light.
3. The visual inspection system for the appearance defects of the steel structure net racks according to claim 1, characterized in that the moving device is a remote control trolley.
4. The visual inspection system for the appearance defects of the steel structure net rack according to claim 1, wherein the lower frame strip of the rectangular frame is used as a support, and the walkway plate is laid on the lower frame strip.
5. A visual inspection method for the appearance defects of the steel structure net rack by using the visual inspection system for the appearance defects of the steel structure net rack as claimed in any one of claims 1 to 4 is characterized by comprising the following steps:
step 1: installing a walkway plate below a steel structure net rack of the target detection section;
step 2: controlling a mobile device provided with an image acquisition mechanism to move on a walkway plate;
and step 3: controlling an image acquisition mechanism to carry out omnibearing shooting and image acquisition relative to the appearance of the steel pipe of the steel structure net rack during traveling;
and 4, step 4: after the image is intelligently processed by the image processing mechanism, the type of the appearance defect of the steel structure net rack is identified, and a detection result is output.
6. The visual inspection method for the appearance defects of the steel structure net rack according to claim 5, characterized by further comprising a key inspection step, wherein the moving device is controlled to a preset position to acquire the image at the position again according to the position of the suspicious defects in the detection result output in the step 4, and the defect judgment is made manually or by an image processing mechanism.
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