CN113447079A - Bridge detecting system - Google Patents
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- CN113447079A CN113447079A CN202110726086.6A CN202110726086A CN113447079A CN 113447079 A CN113447079 A CN 113447079A CN 202110726086 A CN202110726086 A CN 202110726086A CN 113447079 A CN113447079 A CN 113447079A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention relates to a bridge detection system, which comprises a data acquisition subsystem, a digital wireless transmission subsystem, a monitoring center and an evaluation system which are sequentially connected, wherein the data acquisition system comprises a bridge vibration monitoring module, a bridge inhaul cable nondestructive testing module and a bridge crack detection module, the bridge vibration monitoring module is used for carrying out non-contact wireless real-time monitoring on a bridge low-frequency vibration signal, the bridge inhaul cable nondestructive testing module is used for carrying out nondestructive testing on defects on the surface of a bridge inhaul cable, and the bridge crack detection module is used for detecting cracks of a main beam and a bridge body. The data acquisition subsystem transmits the low-frequency vibration data of the bridge, the image data of the surface defects of the guy cable of the bridge and the image data of the cracks of the bridge to the monitoring center through the digital wireless transmission subsystem, and then the data are analyzed and stored by the monitoring center and transmitted to the evaluation system, and the evaluation system completes the decision and early warning on whether the bridge is maintained.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to a bridge detection system.
Background
As an important component of transportation, bridges are more and more concerned by people with the development of the transportation industry of China, the safety, the durability and the normal use function of the bridges. A cable-stayed bridge is a bridge, also called a diagonal tension bridge, which is a bridge with a main beam directly pulled on a bridge tower by a plurality of guys and is a structural system formed by combining a pressure-bearing tower, a pulled guy and a bent-bearing beam body. It can be seen as a multi-span elastically supported continuous beam with guy cables instead of buttresses. It can reduce the bending moment in the beam body, reduce the building height, lighten the structural weight and save materials. The cable-stayed bridge mainly comprises a cable tower, a main beam and a stay cable.
In the prior art, factors influencing a bridge are more, various diseases such as reduction of bearing capacity and structural damage of an active bridge are caused by human factors, long-term overload of vehicles, material degradation, natural disasters and the like, and timely and in-place management and maintenance are lacked. If the damage cannot be detected and maintained in time, the driving safety is influenced and the service life of the bridge is shortened if the damage is small, and the bridge is damaged and collapsed suddenly if the damage is large. Therefore, a set of intelligent online monitoring system for the bridge is established, and the damage of the bridge structure is found in time, which is particularly urgent.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a bridge detection system which can monitor the surface defects of a stay cable of a cable-stayed bridge, the surface cracks of a main beam and the vibration of a bridge body in real time so as to comprehensively master the safety conditions of construction and operation of the cable-stayed bridge, play a great role in bridge construction, daily maintenance, management and emergency treatment of emergencies, master the full life cycle state of the bridge and provide a decision basis for daily maintenance and management.
The above object of the present invention is achieved by the following technical solutions:
a bridge detection system comprises a data acquisition subsystem, a digital wireless transmission subsystem, a monitoring center and an evaluation system which are sequentially connected, wherein the data acquisition system comprises a bridge vibration monitoring module, a bridge inhaul cable nondestructive testing module and a bridge crack detection module, the bridge vibration monitoring module is used for carrying out non-contact wireless real-time monitoring on a bridge low-frequency vibration signal, the bridge inhaul cable nondestructive testing module is used for carrying out nondestructive testing on defects on the surface of a bridge inhaul cable, and the bridge crack detection module is used for detecting cracks of a main beam and a bridge body;
the data acquisition subsystem transmits the low-frequency vibration data of the bridge, the image data of the surface defects of the guy cable of the bridge and the image data of the cracks of the bridge to a monitoring center through the digital wireless transmission subsystem, and then the data are analyzed and stored by the monitoring center and transmitted to the evaluation system, and the evaluation system completes the decision and early warning on whether the bridge is maintained.
The present invention in a preferred example may be further configured to: the bridge vibration monitoring module comprises three monitoring box bodies, the three monitoring box bodies are respectively fixed in the middle and two ends of the surface of a bridge body, an object stage is arranged in each monitoring box body, a cantilever beam is vertically fixed on each object stage, a connecting rod parallel to each object stage is fixed at one end, away from each object stage, of each cantilever beam, and a metal sheet is fixed at one end, away from each cantilever beam, of each connecting rod;
a wireless monitoring node is arranged below the metal sheet, a damping sponge is arranged below the wireless monitoring node, the wireless monitoring node comprises a magnetoelectric sensor probe and an FPGA system, the magnetoelectric sensor probe comprises a planar spiral inductance sensor, a Pierce oscillating circuit, a voltage conversion circuit and a temperature sensor, and the planar spiral inductance sensor is arranged right below the metal sheet;
the FPGA system comprises a frequency acquisition module, a temperature acquisition module and an NIOS II soft core module, wherein the magnetoelectric sensor probe senses the relative displacement of a bridge body and a coil during vibration, the planar spiral inductive sensor transmits frequency data into the FPGA system, the frequency acquisition module measures the frequency and transmits the frequency data into the NIOS II soft core module for data processing, the temperature acquisition module acquires the real-time temperature data of the temperature sensor and transmits the real-time temperature data into the NIOS II soft core module for processing and then packaging the frequency data together, the final data is transmitted to the digital wireless transmission subsystem in a serial port mode, and the digital wireless transmission subsystem transmits the final data into the monitoring center.
The present invention in a preferred example may be further configured to: bridge cable nondestructive test module include the controller and respectively with defect image acquisition unit, the moving mechanism of crawling, the mechanism of spraying paint that the controller is connected, defect image acquisition unit with the mechanism of spraying paint is installed on the moving mechanism of crawling, the moving mechanism of crawling is used for regularly moving on the bridge cable, defect image acquisition unit with the bridge cable surface after the defect image acquisition transmission extremely handle in the controller, discernment and storage operation, the controller discernment feedback processing signal extremely behind the defect image signal the mechanism of spraying paint, by the mechanism of spraying paint is right the surperficial defect of bridge cable is sprayed paint and is handled.
The present invention in a preferred example may be further configured to: crawling moving mechanism includes collar, step motor and a plurality of cable locating wheel, the collar cover is established the outside of bridge cable, and is a plurality of the wire drawing locating wheel is installed the inboard of collar and rotation set up the surface of bridge cable, step motor sets up be used for the drive on the collar is in move on the bridge cable, step motor is connected with photoelectric encoder, photoelectric encoder with controller signal connection.
The present invention in a preferred example may be further configured to: the defect image acquisition unit include with four cameras that the controller is connected, four the camera is evenly fixed just shoot the end orientation on the collar the bridge cable sets up, the mechanism that sprays paint includes three spray gun, and is three the spray gun is evenly fixed just orientation in the collar the surface setting of bridge cable, be provided with in the spray gun with the solenoid valve that the controller is connected.
The present invention in a preferred example may be further configured to: bridge crack detection module includes a plurality of sliding seats, carousel and fixes biax electric jar on the carousel, the piston rod difference fixedly connected with telescopic link at biax electric jar both ends, the one end of one of them telescopic link is fixed with and is used for detecting the girder and the inside crack condition of pontic and generates the ultrasonic monitor of inside detection information, and the one end of another telescopic link is fixed with the camera that is used for gathering girder and the crack condition of pontic surface, be provided with the control box on the biax electric jar, the control box respectively with the sliding seat the carousel biax electric jar ultrasonic monitor and the camera is connected, the surface of girder and the bottom of pontic is provided with the slide rail, the sliding seat passes through the control box slides and sets up on the slide rail.
The present invention in a preferred example may be further configured to: an image processing module, an image splicing module and a crack information conversion module which are connected in sequence are arranged in the control box, the image processing module is respectively in data connection with the ultrasonic monitor and the camera, and the crack information conversion module is connected with the monitoring center through the digital wireless transmission subsystem;
the image processing module is used for carrying out noise reduction processing on the image of the crack, the image splicing module is used for checking the crack and tracking and calculating the length and the width of the crack according to the noise-reduced image, then a post-processing program is executed and a panoramic image is artificially synthesized through a splicing technology, the crack information conversion module is used for converting crack information into a data table required in a bridge management system database and wirelessly transmitting the data table to the monitoring center, and the monitoring center is used for checking and tracking the crack.
The present invention in a preferred example may be further configured to: the monitoring center comprises a database system and an information fusion system, wherein the database system is used for storing and redundantly processing data and providing data basis for subsequent analysis, and the information fusion system is used for fusing multi-information and providing decision basis for the system.
In summary, the invention comprises the following beneficial technical effects:
the system can monitor the cable surface defects of the cable-stayed bridge, the surface cracks of the main beam and the vibration of the bridge body in real time, comprehensively master the safety conditions of construction and operation of the cable-stayed bridge, play a great role in bridge construction, daily maintenance, management and emergency treatment, master the full life cycle state of the bridge, discover the damage of the bridge structure in time and provide a decision basis for daily maintenance and management.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the present invention installed on a bridge.
Fig. 3 is a schematic diagram showing the monitoring of bridge vibration according to the present invention.
Fig. 4 is a system block diagram showing a wireless monitoring node according to the present invention.
FIG. 5 is a schematic structural view showing a nondestructive testing module for a bridge cable according to the present invention.
FIG. 6 is a schematic structural view showing a bridge crack detection module according to the present invention.
Fig. 7 is a block diagram showing the structure of the control box according to the present invention.
Reference numerals: 1. a data acquisition subsystem; 11. a bridge vibration monitoring module; 111. monitoring the box body; 112. an object stage; 113. a cantilever beam; 114. a connecting rod; 115. a metal foil; 12. a nondestructive testing module for bridge guys; 121. a controller; 13. a bridge crack detection module; 131. a sliding seat; 132. a turntable; 133. a double-shaft electric cylinder; 134. a telescopic rod; 135. an ultrasonic monitor; 136. a camera; 137. a control box; 1371. an image processing module; 1372. an image stitching module; 1373. a crack information conversion module; 2. a digital wireless transmission subsystem; 3. a monitoring center; 31. a database system; 32. an information fusion system; 4. an evaluation system; 5. a shock absorbing sponge; 6. a wireless monitoring node; 61. a magnetoelectric sensor probe; 611. a planar spiral inductive sensor; 612. a Pierce oscillating circuit; 613. a voltage conversion circuit; 614. a temperature sensor; 62. an FPGA system; 621. a frequency acquisition module; 622. a temperature acquisition module; 623. NIOS II soft core module; 7. a creeping moving mechanism; 71. a mounting ring; 72. a stepping motor; 73. a stay cable positioning wheel; 74. a photoelectric encoder; 75. a camera; 76. a paint spray gun; 8. a slide rail.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1-7, the bridge detection system disclosed by the invention comprises a data acquisition subsystem 1, a digital wireless transmission subsystem 2, a monitoring center 3 and an evaluation system 4 which are connected in sequence, wherein the data acquisition subsystem comprises a bridge vibration monitoring module 11, a bridge cable nondestructive testing module 12 and a bridge crack detection module 13, the bridge vibration monitoring module 11 is used for carrying out non-contact wireless real-time monitoring on a bridge low-frequency vibration signal, the bridge cable nondestructive testing module 12 is used for carrying out nondestructive testing on defects on the surface of a bridge cable, and the bridge crack detection module 13 is used for detecting cracks of a main beam and a bridge body.
The data acquisition subsystem 1 transmits the low-frequency vibration data of the bridge, the image data of the surface defects of the guy cable of the bridge and the image data of the cracks of the bridge to the monitoring center 3 through the digital wireless transmission subsystem 2, and then the data are analyzed and stored by the monitoring center 3 and transmitted to the evaluation system 4, and the evaluation system 4 completes the decision and early warning on whether the bridge is maintained or not. The monitoring center 3 includes a database system 31 and an information fusion system 32, the database system 31 is used for storing and redundantly processing data and providing data basis for subsequent analysis, and the information fusion system 32 is used for fusing multiple pieces of information and providing decision basis for the system.
Bridge vibration monitoring module 11 includes three monitoring box 111, and three monitoring box 111 is fixed respectively in the middle of the pontic surface and both ends position department, and the inside of monitoring box 111 is provided with objective table 112, and the vertical fixation has cantilever beam 113 on objective table 112, and the one end that objective table 112 was kept away from to cantilever beam 113 is fixed with the connecting rod 114 parallel with objective table 112, and the one end that cantilever beam 113 was kept away from to connecting rod 114 is fixed with foil 115.
A wireless monitoring node 6 is arranged below the metal sheet 115, a damping sponge 5 is arranged below the wireless monitoring node 6, the wireless monitoring node 6 comprises a magnetoelectric sensor probe 61 and an FPGA system 62, the magnetoelectric sensor probe 61 comprises a planar spiral inductance sensor 611, a Pierce oscillation circuit 612, a voltage conversion circuit 613 and a temperature sensor 614, and the planar spiral inductance sensor 611 is arranged right below the metal sheet 115;
the FPGA system 62 comprises a frequency acquisition module 621, a temperature acquisition module 622 and an NIOS II soft core module 623, the magnetoelectric sensor probe 61 senses the relative displacement of a bridge body and a coil when vibrating, the planar spiral inductive sensor 611 transmits frequency data into the FPGA system 62, the frequency data is measured by the frequency acquisition module 621 and then transmitted into the NIOS II soft core module 623 for data processing, meanwhile, the temperature acquisition module 622 acquires real-time temperature data of the temperature sensor 614, the frequency data is transmitted into the NIOS II soft core module 623 for processing and then packaged with the frequency data, the final data is transmitted to the digital wireless transmission subsystem 2 in a serial port mode, and the digital wireless transmission subsystem 2 transmits the final data into the monitoring center 3.
The inductance of the coil is a function of the distance between the planar spiral inductance sensor 611 and the metal sheet 115, the metal size and the composition, and under a certain condition of the metal sheet 115, the inductance changes according to the frequency formula of the Pierce oscillator circuit 612, so as to influence the oscillation frequency of the oscillator circuit. By measuring the frequency of the oscillation circuit where the magnetoelectric sensor probe 61 is located, the change of the relative displacement between the coil and the metal sheet 115 can be reflected corresponding to the change of the value in the planar spiral inductance sensor 611, and when the circuit frequency is rapidly acquired, the vibration condition of the metal sheet 115 can be reflected, and the vibration condition of the bridge in the direction can be indirectly reflected.
Bridge cable nondestructive test module 12 includes controller 121 and the defect image acquisition unit who is connected with controller 121 respectively, moving mechanism 7 crawls, the mechanism sprays paint, defect image acquisition unit and the mechanism that sprays paint are installed on moving mechanism 7 crawls, moving mechanism 7 crawls is used for regularly moving on the bridge cable, defect image acquisition unit handles in transmitting to controller 121 after gathering the defect image on bridge cable surface, discernment and storage operation, controller 121 feeds back processing signal to the mechanism that sprays paint after discerning the defect image signal, the mechanism sprays paint to the defect on bridge cable surface by the mechanism that sprays paint.
Bridge cable nondestructive test module 12 not only can carry out the detection of defect to the surface of bridge cable, can open the mechanism that sprays paint simultaneously when defects such as discovery corrosion for the mechanism that sprays paint is at bridge cable surface spraying one deck paint, thereby the effectual bridge cable of having protected, has improved the life of bridge.
The crawling moving mechanism 7 comprises a mounting ring 71, a stepping motor 72 and a plurality of cable positioning wheels 73, the mounting ring 71 is sleeved on the outer side of the bridge cable, the plurality of cable positioning wheels are mounted on the inner side of the mounting ring 71 and rotatably arranged on the surface of the bridge cable, the stepping motor 72 is arranged on the mounting ring 71 and used for driving the mounting ring 71 to move on the bridge cable, the stepping motor 72 is connected with a photoelectric encoder 74, and the photoelectric encoder 74 is in signal connection with the controller 121.
Under the control of the controller 121, the stepping motor 72 drives the crawling movement mechanism 7 to climb upwards along the cable, the photoelectric encoder 74 and the crawling movement mechanism 7 move together and output digital pulses, the counter counts the pulses, when the number of the digital pulses corresponding to a preset certain distance is reached, a primary acquisition enabling signal is output to inform the controller 121 to acquire a cable surface annular image, and then the controller 121 immediately performs image processing and recognition on the acquired image and stores a defective image. Each processing, identifying and storing operation is completed before the next acquisition is started, so that the real-time performance and the continuity of detection are ensured.
The defect image acquisition unit includes four cameras 75 that are connected with controller 121, and four cameras 75 evenly fix on collar 71 and shoot the end and set up towards the bridge cable, and the mechanism of spraying paint includes three spray gun 76, and three spray gun evenly fixes in collar 71 and sets up towards the surface of bridge cable, is provided with the solenoid valve of being connected with controller 121 in the spray gun. The camera 75 can gather the image of the defect on the bridge cable surface to reach the surveillance center 3 with the image of gathering through controller 121, carry out analysis processes by surveillance center 3 to the image of defect, after judging that the defect of image is less than the standard value, send signal command to controller 121, open by controller 121 control solenoid valve, make the spray gun can evenly spray paint in the position of defect.
The bridge crack detection module 13 includes a plurality of sliding seats 131, a rotating disc 132 and a double-shaft electric cylinder 133 fixed on the rotating disc 132, piston rods at two ends of the double-shaft electric cylinder 133 are fixedly connected with telescopic rods 134 respectively, one end of one telescopic rod 134 is fixed with an ultrasonic monitor 135 used for detecting the crack conditions inside the girder and the bridge body and generating internal detection information, one end of the other telescopic rod 134 is fixed with a camera 136 used for collecting the crack conditions of the girder and the bridge body surface, a control box 137 is arranged on the double-shaft electric cylinder 133, the control box 137 is respectively connected with the sliding seats 131, the rotating disc 132, the double-shaft electric cylinder 133, the ultrasonic monitor 135 and the camera 136, slide rails 8 are arranged on the outer surface of the girder and the bottom of the bridge body, and the sliding seats 131 are arranged on the slide rails 8 through the control box 137 in a sliding manner.
The monitoring center 3 sends a signal instruction to the control box 137 through the digital wireless transmission subsystem 2, the sliding seat 131 slides on the sliding rail 8 through the control box 137, the control box 137 controls the rotating disc 132 to rotate so that the two telescopic rods 134 rotate, the control box 137 controls the double-shaft electric cylinder 133 so that the telescopic rods 134 do telescopic motion, the ultrasonic monitor 135 and the camera 136 can be close to or far away from the sliding seat 131, the ultrasonic monitor 135 and the camera 136 can carry out omnibearing detection on the surfaces and the inside of a girder and a bridge body, and the service life of the bridge is ensured.
The control box 137 is internally provided with an image processing module 1371, an image splicing module 1372 and a crack information conversion module 1373 which are connected in sequence, the image processing module 1371 is respectively connected with the ultrasonic monitor 135 and the camera 136, and the crack information conversion module 1373 is connected with the monitoring center 3 through a digital wireless transmission subsystem 2. The image processing module 1371 is used for carrying out noise reduction processing on the image of the crack, the image splicing module 1372 is used for checking the crack and tracking and calculating the length and the width of the crack according to the noise-reduced image, then a post-processing program is executed and a panoramic image is artificially synthesized through a splicing technology, the crack information conversion module 1373 is used for converting crack information into a data table required in a bridge management system database and wirelessly transmitting the data table to the monitoring center 3, and the monitoring center 3 is used for checking and tracking the crack.
Problems such as irregular shape and size of cracks, various dirt paints and irregular brightness occur during crack inspection. These cause serious problems in automated crack inspection, for which a crack inspection process and a crack tracking process are proposed in the monitoring center 3, respectively.
Crack inspection as step 1 of automatic crack image processing, a representative crack will be extracted from the crack image and analyzed in 3 steps: the original image is median filtered to obtain a smoothed image, and then the smoothed image is subtracted from the original image (or the median filtered image) to find the true candidate crack, as shown in fig. 3. Another purpose of this process is to maintain uniform brightness throughout the image to effectively inspect for cracks in shadow environments. Secondly, removing isolated candidate points in the crack by using a filter, thus removing the false image in the apparent image of the bridge. This process may reduce the number of cracks and reduce search time. Thirdly, ensuring that the crack sections are continuous by adopting a morphological method (such as expansion or trimming), and determining the adopted iteration times according to the crack distribution state. Through the above 3 steps, continuous cracks were obtained from the original image.
Fracture tracking is used as the 2 nd step of automatic processing of fracture images, continuous fractures are divided into a plurality of areas, and l seed points are selected in each area, wherein the seed points are most likely to be real fractures of the area. The crack is followed bi-directionally from the seed point, and for each seed point, the intensities of the 8 neighborhood pixels are examined to determine the direction of the next 2 intensity-minimum pixels. After the 2 directions of the seed points are determined, the tracking method is applied. Here, the next new pixel point is determined, which is the least intense one of the 8 neighborhood pixels except the originally selected seed point, and can be selected by formula (1):
pn min (intensity of Pi), i 1, 2, 8 (1);
in this process, the selected direction is replaced by Dn, i.e. from Pn-1 to Pn. To avoid local minima, the range of orientations is limited to 8 neighborhood pixel orientations other than the previously selected seed point. While tracking the crack, the program tests the length and width of the crack. The direction of crack development is indicated by the orthogonal lines. Since the fracture strength is lower than the background strength, the width of the fracture is the distance of 2 inflection points where the second derivative is zero. To improve the accuracy of the measurement, the calculation of the crack width takes into account the intensity gradient between the crack and the background. The edge pixels containing the local crack information are taken as a real number instead of an integer according to their intensity gradient information. Thus, the crack width is calculated by adding the number of discrete pixels to the actual number of edge pixels, i.e. by multiplying the corresponding number of pixels by the image resolution. After the bi-directional tracking of the crack is completed, the 2-directional cracks will merge into 1 crack on the image. Then, each crack image forms a panoramic image in sequence, and finally, crack information is stored in the monitoring center 3.
The implementation principle of the embodiment is as follows: the system can monitor the cable surface defects of the cable-stayed bridge, the surface cracks of the main beam and the vibration of the bridge body in real time, comprehensively master the safety conditions of construction and operation of the cable-stayed bridge, play a great role in bridge construction, daily maintenance, management and emergency treatment, master the full life cycle state of the bridge, discover the damage of the bridge structure in time and provide a decision basis for daily maintenance and management.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (8)
1. The utility model provides a bridge detecting system, includes data acquisition subsystem (1), digital wireless transmission subsystem (2), surveillance center (3) and evaluation system (4) that connect gradually, its characterized in that: the data acquisition system comprises a bridge vibration monitoring module (11), a bridge inhaul cable nondestructive testing module (12) and a bridge crack testing module (13), wherein the bridge vibration monitoring module (11) is used for carrying out non-contact wireless real-time monitoring on low-frequency vibration signals of a bridge, the bridge inhaul cable nondestructive testing module (12) is used for carrying out nondestructive testing on defects on the surface of a bridge inhaul cable, and the bridge crack testing module (13) is used for checking cracks of a main beam and a bridge body;
the data acquisition subsystem (1) transmits the low-frequency vibration data of the bridge, the image data of the surface defects of the bridge guy cable and the image data of the bridge cracks to the monitoring center (3) through the digital wireless transmission subsystem (2), the low-frequency vibration data, the image data of the surface defects of the bridge guy cable and the image data of the bridge cracks are transmitted to the evaluation system (4) after being analyzed and stored by the monitoring center (3), and the evaluation system (4) completes the decision and early warning on whether the bridge is maintained or not.
2. The bridge inspection system of claim 1, wherein: the bridge vibration monitoring module (11) comprises three monitoring box bodies (111), the three monitoring box bodies (111) are respectively fixed at the middle and two ends of the surface of a bridge body, an object stage (112) is arranged inside the monitoring box bodies (111), a cantilever beam (113) is vertically fixed on the object stage (112), a connecting rod (114) parallel to the object stage (112) is fixed at one end, away from the object stage (112), of the cantilever beam (113), and a metal sheet (115) is fixed at one end, away from the cantilever beam (113), of the connecting rod (114);
a wireless monitoring node (6) is arranged below the metal sheet (115), a damping sponge (5) is arranged below the wireless monitoring node (6), the wireless monitoring node (6) comprises a magnetoelectric sensor probe (61) and an FPGA system (62), the magnetoelectric sensor probe (61) comprises a planar spiral inductance sensor (611), a Pierce oscillation circuit (612), a voltage conversion circuit (613) and a temperature sensor (614), and the planar spiral inductance sensor (611) is arranged right below the metal sheet (115);
FPGA system (62) includes frequency acquisition module (621), temperature acquisition module (622) and the soft nuclear module of NIOS II (623), the relative displacement of pontic and coil when magnetoelectric sensor probe (61) sensing vibration, plane spiral inductive transducer (611) transmits frequency data into FPGA system (62), by frequency acquisition module (621) frequency measurement back is passed into NIOS II soft nuclear module (623) carry out data processing, simultaneously temperature acquisition module (622) gather the real-time temperature data of temperature sensor (614), transmit into NIOS II soft nuclear module (623) handle the back with frequency data packs together, and final data send to digital wireless transmission subsystem (2) with the serial ports mode, digital wireless transmission subsystem (2) will final data transmit into surveillance center (3).
3. The bridge inspection system of claim 1, wherein: bridge cable nondestructive test module (12) include controller (121) and respectively with defect image acquisition unit, crawling moving mechanism (7), the mechanism of spraying paint that controller (121) are connected, defect image acquisition unit with the mechanism of spraying paint is installed crawl on the moving mechanism (7), crawling moving mechanism (7) are used for regularly moving on the bridge cable, defect image acquisition unit with bridge cable surface's defect image acquisition after transmission extremely handle, discernment and storage operation in controller (121), controller (121) discernment feedback processing signal extremely behind the defect image signal the mechanism of spraying paint, by the mechanism of spraying paint is right the defect on bridge cable surface is sprayed paint and is handled.
4. A bridge inspection system according to claim 3, wherein: crawling moving mechanism (7) include collar (71), step motor (72) and a plurality of cable positioning wheel (73), collar (71) cover is established the outside of bridge cable is a plurality of the wire drawing positioning wheel is installed inboard and the rotation of collar (71) set up the surface of bridge cable, step motor (72) set up be used for the drive on collar (71) are in move on the bridge cable, step motor (72) are connected with photoelectric encoder (74), photoelectric encoder (74) with controller (121) signal connection.
5. The bridge inspection system of claim 4, wherein: defect image acquisition unit include with four cameras (75) that controller (121) are connected, four camera (75) are evenly fixed just shoot the end orientation on collar (71) the bridge cable sets up, the mechanism of spraying paint includes three spray gun (76), and is three the spray gun is evenly fixed just orientation in collar (71) the surface setting of bridge cable, be provided with in the spray gun with the solenoid valve that controller (121) are connected.
6. The bridge inspection system of claim 1, wherein: the bridge crack detection module (13) comprises a plurality of sliding seats (131), a rotating disc (132) and a double-shaft electric cylinder (133) fixed on the rotating disc (132), piston rods at two ends of the double-shaft electric cylinder (133) are fixedly connected with telescopic rods (134) respectively, one end of one telescopic rod (134) is fixed with an ultrasonic monitor (135) used for detecting the conditions of the main beam and cracks inside the bridge body and generating internal detection information, one end of the other telescopic rod (134) is fixed with a camera (136) used for collecting the conditions of the main beam and cracks on the surface of the bridge body, a control box (137) is arranged on the double-shaft electric cylinder (133), the control box (137) is respectively connected with the sliding seats (131), the rotating disc (132), the double-shaft electric cylinder (133), the ultrasonic monitor (135) and the camera (136), the outer surface of the main beam and the bottom of the bridge body are provided with a sliding rail (8), the sliding seat (131) is arranged on the sliding rail (8) in a sliding mode through the control box (137).
7. The bridge inspection system of claim 6, wherein: an image processing module (1371), an image splicing module (1372) and a crack information conversion module (1373) which are sequentially connected are arranged in the control box (137), the image processing module (1371) is respectively in data connection with the ultrasonic monitor (135) and the camera (136), and the crack information conversion module (1373) is connected with the monitoring center (3) through the digital wireless transmission subsystem (2);
the image processing module (1371) is used for conducting noise reduction processing on images of cracks, the image splicing module (1372) is used for checking the cracks and tracking and calculating the length and the width of the cracks according to the noise-reduced images, then a post-processing program is executed, a panoramic image is artificially synthesized through a splicing technology, the crack information conversion module (1373) is used for converting crack information into a data table required in a bridge management system database and wirelessly transmitting the data table to the monitoring center (3), and the monitoring center (3) is used for checking and tracking the cracks.
8. The bridge inspection system of claim 1, wherein: the monitoring center (3) comprises a database system (31) and an information fusion system (32), wherein the database system (31) is used for storing and carrying out redundancy processing on data and providing data basis for subsequent analysis, and the information fusion system (32) is used for carrying out fusion processing on multiple pieces of information and providing decision basis for the system.
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