CN115184372B - Intelligent detection device and method for micro-crack fluorescence permeation of inaccessible part of concrete structure - Google Patents
Intelligent detection device and method for micro-crack fluorescence permeation of inaccessible part of concrete structure Download PDFInfo
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Abstract
The invention discloses an intelligent detection device and method for micro-crack fluorescence permeation of a hard-to-reach part of a concrete structure, and the intelligent detection device comprises a liquid spraying unmanned aerial vehicle, a shooting unmanned aerial vehicle and a ground remote control platform, wherein the liquid spraying unmanned aerial vehicle adopts a liquid spraying unit to spray a fluorescent solution on a to-be-detected area on the surface of the concrete structure, and adopts a first camera to collect an image of the to-be-detected area in a liquid spraying process; the shooting unmanned aerial vehicle adopts an information interaction unit to obtain flight parameters of the liquid spraying unmanned aerial vehicle, and adopts a second camera to collect a fluorescence image of the detection area under the irradiation of the ultraviolet light source; the ground remote control platform adopts the unmanned aerial vehicle control unit to control the working parameters of the liquid spraying unmanned aerial vehicle and the shooting unmanned aerial vehicle, and adopts the data processing unit to plan the liquid spraying point of the liquid spraying unmanned aerial vehicle and intelligently identify the micro-crack information in the acquired detection area image. The method realizes crack detection of the hard-to-reach part of the concrete, does not need manual carrying equipment, does not need complex data processing, and has simple implementation process and low required cost.
Description
Technical Field
The invention belongs to the technical field of concrete microcrack detection, and particularly relates to an intelligent detection device and method for microcrack fluorescence permeation of a hard-to-reach part of a concrete structure.
Background
Concrete cracks are the most main diseases of concrete structures, and crack detection is the main work content of engineering safety evaluation. The most key content of crack detection is to find the crack, detect parameters such as width and depth of the crack according to the position of the crack and predict the crack development direction.
The existing concrete crack nondestructive detection methods such as a manual inspection method, an ultrasonic detection method, a radar method, a thermal radiation excitation infrared thermography method and the like, or the problems of large workload, long time, high cost and the like caused by the fact that detection equipment needs to be carried manually to inspect the surface of the concrete exist; or the detection scale of the crack is not enough, the problems that the micro-crack with the opening width of less than 0.2mm is difficult to find and position and the like exist, and meanwhile, the existing concrete crack nondestructive detection method cannot meet the requirement of carrying out micro-crack detection on the position on the concrete structure, which is difficult to reach by personnel.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the intelligent detection device and the intelligent detection method for the micro-crack fluorescence permeation of the inaccessible part of the concrete structure.
The first aspect of the embodiment of the invention provides an intelligent detection device for micro-crack fluorescence penetration of an inaccessible part of a concrete structure, which comprises:
the liquid-spraying unmanned aerial vehicle comprises a liquid-spraying unit, a first camera and an RTK space positioning system, wherein the liquid-spraying unit is used for spraying a fluorescent solution on a to-be-detected area on the surface of a concrete structure, the first camera is used for collecting images of the concrete structure and the to-be-detected area after spraying, and the RTK space positioning system is used for providing a space coordinate for flying of the liquid-spraying unmanned aerial vehicle;
the shooting unmanned aerial vehicle comprises an ultraviolet light source, a second camera and an information interaction unit, wherein the information interaction unit is used for acquiring flight parameters of the liquid spraying unmanned aerial vehicle, and the second camera is used for acquiring a fluorescence image of the area to be detected under the irradiation of the ultraviolet light source;
the ground remote control platform comprises an unmanned aerial vehicle control unit and a data processing unit, wherein the unmanned aerial vehicle control unit is used for controlling a liquid spraying unmanned aerial vehicle and shooting working parameters of the unmanned aerial vehicle, the data processing unit is applied with a geometric three-dimensional modeling system, a space model of a concrete structure to be detected in a region is established based on an image collected by a first camera and coordinate parameters collected by an RTK space positioning system and is used for planning liquid spraying points of the liquid spraying unmanned aerial vehicle, the data processing unit comprises a function of intelligently identifying images of crack fluorescent images, and the data processing unit is used for automatically identifying and labeling crack information in the fluorescent images collected by a second camera to detect cracks in the region to be detected.
The method comprises the steps of spraying a fluorescent solution to detect the microcracks on the surface of the concrete structure, wherein the fluorescent solution does not have a luminous reaction under the irradiation of natural light or other lamp light, and can generate fluorescent reactions with different colors only under the irradiation of an ultraviolet light source with a specific wavelength, the light emitted by the ultraviolet light source is colorless transparent light, and the color of the part is not influenced when the part without the fluorescent solution is irradiated. The invention sprays the concrete surface with the fluorescent solution with fluorescent reaction, and the amount of the fluorescent solution sucked or adhered to the microcrack is obviously more than that of other positions on the surface of the concrete structure due to the strong capillary action of the microcrack. After a period of time, the capillary action reaches the optimal observation time of the fluorescence effect, at the moment, the ultraviolet light source is used for irradiation, the fluorescence image of the microcrack can be shot clearly by the second camera, and the intelligent image identification is carried out on the fluorescence image of the microcrack, so that the information of the microcrack is automatically identified from the fluorescence image.
Furthermore, the intensity of the ambient light is below 100Lux, preferably below 20Lux, when the fluorescence reaction of the fluorescent solution can reach the best effect.
As the further optimization of above-mentioned scheme, hydrojet unmanned aerial vehicle with shoot unmanned aerial vehicle and still include infrared distance measurement unit, infrared distance measurement unit is used for adjusting contained angle and distance between unmanned aerial vehicle and the concrete structure surface.
Further, in order to guarantee that hydrojet unmanned aerial vehicle and shooting unmanned aerial vehicle are perpendicular with the concrete plane all the time, and the hydrojet distance with shoot the distance and be the definite value all the time, adopt infrared ranging unit adjustment unmanned aerial vehicle and concrete structure surface between contained angle and distance. The utility model discloses a control unmanned aerial vehicle, control unmanned aerial vehicle flies to concrete structure the place ahead, control unmanned aerial vehicle's position is unchangeable, rotatory unmanned aerial vehicle acquires the nearest distance between unmanned aerial vehicle and the concrete structure, because infrared ranging unit level sets up the one side at unmanned aerial vehicle, consequently, the unmanned aerial vehicle position is unchangeable, and when reaching the nearest distance between the concrete structure, unmanned aerial vehicle perpendicular to concrete surface, keep the angle between unmanned aerial vehicle and the concrete structure unchangeable this moment, adjust the distance between unmanned aerial vehicle and the concrete structure, know and reach preset hydrojet distance and shoot the distance. Wherein the liquid spraying distance and the shooting distance are preferably 2 m-4 m.
Further, when the included angle and the position parameters between the liquid spraying unmanned aerial vehicle and the concrete structure to be detected are adjusted, the airborne RTK space positioning system obtains the space coordinate parameters of the unmanned aerial vehicle in real time, the space coordinate parameters are used for determining the coordinate parameters of the concrete structure, and the space model of the concrete structure is constructed by subsequently combining the panoramic image of the concrete structure and the graphic parameters of the structure, which are acquired by the unmanned aerial vehicle.
As a further optimization of the scheme, the liquid spraying unit is provided with a fan-shaped nozzle and an annular nozzle.
Specifically, the liquid spraying unit can select a fan-shaped nozzle or an annular nozzle, when the fan-shaped nozzle is used, the liquid spraying unit can rotate in the direction of 360 degrees, and when the fan-shaped nozzle is used, the liquid spraying unit is rotated according to requirements, so that the sprayed fan-shaped water surface is positioned in the horizontal or vertical direction and can swing in the range of +/-45 degrees in the corresponding direction; when the annular nozzles are used, the diameter of each nozzle is not more than 0.5mm, the nozzles are uniformly arranged on the liquid spraying unit in a circular arrangement mode and have an atomization effect, so that when the solution is sprayed out, the solution can uniformly reach the surface of a concrete mechanism, and the sputtering phenomenon of the solution when the solution reaches the surface is also avoided.
As further optimization of the scheme, the fluorescent solution is selected according to the surface roughness of the concrete structure, wherein the mass fraction of the fluorescent powder in the fluorescent solution is 0.05% -0.1%.
Further, in order to avoid the influence of the roughness of the surface of the concrete on the fluorescence developed image, different fluorescence solutions are selected according to the roughness of the surface of the concrete in the embodiment. Specifically, if the surface roughness of the concrete is less than 1mm, selecting light blue fluorescent powder, preparing a colorless and transparent fluorescent solution, wherein the mass fraction of the fluorescent powder in the fluorescent solution is preferably 0.05-0.1%, and the solution is subjected to a fluorescent reaction after being dried and can emit blue light under an ultraviolet light source; if the surface roughness of the concrete is more than 1mm, selecting faint yellow fluorescent powder and preparing faint yellow fluorescent solution, wherein the mass fraction of the fluorescent powder in the fluorescent solution is preferably 0.05-0.1%, and the solution only has a fluorescent reaction in a solution state and can emit green light under an ultraviolet light source.
The fluorescent solution used in the invention can be naturally lost under the action of evaporation and flowing after being sprayed, the surface of sprayed concrete is not required to be cleaned, and a developer is not required to be sprayed to generate a fluorescent reaction under the irradiation of an ultraviolet light source.
The second aspect of the embodiment of the invention provides an intelligent detection method for micro-crack fluorescence permeation of a hard part of a concrete structure, which is realized based on the intelligent detection device for micro-crack fluorescence permeation of the hard part of the concrete structure, and the method comprises the following steps:
acquiring an image of a to-be-detected area on the surface of the concrete structure by using a first camera of a liquid spraying unmanned aerial vehicle, and planning a liquid spraying point of the liquid spraying unmanned aerial vehicle based on the image of the to-be-detected area;
spraying a fluorescent solution on the area to be detected on the surface of the concrete structure along the liquid spraying point by using a liquid spraying unmanned aerial vehicle;
setting flight parameters of a shooting unmanned aerial vehicle based on the flight parameters of the liquid spraying unmanned aerial vehicle, wherein the flight parameters comprise a flight path, a flight speed and a flight attitude;
setting the takeoff time of the shooting unmanned aerial vehicle based on the optimal observation time of the fluorescent solution, and starting the shooting unmanned aerial vehicle to collect a fluorescent image of the area to be detected under the irradiation of the ultraviolet light source; the fluorescent image shot by the second unmanned aerial vehicle is input into intelligent recognition software based on deep learning, and the software can automatically recognize and label microcrack information in the image.
The intelligent algorithm takes a CSSC (Concrete Structure distributing and Crack) model as an inner core, selects a large number of Concrete dam surface Crack information pictures under the irradiation of ultraviolet light as samples, adopts an irregular quadrangle to label cracks in the pictures, inputs the labeled samples into the CSSC inner core model, and trains the model; then, the fluorescent picture shot by the unmanned aerial vehicle is input into the trained model, and the active identification and marking of the microcrack information can be carried out on the fluorescent picture.
As a further optimization of the above scheme, the liquid spraying point planning process includes:
s1, a first camera based on a liquid spraying unmanned aerial vehicle collects a panoramic image of a concrete structure, an RTK space positioning system based on the liquid spraying unmanned aerial vehicle obtains a space coordinate parameter between the liquid spraying unmanned aerial vehicle and the concrete structure, a to-be-detected area on the surface of the concrete structure is selected based on the panoramic image, a data processing unit in a ground remote control platform is utilized, a space model of the to-be-detected area is established by combining a concrete structure shape parameter and a space coordinate parameter in the RTK space positioning system, and a space coordinate system of the to-be-detected area is determined;
s2, selecting a liquid spraying starting point of a liquid spraying unmanned aerial vehicle to spray fluorescent solution based on the area to be detected, and collecting an image of the area to be detected after the fluorescent solution is sprayed by adopting the first camera;
s3, acquiring the coverage area of the fluorescent solution based on the image of the to-be-detected area after the fluorescent solution is sprayed, adjusting the working parameters of the liquid spraying unmanned aerial vehicle based on the coverage area of the fluorescent solution, and selecting the next liquid spraying point;
and S4, repeating the step S3 until the area to be detected is completely covered by the fluorescent solution.
Further, it should be noted that the liquid spraying point of the liquid spraying unmanned aerial vehicle is planned based on the image collected by the first camera. The method comprises the steps of firstly collecting a panoramic image of a concrete structure and space coordinate parameters of an unmanned aerial vehicle obtained by an RTK space positioning system, calculating the coordinate parameters of the concrete structure, combining the panoramic image, the coordinate parameters of the structure and the graphic parameters of the structure, constructing a space model of the concrete structure by using a geometric three-dimensional modeling system, determining a space coordinate system of a region to be detected, selecting a first liquid spraying point in the region to be detected, controlling the liquid spraying unmanned aerial vehicle to fly to the first liquid spraying point to spray fluorescent solution, collecting the image of the region to be detected through a first camera, sending the image to a ground remote control platform, analyzing the image through a data processing unit, identifying the area of the liquid spraying unmanned aerial vehicle spraying the fluorescent solution once and the proportion of the area of the fluorescent solution in the region to be detected, selecting a next liquid spraying point, adjusting the working parameters of the liquid spraying unmanned aerial vehicle, wherein the liquid spraying point is selected according to the rule that the fluorescent solution is sprayed at the liquid spraying point, and the solution coverage area is connected with the solution spraying area last time and cannot exceed the region to be detected. And finally, repeating the steps once to plan the liquid spraying points of the liquid spraying unmanned aerial vehicle until the area to be detected is completely covered by the fluorescent solution.
The flying path from the flying point to the last liquid spraying point of the liquid spraying unmanned aerial vehicle is the optimal flying path of the liquid spraying unmanned aerial vehicle, the liquid spraying unmanned aerial vehicle flies through the flying path, the liquid spraying unmanned aerial vehicle can be guaranteed to finish liquid spraying in the shortest time, the needed fluorescent solution is the least, and the spraying effect is the best.
As a further optimization of the above scheme, the setting of the flight parameters of the unmanned aerial vehicle based on the flying parameters of the liquid spraying unmanned aerial vehicle comprises adopting the data processing unit to obtain the flying parameters of the liquid spraying unmanned aerial vehicle, and adopting the unmanned aerial vehicle control unit to synchronize the flying parameters of the liquid spraying unmanned aerial vehicle into the flying parameters of the liquid spraying unmanned aerial vehicle in real time.
Further, data processing unit can take notes hydrojet unmanned aerial vehicle's flight parameter to the flight parameter that will shoot unmanned aerial vehicle through unmanned aerial vehicle control unit sets up the same with hydrojet unmanned aerial vehicle, later shoots unmanned aerial vehicle and flies according to hydrojet unmanned aerial vehicle's flight path, flying speed and flight gesture, and treats the detection area through ultraviolet source illumination at the hydrojet point, gathers its fluorescence image. Through setting up the flight parameter of shooing unmanned aerial vehicle, can guarantee that two unmanned aerial vehicles loop through the concrete mechanism surface in same region with the equidistance and carry out the operation.
Furthermore, the intensity of ultraviolet rays received in an irradiation area of the ultraviolet light carried by the unmanned aerial vehicle is shot to be not less than 4000 mu w/cm 2 The shooting camera carried by the unmanned aerial vehicle can be freely set to shoot pictures at equal intervals in a selected time range, for example, the shooting camera can be set to shoot one picture in every 1s of shooting area in a shooting time range of 10s, and the shooting camera can also be set to shoot one picture in every 5s of shooting area in a shooting time range of 30 s.
As a further optimization of the above scheme, the takeoff time of the shooting unmanned aerial vehicle is calculated based on the takeoff time of the liquid spraying unmanned aerial vehicle and the first liquid spraying time.
Further, the takeoff time of the unmanned aerial vehicle is determined by the takeoff time of the unmanned aerial vehicle, the first liquid spraying time and the optimal observation time of the fluorescent solution, specifically, when the unmanned aerial vehicle flies to the first liquid spraying point, the fluorescent solution reaches the optimal observation time, when the yellowish fluorescent solution is used, the fluorescent solution on the rest parts of the surface of the concrete is evaporated or lost to be insufficient to cause a fluorescent reaction except for the concrete microcracks, and the optimal observation time delta t of the yellowish fluorescent solution is 10-300 s after liquid spraying; when the colorless and transparent fluorescent solution is used, the fluorescence reaction of the concrete microcracks is the most intense, wherein the optimal observation time delta t of the colorless and transparent fluorescent solution is 20s-480s after spraying.
The intelligent detection device and method for micro-crack fluorescence permeation of the inaccessible part of the concrete structure have the following beneficial effects:
1. according to the invention, the fluorescent solution is sprayed on the surface of the concrete structure such as Gao Hunning earth dam and the like where the peer is difficult to reach by the liquid spraying unmanned aerial vehicle, the fluorescent image of the concrete structure under the irradiation of the ultraviolet light source is acquired by shooting the unmanned aerial vehicle, and the microcrack of the concrete structure is detected based on the fluorescent image, so that the crack detection of the hard-to-reach part of the concrete structure is realized, no personnel are required to carry equipment in the detection process, the operation process is simple, and the implementation cost is low.
2. According to the method, the fluorescent solution is sprayed on the surface of the concrete structure, then the fluorescent image of the concrete structure under the irradiation of the ultraviolet light source is collected for crack identification, the crack information in the collected fluorescent image is marked in the identification process through an intelligent identification algorithm based on deep learning, the identification efficiency and the accuracy are high, the data processing process is simple, the implementation is convenient, the popularization is easy, meanwhile, the fluorescent solution can volatilize automatically, the cleaning is not needed, and the secondary damage to the concrete structure in the detection process can be avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described 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 these drawings without creative efforts.
FIG. 1 is a schematic diagram of a frame of a device for detecting micro-crack fluorescence penetration in an inaccessible site of a concrete structure according to the present invention;
FIG. 2 is a schematic view of the working scenario of the present invention;
FIG. 3 is a fluorescent image collected after spraying of fluorescent solution A;
FIG. 4 is a fluorescent image collected after spraying of fluorescent solution B;
in the figure: 1. a concrete structure; 2. a liquid spraying unmanned aerial vehicle; 3. shooting an unmanned aerial vehicle; 4. a ground remote control platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all 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 application.
It should be noted that references in the specification of the present application to the terms "comprises" and "comprising," and variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The present application will be further described with reference to the following drawings and specific embodiments.
The first embodiment is as follows:
the embodiment of the invention provides a device for detecting micro-crack fluorescence permeation of an inaccessible part of a concrete structure, which comprises:
the liquid spraying unmanned aerial vehicle 2 comprises a liquid spraying unit and a first camera, wherein the liquid spraying unit is used for spraying a fluorescent solution on a to-be-detected area on the surface of the concrete structure 1, and the first camera is used for collecting an image of the to-be-detected area in the liquid spraying process of the liquid spraying unmanned aerial vehicle 2;
the shooting unmanned aerial vehicle 3 comprises an ultraviolet light source, a second camera and an information interaction unit, wherein the information interaction unit is used for acquiring flight parameters of the liquid spraying unmanned aerial vehicle 2, and the second camera is used for acquiring a fluorescence image of the detection area under the irradiation of the ultraviolet light source;
ground remote control platform 4, including unmanned aerial vehicle control unit and data processing unit, unmanned aerial vehicle control unit is used for controlling hydrojet unmanned aerial vehicle 2 and shoots unmanned aerial vehicle 3's working parameter, data processing unit is used for based on the image planning hydrojet unmanned aerial vehicle 2's that first camera gathered hydrojet point, based on the fluorescence image detection that the second camera gathered detection area's crazing line.
Referring to fig. 1 and 2, a fluorescent solution is sprayed to a concrete structure at a place where humans are difficult to reach, such as a high place or a deep well, through an unmanned aerial vehicle, and a fluorescent image of the concrete structure under the irradiation of an ultraviolet light source is collected, the microcrack of the concrete structure is detected based on the fluorescent image, the crack detection of the concrete difficult-to-reach area can be realized, personnel carrying equipment is not needed, the operation process is simple, meanwhile, the fluorescent solution can generate a strong fluorescent reaction under the ultraviolet light source, and the solution sucked into or adhered to the microcrack is obviously more than other positions on the surface of the concrete, so that the microcrack on the surface of the concrete structure can be detected by observing whether a fluorescent strip exists in the fluorescent image, the process of data processing is simple, complex calculation is not needed, the identification result is accurate, the fluorescent solution can volatilize by itself, cleaning is not needed, and secondary damage to the concrete structure in the detection process can not be caused.
The embodiment of the invention provides a method for detecting micro-crack fluorescence penetration of an inaccessible part of a concrete structure, which is realized based on the device for detecting micro-crack fluorescence penetration of the inaccessible part of the concrete structure, and comprises the following steps:
acquiring an image of a to-be-detected area on the surface of the concrete structure 1 by using a first camera of the liquid-spraying unmanned aerial vehicle 2, and planning liquid-spraying points of the liquid-spraying unmanned aerial vehicle 2 based on the image of the to-be-detected area;
spraying a fluorescent solution on the area to be detected on the surface of the concrete structure 1 along the liquid spraying point by using a liquid spraying unmanned aerial vehicle 2;
setting flight parameters of the shooting unmanned aerial vehicle 3 based on flight parameters of the liquid spraying unmanned aerial vehicle 2, wherein the flight parameters comprise a flight path, a flight speed and a flight attitude;
setting the takeoff time of the shooting unmanned aerial vehicle 3 based on the optimal observation time of the fluorescent solution, and starting the shooting unmanned aerial vehicle 3 to collect a fluorescent image of the area to be detected under the irradiation of the ultraviolet light source;
and inputting the fluorescent image shot by the second unmanned aerial vehicle into intelligent recognition software based on deep learning, and automatically recognizing and labeling the microcrack information in the image.
The second embodiment:
referring to fig. 1, 2 and 3, in the present embodiment, unlike the above-mentioned embodiments, the method for detecting the fluorescence penetration of the micro-cracks in the inaccessible site of the concrete structure 1 specifically includes:
preparing a colorless transparent fluorescent solution A, wherein the solution still has a fluorescent reaction after being dried;
weighing 1g of colorless fluorescent agent powder, adding the colorless fluorescent agent powder into 2000mL of distilled water, and uniformly stirring to obtain a colorless transparent fluorescent solution A;
the liquid spraying unit adopts an annular outlet with the diameter of 3cm, and 6 nozzles with the diameter of 0.5mm are uniformly distributed on the outlet according to a circle and have the atomization effect.
Step two, routing inspection;
1. preparation for examination
(1) The task of the inspection is to inspect a smooth-surfaced concrete structure 1 of a test hall, which concrete structure 1 is preferably a column of concrete, for the presence of microcracks. The height of the concrete column is 3m, and the width of the concrete column is 0.5m. According to the requirement of the inspection task, after the routing inspection route of the liquid spraying unmanned aerial vehicle 2 is set, the liquid spraying distance is set to be 2.0m, and the shooting distance is 2.0m.
(2) And the ground remote control platform 4 controls the liquid spraying unmanned aerial vehicle 2 to take off, fly to the initial inspection position, and hover 2 meters away from the surface of the concrete column.
2. Spraying solution
(1) Through the unmanned aerial vehicle control unit, adjust the pressure of hydrojet unit for the initial velocity when fluorescence solution A spouts is 5m/s, and sprays on concrete column surface. And adjusting the direction of the lens by the first camera to enable the lens to be positioned in a vertical plane on the surface of the concrete column and to be vertical to the surface of the concrete column, and acquiring the image of the surface of the concrete.
(2) The flight path of the liquid spraying unmanned aerial vehicle 2 is planned through the data processing unit, the unmanned aerial vehicle control unit controls the liquid spraying unmanned aerial vehicle 2 to slowly fly along the flight path line, meanwhile, the distance between the surfaces of the concrete to be inspected of the liquid spraying unmanned aerial vehicle 2 is measured through the infrared distance measuring unit, and the liquid spraying distance error is controlled within +/-20 cm so as to meet the control requirement of the water spraying distance.
(3) And observing whether the surface of the concrete column is completely covered by the fluorescent solution A or not through the first camera, finishing liquid spraying if the surface of the concrete column is completely covered, and controlling the liquid spraying unmanned aerial vehicle 2 to finish flying.
Step three, shooting:
after the liquid spraying unmanned aerial vehicle 2 hovers at the liquid spraying starting position for 20s, the shooting unmanned aerial vehicle 3 is controlled to fly along the route of the liquid spraying unmanned aerial vehicle 2, the flying speed and the flying attitude are the same as those of the liquid spraying unmanned aerial vehicle 2, meanwhile, the ground remote control platform 4 is communicated with the flying information of the two unmanned aerial vehicles, the distance and the speed between the two unmanned aerial vehicles are controlled to be kept unchanged, and the distance error between the shooting unmanned aerial vehicle 3 and the concrete surface is controlled to be within +/-20 cm; and starting a 365nm ultraviolet light source to irradiate the concrete surface, and simultaneously shooting the concrete surface by using a second camera, wherein the time length from the time when any position of the inspected concrete surface is sprayed by the fluorescent solution to the time when the concrete surface is shot is ensured to be within 30 s.
Step four, identifying:
fig. 3 is a local detection result after the surface of the concrete structure 1 is sprayed with the fluorescent solution a, and the information of the microcracks of the fluorescent image is marked by a red quadrilateral block diagram after the fluorescent image uses an intelligent recognition algorithm.
Example three:
referring to fig. 1, 2 and 4, in the present embodiment, different from the above embodiments, the method for detecting micro-crack fluorescence penetration at the hard-to-reach part of a concrete structure specifically includes:
step one, preparing a colorless transparent fluorescent solution B, wherein the solution does not have a fluorescent reaction after being dried;
weighing 1g of colorless fluorescent agent powder, adding the colorless fluorescent agent powder into 2000mL of distilled water, and uniformly stirring to obtain a colorless transparent fluorescent solution B;
an annular outlet with the diameter of 3cm is selected, and 6 nozzles with the diameter of 0.5mm are uniformly distributed on the outlet according to a circle and have the atomization effect.
Step two, routing inspection;
1. preparation for examination
(1) The task of the inspection is to inspect a smooth-surfaced concrete structure 1 of a test hall, which concrete structure 1 is preferably a column of concrete, for the presence of microcracks. The height of the concrete column is 3m, and the width of the concrete column is 0.5m. According to the requirement of the inspection task, after the routing inspection route of the liquid spraying unmanned aerial vehicle 2 is set, the liquid spraying distance is set to be 2.0m, and the shooting distance is 2.0m.
(2) And the ground remote control platform 4 controls the liquid spraying unmanned aerial vehicle 2 to take off, fly to the initial inspection position, and hover 2 meters away from the surface of the concrete column.
2. Spraying solution
(1) And adjusting the pressure of the liquid spraying unit through the unmanned aerial vehicle control module to ensure that the initial speed of the fluorescent solution B is 5m/s when the fluorescent solution B is sprayed out, and spraying the fluorescent solution B on the surface of the concrete column. And adjusting the direction of the lens by the first camera to enable the lens to be positioned in a vertical plane on the surface of the concrete column and to be vertical to the surface of the concrete column, and acquiring the image of the surface of the concrete.
(2) The flight path of the liquid spraying unmanned aerial vehicle 2 is planned through the data processing unit, the unmanned aerial vehicle control unit controls the liquid spraying unmanned aerial vehicle 2 to slowly fly along the flight path line, meanwhile, the distance between the surfaces of the concrete to be inspected of the liquid spraying unmanned aerial vehicle 2 is measured through the infrared distance measuring unit, and the liquid spraying distance error is controlled within +/-20 cm so as to meet the control requirement of the water spraying distance.
(3) And observing whether the surface of the concrete column is completely covered by the fluorescent solution B or not through the first camera, finishing liquid spraying if the surface of the concrete column is completely covered, and controlling the liquid spraying unmanned aerial vehicle 2 to finish flying.
Step three, shooting:
after the liquid spraying unmanned aerial vehicle 2 hovers at the liquid spraying starting position for 20s, the shooting unmanned aerial vehicle 3 is controlled to fly along the route of the liquid spraying unmanned aerial vehicle 2, the flying speed and the flying attitude are the same as those of the liquid spraying unmanned aerial vehicle 2, meanwhile, the ground remote control platform 4 is communicated with the flying information of the two unmanned aerial vehicles, the distance and the speed between the two unmanned aerial vehicles are controlled to be kept unchanged, and the distance error between the shooting unmanned aerial vehicle 3 and the concrete surface is controlled to be within +/-20 cm; and starting a 365nm ultraviolet light source to irradiate the concrete surface, and simultaneously shooting the concrete surface by using a second camera, wherein the time length from the time when any position of the inspected concrete surface is sprayed by the fluorescent solution to the time when the concrete surface is shot is ensured to be within 30 s.
Step four, identifying:
fig. 4 is a local detection result of the concrete structure 1 after the surface is sprayed with the fluorescent solution a, and the information of the microcracks of the fluorescent image is marked by a red quadrilateral block diagram after the intelligent identification algorithm is used.
The present invention is not limited to the above-described embodiments, and those skilled in the art will be able to make various modifications without creative efforts from the above-described conception, and fall within the scope of the present invention.
Claims (9)
1. The concrete structure inaccessible site microcrack fluorescence penetration intelligent detection device is characterized by comprising:
the liquid spraying unmanned aerial vehicle (2) comprises a liquid spraying unit, a first camera and an RTK space positioning system, wherein the liquid spraying unit is used for spraying a fluorescent solution on a to-be-detected area on the surface of the concrete structure (1), the first camera is used for acquiring an image of the concrete structure (1) and acquiring an image of the to-be-detected area in the liquid spraying process of the liquid spraying unmanned aerial vehicle (2), and the RTK space positioning system provides a space coordinate for the flying of the liquid spraying unmanned aerial vehicle (2);
the fluorescent solution is prepared according to the surface roughness of the concrete structure (1), wherein the mass fraction of the fluorescent powder in the fluorescent solution is 0.05-0.1%;
selecting different fluorescent solutions according to the roughness of the surface of the concrete; when the surface roughness of the concrete is less than 1mm, light blue fluorescent powder is selected, a colorless and transparent fluorescent solution is prepared, the mass fraction of the fluorescent powder in the fluorescent solution is selected to be 0.05-0.1%, and the solution is subjected to fluorescent reaction after being dried and can emit blue light under an ultraviolet light source; if the surface roughness of the concrete is more than 1mm, selecting faint yellow fluorescent powder, preparing faint yellow fluorescent solution, wherein the mass fraction of the fluorescent powder in the fluorescent solution is selected to be 0.05-0.1%, and the solution only has a fluorescent reaction in a solution state and can emit green light under an ultraviolet light source;
the shooting unmanned aerial vehicle (3) comprises an ultraviolet light source, a second camera and an information interaction unit, wherein the information interaction unit is used for acquiring flight parameters of the liquid spraying unmanned aerial vehicle (2), and the second camera is used for acquiring a fluorescence image of the area to be detected under the irradiation of the ultraviolet light source;
the ground remote control platform (4) comprises an unmanned aerial vehicle control unit and a data processing unit, wherein the unmanned aerial vehicle control unit is used for controlling working parameters of a liquid spraying unmanned aerial vehicle (2) and shooting the unmanned aerial vehicle (3), the data processing unit is used for establishing a space model of a concrete structure (1) to-be-detected area based on images collected by a first camera and coordinate parameters collected by an RTK space positioning system, and is used for planning liquid spraying points of the liquid spraying unmanned aerial vehicle (2), the data processing unit is also used for realizing a microcrack fluorescence image intelligent identification function based on deep learning, and automatically identifying and labeling microcrack information in a fluorescence image collected by a second camera.
2. The device according to claim 1, characterized in that the liquid-spraying drone (2) and the filming drone (3) further comprise an infrared ranging unit for adjusting the angle and distance between the drone and the surface of the concrete structure (1).
3. The apparatus of claim 1, wherein the spray unit is provided with a fan-shaped spray opening and a ring-shaped spray opening.
4. The intelligent detection method for the micro-crack fluorescence penetration of the inaccessible site of the concrete structure is realized based on the intelligent detection device for the micro-crack fluorescence penetration of the inaccessible site of the concrete structure, which is disclosed by any one of claims 1 to 3, and comprises the following steps:
planning a liquid spraying point of the liquid spraying unmanned aerial vehicle (2) based on the image and the position information of the area to be detected;
spraying a fluorescent solution to the area to be detected on the surface of the concrete structure (1) at the spraying point by using a spraying unmanned aerial vehicle (2);
setting flight parameters of a shooting unmanned aerial vehicle (3) based on flight parameters of the liquid spraying unmanned aerial vehicle (2), wherein the flight parameters comprise a flight path, a flight speed and hovering time;
collecting a fluorescence image of the area to be detected under the irradiation of the ultraviolet light source by adopting a shooting unmanned aerial vehicle (3); determining that the shooting unmanned aerial vehicle (3) reaches the corresponding liquid spraying point in the optimal observation window period of the fluorescent solution based on the liquid spraying time of the liquid spraying unmanned aerial vehicle (2) at the liquid spraying point and the optimal observation window period of the fluorescent solution, and performing hovering shooting;
when the light yellow fluorescent solution is used, the fluorescent solution on the rest part of the surface of the concrete is evaporated or lost to be insufficient to cause a fluorescent reaction except for the micro-cracks of the concrete, wherein the optimal observation time delta t of the light yellow fluorescent solution is 10-300 s after the liquid is sprayed; when the colorless and transparent fluorescent solution is used, the fluorescence reaction of the concrete microcracks is the most intense, wherein the optimal observation time delta t of the colorless and transparent fluorescent solution is 20-480 s after liquid spraying;
and the fluorescent image shot by the shooting unmanned aerial vehicle (3) is input into a data processing unit in the ground remote control platform (4), and the data processing unit automatically identifies and marks microcracks in the fluorescent image based on deep learning.
5. The method of claim 4, wherein the hydrojet dot planning process comprises:
s1, a first camera based on a liquid spraying unmanned aerial vehicle (2) collects a panoramic image of a concrete structure (1), an RTK space positioning system based on the liquid spraying unmanned aerial vehicle (2) obtains space coordinate parameters of a control point of the concrete structure (1), a to-be-detected area on the surface of the concrete structure (1) is selected based on the panoramic image, a data processing unit in a ground remote control platform (4) is utilized, the shape parameters of the concrete structure (1) and the space coordinate parameters of the control point collected by the RTK space positioning system of the liquid spraying unmanned aerial vehicle (2) are combined, a space model of the to-be-detected area is established, and a space coordinate system of the to-be-detected area is determined;
s2, selecting a liquid spraying starting point of a liquid spraying unmanned aerial vehicle (2) based on the area to be detected, spraying a fluorescent solution, and collecting an image of the area to be detected after the fluorescent solution is sprayed by adopting the first camera;
s3, acquiring the coverage area of the fluorescent solution based on the image of the area to be detected after the fluorescent solution is sprayed, adjusting the working parameters of the liquid spraying unmanned aerial vehicle (2) based on the coverage area of the fluorescent solution, and selecting a next liquid spraying point;
and S4, repeating the step S3 until the areas to be detected are covered by the fluorescent solution.
6. The method according to claim 4, characterized in that the data processing unit is used to obtain the flight parameters of the hydrojet drone (2), and the drone control unit is used to synchronize the flight parameters of the hydrojet drone (2) in real time to the flight parameters of the filming drone (3).
7. The method according to claim 4, wherein the time for shooting when the unmanned aerial vehicle (3) reaches the current liquid spraying point is estimated based on the time for the unmanned aerial vehicle (2) to spray liquid at the liquid spraying point, and the algorithm is 20s to 300s after the unmanned aerial vehicle (2) finishes spraying liquid, and the optimal observation window period of the fluorescent solution is 20s to 300s after the unmanned aerial vehicle finishes spraying liquid.
8. The method according to claim 4, wherein the UV light source of the unmanned aerial vehicle (3) is a portable UV lamp, and the UV lamp radiates UV light with an intensity of not less than 4000 μ w/cm in the irradiation area 2 。
9. The method of claim 4, wherein the detection method is most suitable for ambient light intensities of less than 100 Lux.
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| CN115837705B (en) * | 2022-12-27 | 2024-04-30 | 佛山市顺德区新广利混凝土有限公司 | Concrete spraying maintenance device for constructional engineering and control method |
| CN116793841B (en) * | 2023-06-26 | 2024-01-02 | 水利部交通运输部国家能源局南京水利科学研究院 | Rapid real-time visualization method and system for cracking process of concrete member |
| CN117309837B (en) * | 2023-11-16 | 2024-05-07 | 水利部交通运输部国家能源局南京水利科学研究院 | Method and system for detecting and positioning hidden concrete cracks under real environment through fluorescence excitation |
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