CN115343296A - Non-contact automatic bridge crack detection device and detection method - Google Patents
Non-contact automatic bridge crack detection device and detection method Download PDFInfo
- Publication number
- CN115343296A CN115343296A CN202211010600.7A CN202211010600A CN115343296A CN 115343296 A CN115343296 A CN 115343296A CN 202211010600 A CN202211010600 A CN 202211010600A CN 115343296 A CN115343296 A CN 115343296A
- Authority
- CN
- China
- Prior art keywords
- crack
- bridge
- dimensional
- observation
- data module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/40—Analysis of texture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/34—Smoothing or thinning of the pattern; Morphological operations; Skeletonisation
-
- 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
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8861—Determining coordinates of flaws
-
- 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
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8874—Taking dimensions of defect into account
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Geometry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention belongs to the technical field of bridge detection, and particularly relates to a non-contact automatic bridge crack detection device and a detection method, wherein the non-contact automatic bridge crack detection device comprises a fixing mechanism arranged on the side surface of a bridge, a slide rail is arranged below the fixing mechanism, a two-dimensional moving mechanism is arranged in the slide rail, a two-dimensional lifting mechanism is arranged below the two-dimensional moving mechanism, and the two-dimensional lifting mechanism is connected with a crack observation mechanism; the crack observation mechanism comprises a control mechanism and a data module, the data module is connected with the CCD camera, the distance sensor and the camera, and the control mechanism is connected with the driving mechanism to control the two-dimensional moving mechanism and the two-dimensional lifting mechanism; according to the device, observed crack coordinates are transmitted to the driving module through the camera, the driving module controls the rotating motor to move to a corresponding coordinate position, crack observation of any angle at a bridge web plate is achieved through the transformation of three-dimensional coordinates of the mechanical gripper, key features of an image are analyzed, the length and the width of a crack are determined, and then the bridge appearance defects are accurately judged.
Description
Technical Field
The invention belongs to the technical field of bridge detection, and particularly relates to a non-contact automatic bridge crack detection device and a non-contact automatic bridge crack detection method.
Background
In order to meet the requirements of social development and economic development, the pace of infrastructure construction in China is also gradually accelerated, and bridge engineering is used as an important part in infrastructure construction and frequently appears in engineering construction. Under the long-term action of environmental excitation, a series of concrete diseases follow. The cracks are the most common diseases in bridge engineering, and once serious cracks (more than 0.3 mm) appear, the bridge structure can generate great potential safety hazards, so that the crack observation for the bridge becomes more important. The cracks of the bridge are observed to know the space positions, the crack widths and the depth conditions of the cracks, so that the appearance defects of the bridge are determined, a repair scheme is provided, and the influence of the cracks on the safety and the durability of the bridge structure is avoided. The conventional bridge crack detection method mainly comprises manual inspection and mechanical detection, wherein the manual inspection is to measure, mark and photograph the crack width by an experienced detector, and the detection method has the defects of high danger, low efficiency, low measurement precision, difficulty in detection and the like. The mechanical detection is limited by the shooting precision and the detection efficiency of the camera shooting mechanism, the acquisition efficiency is low when the image definition is high, the shooting image is difficult to process when the fineness is low, and the image definition of the camera is difficult to ensure in the detection process due to the influence of the size of the crack.
Disclosure of Invention
The invention aims to solve the technical problem of providing a non-contact automatic bridge crack detection device and a non-contact automatic bridge crack detection method, which can efficiently detect clear pictures of bridge abdominal cracks and effectively evaluate the bridge crack state.
In order to solve the technical problems, the invention adopts the technical scheme that:
a non-contact automatic bridge crack detection device comprises a fixing mechanism arranged on the side face of a bridge, a slide rail is arranged below the fixing mechanism, a two-dimensional moving mechanism is arranged in the slide rail, a two-dimensional lifting mechanism is arranged below the two-dimensional moving mechanism, and the two-dimensional lifting mechanism is connected with a crack observation mechanism; the two-dimensional moving mechanism comprises a top plate, a sliding wheel arranged on the inner side of the sliding rail is arranged below the top plate, and the sliding wheel is connected with the driving mechanism; the two-dimensional lifting mechanism comprises a first chain rod, a second chain rod and a hydraulic rod; one end of the first chain rod is connected with the top plate through a movable hinged support, and the other end of the first chain rod is connected with the second chain rod through a movable hinge; one end of the second chain rod is connected with the first chain rod, and the other end of the second chain rod is connected with the crack observation mechanism through the space moving mechanism; one end of the hydraulic rod is connected with the top plate through the movable hinged support, and the other end of the hydraulic rod is sleeved on the first chain rod through the sleeve; the movable hinge is controlled by a driving mechanism through a driving wheel, and the hydraulic rod is also controlled by the driving mechanism; the crack observation mechanism comprises a control mechanism and a data module, the data module is connected with the CCD camera, the distance sensor and the camera, and the control mechanism is connected with the driving mechanism to control the two-dimensional moving mechanism and the two-dimensional lifting mechanism.
Furthermore, the space moving mechanism comprises a mechanical gripper connected with the second chain rod, the mechanical gripper is connected with a servo motor in the driving mechanism, and the mechanical gripper adjusts the space position of the crack observation mechanism to ensure that the CCD camera is perpendicular to the crack surface to be observed.
Further, the fixing mechanism comprises an upper fixing plate and a lower fixing plate, the side surfaces of the upper fixing plate and the lower fixing plate are L-shaped, a transverse plate of the upper fixing plate is arranged on the bridge floor, and the side plates are provided with trapezoidal grooves; the bottom plate diaphragm is arranged below the bridge floor, the side plate is provided with a trapezoidal protrusion matched with the trapezoidal groove of the upper fixed plate, and the upper fixed plate and the bottom plate are fixed through bolts. The distance between the transverse plates of the upper fixing plate and the transverse plates of the lower fixing plate is adjusted through the trapezoidal structure between the upper fixing plate and the lower fixing plate, so that the fixing mechanism can be stably arranged on bridges with various parameters. The specific position of the fixing mechanism on the bridge can be conveniently adjusted through the bolts, and a wider applicable scene is guaranteed.
Further, a trapezoidal groove is formed in the lower surface of the transverse plate of the lower fixing plate and matched with the trapezoidal protrusion at the top of the slide rail, and a flexible cushion layer is arranged on the upper surface of the transverse plate of the lower fixing plate. The slide rail and the lower fixing plate realize a separable structure, are convenient to mount and dismount, and realize multiplexing of the device. The flexible cushion layer also prevents the damage to the lower surface of the bridge when the fixing mechanism is fixed with the contact surface of the bridge flange plate.
Further, the device also comprises a wireless transceiving module; the crack observation mechanism is in remote communication with the computer through the wireless transceiving module. Carry out remote control communication through the computer, can carry out the remote control adjustment to the device, carry out the detailed processing of crack picture with meticulous picture data through teletransmission to the computer moreover, and the device only does detection and control position adjustment on the bridge, has effectively avoided portable data module's power of calculation not enough.
The invention also comprises a non-contact automatic bridge crack detection method, which comprises the following steps:
step a, setting a fixing mechanism state and initial positions of a two-dimensional moving mechanism and a two-dimensional lifting mechanism according to a bridge engineering state, and setting a driving mechanism through a control mechanism to control the two-dimensional moving mechanism to move along a fixing mechanism slide rail; a camera in the crack observation mechanism transmits the acquired images of the bridge web to a data module for processing;
b, when the camera in the crack observation mechanism shoots an image and detects a crack, recording the coordinate of the crack;
c, the data module drives a control mechanism through the crack coordinate, and the control mechanism controls the driving mechanism to drive the sliding rail to adjust the two-dimensional moving mechanism to the crack coordinate;
d, detecting the relative spatial position between the crack observation mechanism and the crack by a distance sensor in the crack observation mechanism, transmitting spatial data to a data module, controlling the hydraulic rod in the two-dimensional lifting mechanism to stretch by the data module through a control mechanism so as to adjust the horizontal position of the crack observation mechanism, and observing the crack by the crack observation mechanism through a CCD (charge coupled device) camera;
step e, after the data module processes the crack observation image, the control mechanism controls a mechanical gripper in the space moving mechanism to further adjust the position of the crack observation mechanism;
and f, transmitting the crack image to a remote computer for processing through the wireless transceiving module by the adjusted crack observation mechanism.
Further, the remote computer processing includes: performing texture processing on the crack peripheral area in the crack image, and simulating a speckle image through a morphological corrosion algorithm to obtain speckle images before and after deformation; setting ROI through the crack coordinate; and (4) carrying out displacement field analysis processing by combining the speckle image and the ROI according to the DSCM technology to obtain crack information of cracks at the bridge web.
The working principle of the invention is as follows: after a fixing mechanism is installed, a sliding rail is spliced into a trapezoidal groove below the fixing mechanism, monitored crack coordinates are transmitted to a data module through a camera, the data module is started through a driving module and controls the driving mechanism to drive the sliding rail, the two-dimensional moving mechanism is assisted to accurately move to a crack corresponding coordinate position in a sliding groove of a lower fixing plate, a distance sensor transmits data back to the data module after detecting relative coordinates between the distance sensor and a crack, the data module controls a hydraulic rod to stretch and retract through the driving mechanism after data analysis is completed, lifting, supporting and fixing of a movable hinge of a first link rod is completed, a second link rod is fixed, the driving mechanism also controls a mechanical gripper through a servo motor, the space coordinates of the mechanical gripper are accurately adjusted, a CCD camera is enabled to be perpendicular to a crack surface to be observed, a wireless receiving and transmitting module transmits observation data to a computer for processing after observation is completed, the computer performs texture extraction on a peripheral area of the crack, and simulates a speckle image through morphological corrosion or other simulation image algorithms, the speckle image before and after deformation is led into an analysis program, an ROI (region of interest region) is set, a digital field area is used for processing speckle image of crack displacement and crack displacement information of a bridge crack.
Compared with the prior art, the invention has the beneficial technical effects that:
1. the crack detection device is suitable for crack detection of a bridge web, observed crack coordinates are transmitted to the driving module through the camera, the driving module controls the rotating motor to move to the corresponding coordinate position, the crack at any angle of the bridge web can be observed by the CCD camera through three-dimensional coordinate transformation of the mechanical gripper, the computer simulates a speckle pattern through a morphological corrosion algorithm, and the DSCM technology analyzes and processes key features of an ROI image to determine the length and width of the crack so as to accurately judge the appearance defects of the bridge.
2. The method has the advantages of continuous detection, stable system, high detection precision, all-weather detection and the like, effectively avoids aerial operation of inspection personnel on the premise of efficiently completing the detection task of the crack data of the bridge web, and greatly ensures the safety in the manual inspection process.
3. The method extracts the texture of the peripheral region of the crack by a morphological corrosion algorithm, simulates a speckle field, and effectively improves the calculation precision and the practicability of the crack detection by setting the ROI and the displacement field correlation coefficient truncation value.
Drawings
Fig. 1 is a schematic diagram of the apparatus of the present invention.
Fig. 2 is a schematic diagram of the fixing mechanism structure of the present invention.
Fig. 3 is a schematic diagram of a two-dimensional elevating mechanism and a two-dimensional elevating mechanism structure of the present invention.
Fig. 4 is a flow chart of the method of the present invention.
In the figure, 1-a fixing mechanism, 2-a sliding rail, 3-a two-dimensional moving mechanism, 4-a two-dimensional lifting mechanism, 5-a crack observation mechanism, 6-a top plate, 7-a sliding wheel, 8-a driving mechanism, 9-a first chain rod, 10-a second chain rod, 11-a hydraulic rod, 12-a movable hinge support, 13-a movable hinge, 14-a space moving mechanism, 15-a sleeve, 16-a driving wheel, 17-a mechanical gripper, 18-a servo motor, 19-an upper fixing plate, 20-a lower fixing plate, 21-a bolt and 22-a flexible cushion layer.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but 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 invention.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 3, a non-contact automatic bridge crack detection device comprises a fixing mechanism 1 arranged on a side surface of a bridge, a slide rail 2 is arranged below the fixing mechanism 1, a two-dimensional moving mechanism 3 is arranged in the slide rail 2, a two-dimensional lifting mechanism 4 is arranged below the two-dimensional moving mechanism 3, and the two-dimensional lifting mechanism 4 is connected with a crack observation mechanism 5; the two-dimensional moving mechanism 3 comprises a top plate 6, a sliding wheel 7 arranged on the inner side of the sliding rail 2 is arranged below the top plate 6, and the sliding wheel 7 is connected with a driving mechanism 8; the two-dimensional lifting mechanism 4 comprises a first chain rod 9, a second chain rod 10 and a hydraulic rod 11; one end of the first chain rod 9 is connected with the top plate 6 through a movable hinge support 12, and the other end is connected with the second chain rod 10 through a movable hinge 13; one end of the second chain rod 10 is connected with the first chain rod 9, and the other end is connected with the crack observation mechanism 5 through the space moving mechanism 14; one end of a hydraulic rod 11 is connected with the top plate 6 through a movable hinged support 12, and the other end of the hydraulic rod is sleeved on the first chain rod through a sleeve 15; the hinge of the movable winch 13 is controlled by the driving mechanism 8 through the driving wheel 16, and the hydraulic rod 11 is also controlled by the driving mechanism 8; the crack observation mechanism 5 comprises a control mechanism and a data module, the data module is connected with the CCD camera, the distance sensor and the camera, and the control mechanism is connected with a driving mechanism 8 to control the two-dimensional moving mechanism 3 and the two-dimensional lifting mechanism 4.
The space moving mechanism 14 comprises a mechanical gripper 17 connected with the second chain rod 10, the mechanical gripper 17 is connected with a servo motor 18 in the driving mechanism 8, and the mechanical gripper 17 adjusts the space position of the crack observing mechanism 5.
The fixing mechanism 1 comprises an upper fixing plate 19 and a lower fixing plate 20, the side surfaces of which are L-shaped, the transverse plate of the upper fixing plate 19 is arranged on the bridge floor, and the side plates are provided with trapezoidal grooves; the transverse plate of the lower fixed plate 20 is arranged below the bridge floor, the side plate is provided with a trapezoidal protrusion matched with the trapezoidal groove of the upper fixed plate 19, and the upper fixed plate 19 and the lower fixed plate 20 are fixed through bolts 21.
The lower surface of the transverse plate of the lower fixing plate 20 is provided with a trapezoidal groove which is matched with the trapezoidal protrusion at the top of the slide rail 2, and the upper surface of the transverse plate of the lower fixing plate 20 is provided with a flexible cushion layer 22.
The device also comprises a wireless transceiving module; the crack observation mechanism is in remote communication with the computer through the wireless transceiving module.
The fixing mechanism 1 is manually installed, the fixing mechanism 1 is made of 8mm thick steel plates, the width of the fixing mechanism 1 is 30-50cm, the distance between the fixing mechanisms 1 is preferably 5-7m, and the size and the distance between the fixing mechanisms 1 can be reasonably adjusted on the premise of ensuring safety and detection effects according to actual conditions.
The rotating speed of the sliding rail 2 of the two-dimensional moving mechanism 3 in the device is preferably 600-750r/min, and the rotating speed can be reasonably adjusted on the premise of ensuring the detection effect according to the actual condition.
The CCD camera in the device is suitable for shooting images with the resolution of 1600 multiplied by 1200 pixels, the acquisition rate of 2 frames/s and the object plane resolution of 0.00564mm, and can be reasonably adjusted on the premise of ensuring the observation effect according to the actual situation.
Referring to fig. 4, the present invention further includes a non-contact automatic bridge crack detection method, including:
step a, setting the state of a fixing mechanism 1 and the initial positions of a two-dimensional moving mechanism 3 and a two-dimensional lifting mechanism 4 according to the state of bridge engineering, and setting a driving mechanism 8 through a control mechanism to control the two-dimensional moving mechanism 3 to move along a slide rail 2 of the fixing mechanism 1; the camera in the crack observation mechanism 5 transmits the acquired images of the bridge web to the data module for processing;
b, when the camera in the crack observation mechanism 5 shoots an image and detects a crack, recording the coordinate of the crack;
c, the data module drives a control mechanism through a crack coordinate, and the control mechanism controls a driving mechanism 8 to drive a sliding rail 2 to adjust the two-dimensional moving mechanism 3 to the crack coordinate;
d, detecting the relative spatial position between the crack observation mechanism 5 and the crack by a distance sensor in the crack observation mechanism 5, transmitting spatial data to a data module, controlling the hydraulic rod 11 in the two-dimensional lifting mechanism 4 to stretch by the data module through a control mechanism so as to adjust the horizontal position of the crack observation mechanism 5, and observing the crack by the crack observation mechanism 5 through a CCD (charge coupled device) camera;
step e, after the data module processes the crack observation image, the control mechanism controls the mechanical gripper 17 in the space moving mechanism 14 to further adjust the position of the crack observation mechanism 5;
and f, transmitting the crack image to a remote computer for processing through a wireless transceiving module by the adjusted crack observation mechanism 5.
The remote computer processing includes: performing texture processing on the crack peripheral area in the crack image, and simulating a speckle image through a morphological corrosion algorithm to obtain speckle images before and after deformation; setting ROI through the crack coordinates; and (4) performing displacement field analysis and processing by combining the speckle images and the ROI according to the DSCM technology to obtain crack information of cracks at the bridge web. The DSCM technology is suitable for calculating the truncation value of the correlation coefficient of the displacement field to be 0.85 so as to improve the calculation precision, and can be reasonably adjusted on the premise of ensuring the calculation precision according to the actual condition.
This device passes through the trapezoidal joint portion between upper fixed plate 19 and bottom plate 20, can freely adjust the height between upper fixed plate 19 and bottom plate 20, and rethread bolt 21 is fixed, can be applicable to the bridge of different bridge deck thicknesses. According to the bridge that detects different length, set up the fixed establishment 1 of different quantity, guarantee that slide rail 2 and internal plant obtain effective support protection, cut slide rail 2 and also can pass through the activity of bottom plate 20 lower part dovetail groove, easily dismantle the installation. The position of the crack observation mechanism 5 can be finely adjusted by the two-dimensional movement mechanism 3, the two-dimensional lifting mechanism 4, and the space movement mechanism 14. For guaranteeing the efficiency that the crack detection handled, this device is when initial detection, only sets up initial two-dimensional elevating system 4 and 14 positions of space moving mechanism, uses two-dimensional moving mechanism 3 to move along the slide rail, carries out initial detection to the crack through the camera, records the crack position, after detecting the crack, carries out the fine tuning to two-dimensional elevating system 4 and space moving mechanism 14 again, and the CCD camera gathers the crack image in observing the mechanism 5 through the crack for gather the precision and satisfy the needs that the crack causes image processing. During initial detection, suggested image processing is carried out through the data module, and the detailed crack image is processed through the remote computer, so that the detection efficiency is effectively improved.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The non-contact automatic bridge crack detection device is characterized by comprising a fixing mechanism (1) arranged on the side face of a bridge, a sliding rail (2) is arranged below the fixing mechanism (1), a two-dimensional moving mechanism (3) is arranged in the sliding rail (2), a two-dimensional lifting mechanism (4) is arranged below the two-dimensional moving mechanism (3), and the two-dimensional lifting mechanism (4) is connected with a crack observation mechanism (5);
the two-dimensional moving mechanism (3) comprises a top plate (6), a sliding wheel (7) arranged on the inner side of the sliding rail (2) is arranged below the top plate (6), and the sliding wheel (7) is connected with a driving mechanism (8);
the two-dimensional lifting mechanism (4) comprises a first chain rod (9), a second chain rod (10) and a hydraulic rod (11); one end of the first chain rod (9) is connected with the top plate through a movable hinge support (12), and the other end of the first chain rod is connected with the second chain rod (10) through a movable hinge (13); one end of the second chain rod (10) is connected with the first chain rod (9), and the other end of the second chain rod is connected with the crack observation mechanism (5) through a space moving mechanism (14); one end of the hydraulic rod (11) is connected with the top plate through a movable hinged support (12), and the other end of the hydraulic rod is sleeved on the first chain rod (9) through a sleeve (15); the hinge of the movable winch (13) is controlled by a driving mechanism through a driving wheel (16), and the hydraulic rod (11) is also controlled by the driving mechanism;
the crack observation mechanism (5) comprises a control mechanism and a data module, the data module is connected with a CCD camera, a distance sensor and a camera, and the control mechanism is connected with a driving mechanism to control the two-dimensional moving mechanism (3) and the two-dimensional lifting mechanism (4).
2. The non-contact automatic bridge crack detection device according to claim 1, wherein the spatial movement mechanism (14) comprises a mechanical hand grip (17) connected with the second chain bar (10), the mechanical hand grip (17) is connected with a servo motor (18) in the driving mechanism, and the mechanical hand grip (17) performs spatial position adjustment on the crack observation mechanism (5).
3. The non-contact automatic bridge crack detection device according to claim 1, wherein the fixing mechanism comprises an upper fixing plate (19) and a lower fixing plate (20) which are L-shaped on the side surfaces, a transverse plate of the upper fixing plate (19) is arranged on the bridge floor, and the side plates are provided with trapezoidal grooves; the transverse plate of the lower fixing plate (20) is arranged below the bridge floor, the side plate is provided with a trapezoidal protrusion matched with the trapezoidal groove of the upper fixing plate (19), and the upper fixing plate (19) and the lower fixing plate (20) are fixed through bolts (21).
4. The non-contact automatic bridge crack detection device according to claim 3, wherein a trapezoidal groove is formed in the lower surface of the transverse plate of the lower fixing plate (20), the trapezoidal groove is matched with a trapezoidal protrusion at the top of the slide rail (2), and a flexible cushion layer (22) is arranged on the upper surface of the transverse plate of the lower fixing plate (20).
5. The non-contact automatic bridge crack detection device of claim 1, wherein the device further comprises a wireless transceiver module; the crack observation mechanism (5) is in remote communication with a computer through a wireless transceiving module.
6. A non-contact automatic bridge crack detection method is characterized by comprising the following steps:
a, setting the state of a fixing mechanism (1), the initial positions of a two-dimensional moving mechanism (3) and a two-dimensional lifting mechanism (4) according to the state of bridge engineering, and setting a driving mechanism (8) through a control mechanism to control the two-dimensional moving mechanism (3) to move along a sliding rail (2) of the fixing mechanism (1); a camera in the crack observation mechanism (5) transmits the acquired images of the bridge web to a data module for processing;
b, recording the coordinates of the cracks when the camera in the crack observation mechanism (5) shoots images to detect the cracks;
c, the data module drives a control mechanism through the crack coordinate, and the control mechanism controls a driving mechanism (8) to drive a sliding rail (2) to adjust the two-dimensional moving mechanism (3) to the crack coordinate;
d, detecting the relative spatial position between the crack observation mechanism (5) and the crack through a distance sensor in the crack observation mechanism, transmitting spatial data to a data module, controlling the hydraulic rod (11) in the two-dimensional lifting mechanism (4) to stretch and retract through a control mechanism by the data module so as to adjust the horizontal position of the crack observation mechanism (5), and observing the crack through a CCD (charge coupled device) camera by the crack observation mechanism (5);
e, after the data module processes the crack observation image, the control mechanism controls a mechanical gripper (17) in the space moving mechanism (14) to further adjust the position of the crack observation mechanism (5);
and f, transmitting the crack image to a remote computer for processing through a wireless transceiving module by the adjusted crack observation mechanism (5).
7. A method for non-contact automatic detection of bridge cracks, the remote computer processing comprising: performing texture processing on the crack peripheral area in the crack image, and simulating a speckle image through a morphological corrosion algorithm to obtain speckle images before and after deformation; setting ROI through the crack coordinates; and (4) carrying out displacement field analysis processing by combining the speckle image and the ROI according to the DSCM technology to obtain crack information of cracks at the bridge web.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211010600.7A CN115343296A (en) | 2022-08-23 | 2022-08-23 | Non-contact automatic bridge crack detection device and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211010600.7A CN115343296A (en) | 2022-08-23 | 2022-08-23 | Non-contact automatic bridge crack detection device and detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115343296A true CN115343296A (en) | 2022-11-15 |
Family
ID=83954469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211010600.7A Pending CN115343296A (en) | 2022-08-23 | 2022-08-23 | Non-contact automatic bridge crack detection device and detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115343296A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117571722A (en) * | 2024-01-16 | 2024-02-20 | 河南豫昶建设工程有限公司 | Bridge crack measuring device |
-
2022
- 2022-08-23 CN CN202211010600.7A patent/CN115343296A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117571722A (en) * | 2024-01-16 | 2024-02-20 | 河南豫昶建设工程有限公司 | Bridge crack measuring device |
| CN117571722B (en) * | 2024-01-16 | 2024-03-22 | 河南豫昶建设工程有限公司 | Bridge crack measuring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107292926B (en) | Crusing robot movement locus verticality measuring method based on more image sequences | |
| CN107064169A (en) | A kind of Bridge Crack detection means and detection method | |
| CN103353282B (en) | The online vision measurement device of hot-strip end shape | |
| CN111054782B (en) | Wide and thick plate shape detection device and method | |
| CN107316330B (en) | Underground hydraulic support frame group pose and verticality measuring method based on more image sequences | |
| CN106248686A (en) | Glass surface defects based on machine vision detection device and method | |
| CN115343296A (en) | Non-contact automatic bridge crack detection device and detection method | |
| WO2016060140A1 (en) | Bridge-inspecting robot system | |
| CN110666150A (en) | Metal ingot casting slag skimming system and method | |
| CN108596869B (en) | Rapid detection method for tunnel lining cracks | |
| CN113532293A (en) | Structure dynamic displacement measuring method and system based on unmanned aerial vehicle | |
| CN207215431U (en) | A kind of virtual reality device lens test device | |
| CN113155860A (en) | Flow state video monitoring-based method and system for diagnosing structural damage of water-passing building | |
| JP2013238565A (en) | Tire tread grounding part measuring instrument, and tire tread grounding part measurement method | |
| CN116275112A (en) | Powder spreading quality and scraper abrasion monitoring device and method based on SLM | |
| CN115384052A (en) | Intelligent laminating machine automatic control system | |
| CN214670726U (en) | Bridge anticollision wall disease data acquisition modeling system | |
| CN109940570A (en) | A kind of gate robot for overhauling | |
| CN112730441B (en) | Special steel bar surface defect detection and polishing system and detection and polishing method thereof | |
| CN210741478U (en) | Building disease inspection device | |
| CN116399302A (en) | Method for monitoring dynamic compaction settlement in real time based on binocular vision and neural network model | |
| CN114893669B (en) | Monitoring device and monitoring method applied to installation of tower crane attachment device | |
| CN116147709A (en) | Non-contact side slope optical measurement data acquisition system and method | |
| CN110617801A (en) | Building disease inspection device, building disease detection system and detection method thereof | |
| CN113269749B (en) | Strip position image data collection method and visual detection method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |