CN116596508B - Slope crack disease development identification recording method - Google Patents
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Abstract
The invention relates to the technical field of slope monitoring, in particular to a slope crack disease development identification recording method, which comprises the following steps of S1: performing ground-imitating flight on the side slope through the unmanned aerial vehicle, identifying the cracks, establishing a side slope base map A according to the measured data, performing first identification record on the cracks through an interpretation program, and establishing crack information as a map layer A; s2: manually rechecking the side slope through the handheld RTK, recording and uploading crack information, and identifying and recording the crack again through an interpretation program; s3: performing fixed inspection on the side slope, performing live-action positioning on historical crack information one by one through a handheld RTK, uploading the crack information again, performing identification matching on the crack information of this time and the crack information of the last time, and sequentially establishing a layer B, a layer C, a layer … … and a layer N according to a period; s4: the layers are superimposed on the base map a in time order. The method has high crack identification precision and is convenient for technicians to search historical crack information.
Description
Technical Field
The invention relates to the technical field of slope monitoring, in particular to a slope crack disease development identification recording method.
Background
The road slope is a slope surface with a certain gradient which is made on two sides of the roadbed in order to ensure the stability of the roadbed. After the road construction and the use, because of some external force factors, the road side slope can appear the crack, in order to discover the deterioration of road side slope crack as early as possible, need to monitor the road crack.
The existing identification and recording methods of the side slope cracks are roughly divided into two types, one type is completed by adopting a manual checking mode, and the side slope cracks are identified and recorded through text pictures and a recorded standing account, and the method has the defects that when technicians need to know the development condition of the cracks, the technicians need to check text data, the process is complicated and the time is long, specific data of the crack development cannot be obtained, and therefore the development condition of the cracks cannot be clearly and intuitively known; meanwhile, when checking the side slope crack disease, the inspector sometimes cannot find the historical crack position or miss the old crack, so that the checking effect is poor. The other is that the recognition of the side slope crack can be realized through unmanned aerial vehicle aviation modeling, and the defect is that the recognition accuracy is difficult to meet the requirement, the recognition missing phenomenon exists, and the recognition effect on the vegetation flourishing side slope is poor.
Disclosure of Invention
Therefore, the invention aims to overcome the defects of low slope crack identification precision and inconvenient reference of historical data in the prior art, thereby providing a slope crack disease development identification method.
A slope crack disease development identification recording method comprises the following steps:
s1: the method comprises the steps of performing ground-simulated flight on a side slope through an unmanned aerial vehicle, identifying cracks, establishing a side slope base map A according to measured data, performing first identification record on the cracks through an interpretation program, and establishing crack information as a map layer A.
S2: and (3) manually rechecking the side slope through the handheld RTK, recording and uploading crack information, and identifying and recording the crack again through an interpretation program.
S3: and (3) performing fixed inspection on the side slope, performing live-action positioning on historical crack information one by one through the handheld RTK, uploading the crack information again, performing identification matching on the current and last crack information through an interpretation program, and sequentially establishing data into a layer B, a layer C, a layer … … and a layer N according to a period.
S4: and overlapping the layers on the base graph A in sequence according to the time sequence.
In the S1, the base map a is a three-dimensional model, and the layers a, … … and N each include a three-dimensional image and a two-dimensional image.
As a preferable mode of the slope crack disease development identification recording method, before S1, sparsification treatment is needed to be carried out on the flourishing parts of the slope plants.
In the S1, the unmanned aerial vehicle performs aerial survey according to a set route, wherein the route setting comprises a flight altitude, a side direction overlapping degree, a heading overlapping degree, a lens shooting frequency, flight times and a flight speed; the course setting takes into account the effects of terrain, weather and illumination.
As a preferable aspect of the slope crack disease development identification recording method of the present invention, the step S2 specifically includes:
and shooting and recording the crack information through the handheld RTK, uploading the crack information to the interpreter, comparing the re-identification and recording result with the first identification and recording result, supplementing the crack information in the first identification and recording result through the re-identification and recording result, and supplementing the unrecorded crack information in the first identification and recording result into the layer A.
As a preferable mode of the slope crack disease development identification recording method in the invention, the crack information comprises the area, the length, the maximum width, the minimum width, the shape, the geographic position and the crack photo of the crack.
As a preferable mode of the slope crack disease development identification recording method in the invention, in the step S3, the identification matching specifically comprises the following steps:
firstly, rechecking the geographical position of the recorded crack in the current fixed inspection, identifying whether a newly generated crack exists, if so, marking the geographical position in the layer built at the current time.
And then matching the shapes of the original cracks, identifying whether the shapes of the cracks are changed greatly, and marking the cracks in the layer built at the time if the shapes of the cracks are changed greatly.
And finally, updating the rest information of each crack according to the current checking result, and establishing a new layer according to the current checking result.
As a preferable aspect of the slope crack disease development recognition recording method of the present invention, in S3, the processing of the crack photograph includes the steps of:
converting the crack photo into a gray image, performing CLAHE equalization and self-adaptive median filtering, and then performing image enhancement to ensure that the image features are more obvious; performing binarization processing on the image, further reducing noise, and eliminating noise interference; when a crack photo is shot and processed, the positions with cracks are spliced and marked by using a square frame, finally, a handheld RTK positioning point is taken as a coordinate origin, the pixel point cloud coordinates of the cracks in the binary image are obtained through RGB values, and the pixel point coordinates of the cracks are adjusted by using a graduated scale, so that the size of the crack photo is 1:1 and sharing a set of coordinates with the model base map.
As a preferable mode of the slope crack disease development identification recording method in the invention, the method further comprises S5: and consulting a slope model, crack history data and development conditions through VR live-action implementation.
As one preferable mode of the slope crack disease development identification recording method, the handheld RTK comprises RTK positioning equipment, a vertical rod, intelligent equipment and a graduated scale, wherein the RTK positioning equipment is arranged at the top of the vertical rod, the bottom of the vertical rod is conical, the graduated scale is arranged at the lower part of the vertical rod, the equipment is arranged at the middle part of the vertical rod, and the intelligent equipment and the graduated scale are detachably connected with the vertical rod.
The technical scheme of the invention has the following advantages:
1. according to the invention, a three-dimensional model base map A of a side slope is built through unmanned aerial vehicle and manual recheck, and a crack map layer A above the base map A is overlapped, then through manual recheck and matching of crack information in the map layer A, full crack monitoring is realized, old cracks cannot be missed or historical crack positions cannot be found in the follow-up recheck, continuous detection is carried out on original cracks and follow-up newly-appearing cracks, and a new map layer is manufactured and overlapped on a previous map layer.
2. The invention is convenient for technicians to find by making the crack information into the layer, can inspect and look up the historical side slope crack condition in real scenery, and grasp the crack development trend and the dynamics according to the form change of the crack in the historical crack information and the appearance condition of the new crack, and timely maintain and repair the side slope to avoid the occurrence of dangerous conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic overall flow chart of the present invention.
FIG. 2 is a schematic diagram of a crack treatment process according to the present invention.
Fig. 3 is a schematic diagram of a handheld RTK according to the present invention.
FIG. 4 is a schematic diagram of a photograph of a crack in an embodiment of the present invention
FIG. 5 is a schematic view showing the processing results of the slit photograph of FIG. 4
Reference numerals illustrate:
1. a handheld RTK; 101. an RTK positioning device; 102. a vertical rod; 103. an intelligent device; 104. a graduated scale.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in specific cases.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment provides a slope crack disease development identification recording method, as shown in fig. 1, comprising the following steps:
preparing: setting a route of the unmanned aerial vehicle, wherein the route setting comprises the flying height, the side direction overlapping degree, the course overlapping degree, the lens shooting frequency, the flying times and the flying speed of the unmanned aerial vehicle; the course setting takes into account the effects of terrain, weather and illumination. Sparsification treatment is carried out on the vegetation flourishing parts of the side slopes, so that the sparsification treatment does not cause adverse effects on the flight identification of the unmanned aerial vehicle.
Building a three-dimensional model: and a technician controls the unmanned aerial vehicle to fly the slope in a ground-imitating manner according to the set course, and the crack is identified in the flying process. And after the flying is finished, a three-dimensional model of the side slope is established as a base map A according to the data measured by the unmanned aerial vehicle.
And (3) building a layer A: and carrying out first identification record on the cracks identified by the unmanned aerial vehicle through an interpretation program, and establishing the crack information as a basic layer A. And then performing manual rechecking, photographing and recording the information of the crack on the side slope through the handheld RTK1, uploading the information to an interpretation program, comparing the re-identification record result with the first identification record, supplementing the information of the crack in the first identification record result through the re-identification record result, and supplementing the information of the crack which is not recorded in the first identification record into the basic layer A, so as to establish a complete layer A. And after the establishment is completed, the complete image layer A is overlapped into the base image A.
And (4) establishing a subsequent layer: and (3) performing fixed inspection on the side slope, positioning historical cracks one by one in a real-scene manner according to the last identified crack information through the handheld RTK1, avoiding missing the historical cracks, uploading the crack information again, and performing identification matching on the current and last crack information through an interpretation program.
When the identification is matched, firstly rechecking the geographical position of the recorded crack in the current definite inspection, identifying whether a newly generated crack exists or not, if so, marking the geographical position of the newly generated crack in the layer built at the current time.
And then matching the shapes of the original cracks, identifying whether the shapes of the cracks are changed greatly, and marking the cracks in the layer built at the time if the shapes of the cracks are changed greatly.
And finally, updating the rest information of each crack according to the checking result, sequentially establishing the data into a layer B, a layer C, a layer … … and a layer N according to the checking time period, and overlapping the newly established layer on the previous layer.
Historical crack information query: and consulting a slope model, crack history data and development conditions through VR live-action implementation.
In this embodiment, after the crack is identified, three-dimensional images and two-dimensional images of the layers a, … … and N are required to be established, so that a subsequent technician can conveniently query the crack information.
In this embodiment, the crack information includes morphological parameters such as geographical location of the crack, crack photograph, area, length, maximum width, minimum width, and shape.
In this embodiment, as shown in fig. 2, 4 and 5, the crack identification processing flow includes the following steps:
a1: and inputting, namely automatically uploading the shot crack photo to interpretation software through the intelligent equipment.
A2: the method comprises the steps of processing, preprocessing a photo in sequence, mainly converting the photo into a gray level image, performing CLAHE equalization and self-adaptive median filtering, and then performing image enhancement to ensure that the image characteristics are more obvious; performing binarization processing on the image, further reducing noise, and eliminating noise interference; the locations where there are breaks when the crack photographs are taken and processed are spliced and marked with boxes.
A3: the crack is digitized, a handheld RTK positioning point is used as a coordinate origin, a pixel point cloud coordinate of the crack in the binary image is obtained through an RGB value (a crack peripheral coordinate and a global coordinate can be obtained, the global coordinate occupies a larger memory), and the crack pixel point coordinate is adjusted by utilizing a graduated scale, so that the size 1:1 and shares a set of coordinates with the model base map (the coordinates are three-dimensional space coordinates at this time).
A4: outputting, judging the direction of the crack, and identifying and combining morphological characteristic parameters of the crack; outputting the crack pixel three-dimensional coordinate point cloud to the model base map, (the point cloud can be synthesized into a three-dimensional space curved surface by considering that the three-dimensional point cloud occupies a large memory and then is attached to the model base map), and the three-dimensional space curved surface is used as a layer to be superimposed on the previous layer.
In this embodiment, as shown in fig. 3, the handheld RTK1 includes an RTK positioning device 101, a pole 102, a smart device 103, and a scale 104.
The RTK positioning device 101 is used for performing accurate positioning, and simultaneously orienting the direction of the intelligent device, and acquiring the three-dimensional positional relationship between the shot photo and the positioning point, which is arranged at the top of the upright rod 102.
The upright 102 is used for connecting the components and is convenient to hold, and the bottom of the upright is conical so as to be convenient to fix.
The graduated scale 104, which serves as a scale for crack size calibration, is disposed at the lower portion of the upright 102,
the intelligent device 103 is used for shooting a crack image, and can locate a historical crack position in a real-scene mode, and is arranged in the middle of the vertical rod 102. The intelligent device 103 and the graduated scale 104 are detachably connected with the vertical rod 102.
According to the invention, a three-dimensional real-scene model of the side slope is built through unmanned aerial vehicle aerial photography, three-dimensional visualization of the side slope is realized, a hand-held RTK1 is utilized to photograph, crack photo information is obtained, and a layer is manufactured and overlapped on the three-dimensional real-scene model; and the VR live-action inspection is utilized to inspect the historical crack condition in the slope layer, so that technicians can conveniently inquire the historical crack information, grasp the crack development trend and the dynamics according to the morphological change of the crack in the historical crack information and the appearance condition of a new crack, and timely maintain and repair the slope to avoid dangerous conditions.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (7)
1. The slope crack disease development identification recording method is characterized by comprising the following steps of:
s1: performing ground-imitating flight on the side slope through the unmanned aerial vehicle, identifying the cracks, establishing a side slope base map A according to the measured data, performing first identification record on the cracks through an interpretation program, and establishing crack information as a map layer A;
s2: manually rechecking the side slope through the handheld RTK (1), recording and uploading crack information, and identifying and recording the crack again through an interpretation program;
s3: performing fixed inspection on the side slope, positioning historical crack information one by one in real view through the handheld RTK (1), uploading the crack information again, performing identification matching on the current and last crack information through an interpretation program, and sequentially establishing data into a layer B, a layer C, a layer … … and a layer N according to a period;
s4: overlapping the layers on the base graph A in sequence according to the time sequence;
the step S2 specifically comprises the following steps:
shooting and recording crack information through the handheld RTK (1), uploading the crack information to an interpretation program, comparing a re-identification and recording result with a first identification and recording result, supplementing the crack information in the first identification and recording result through the re-identification and recording result, and supplementing the unrecorded crack information in the first identification and recording result into the layer A;
in the step S3, the identifying and matching specifically includes the following steps:
firstly, rechecking the geographical position of a recorded crack in the current fixed inspection, identifying whether a newly generated crack exists, if so, marking the geographical position in a layer built at the current time;
then matching the shape of the original crack, identifying whether the crack shape is changed greatly, if so, marking the crack in the layer established at the time;
finally, the rest information of each crack is updated according to the current checking result, and a new layer is established according to the current checking result;
in the step S3, the processing of the crack photograph includes the following steps:
converting the crack photo into a gray image, performing CLAHE equalization and adaptive median filtering, then, image enhancement is carried out, so that the image features are more obvious; performing binarization processing on the image, further reducing noise, and eliminating noise interference; the method comprises the steps of splicing broken positions during shooting and processing of a crack photo, marking by using a square frame, finally taking a handheld RTK (1) locating point as a coordinate origin, acquiring pixel point cloud coordinates of a crack in a binary image through RGB values, and adjusting the pixel point coordinates of the crack by using a graduated scale to enable the size of the crack to be 1:1 and sharing a set of coordinates with the model base map.
2. The slope crack disease development recognition recording method according to claim 1, wherein in S1, the base map a is a three-dimensional model, and the layers a, … … and N each include a three-dimensional image and a two-dimensional image.
3. The slope crack disease development identification recording method according to claim 1, wherein prior to S1, sparsification treatment is required for the flourishing portion of the slope vegetation.
4. The slope crack disease development identification recording method according to claim 1, wherein in the step S1, the unmanned aerial vehicle is aerial according to a set route, and the route setting comprises a flight altitude, a side lap, a course lap, a lens shooting frequency, a flight number and a flight speed; the course setting takes into account the effects of terrain, weather and illumination.
5. The slope crack disease development identification recording method according to claim 1, wherein the crack information includes an area, a length, a maximum width, a minimum width, a shape, a geographical location, and a crack photograph of the crack.
6. The slope crack disease development identification recording method according to claim 1, further comprising S5: and consulting a slope model, crack history data and development conditions through VR live-action implementation.
7. The slope crack disease development identification recording method according to claim 1, wherein the handheld RTK (1) comprises an RTK positioning device (101), a vertical rod (102), an intelligent device (103) and a graduated scale (104), the RTK positioning device (101) is arranged at the top of the vertical rod (102), the bottom of the vertical rod (102) is conical, the graduated scale (104) is arranged at the lower part of the vertical rod (102), the intelligent device (103) is arranged at the middle part of the vertical rod (102), and the intelligent device (103) and the graduated scale (104) are detachably connected with the vertical rod (102).
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| WO2020199538A1 (en) * | 2019-04-04 | 2020-10-08 | 中设设计集团股份有限公司 | Bridge key component disease early-warning system and method based on image monitoring data |
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