CN117451047A - Road bridge pile foundation detection method and system based on inspection robot - Google Patents

Abstract

The application relates to a highway bridge pile foundation detection method based on a patrol robot, and relates to the field of engineering detection technology; determining pile foundation distance according to any two bridge pile foundation positions, and determining comprehensive distance; determining the comprehensive distance with the maximum value, and defining the comprehensive distance as an initial pile foundation; determining the pile foundation distance with the minimum value, defining another pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determining the adjacent pile foundation based on the residual pile foundations according to the adjacent pile, and determining the movement detection sequence according to the sequence of the adjacent pile foundations; determining a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determining a starting position, and determining a patrol moving path according to all pile foundation detection paths and the moving detection sequence; and controlling the inspection robot to move and detect along the inspection moving path. This application has the effect of being convenient for carry out daily detection to bridge pile foundation.

Description

Road bridge pile foundation detection method and system based on inspection robot

Technical Field

The application relates to the field of engineering detection technology, in particular to a highway bridge pile foundation detection method and system based on a patrol robot.

Background

The pile foundation is a deep foundation consisting of piles and pile caps (called caps for short) connected with the tops of the piles or a single pile foundation connected with the piles by the piles. If the pile body is buried in the soil, the bottom surface of the bearing platform is contacted with the soil, the pile body is called a low bearing platform pile foundation; if the pile body upper portion is exposed to the ground and the pile cap bottom is located above the ground, the pile body is referred to as a high pile cap. For highway bridge pile foundations, the pile foundations used are generally high bearing pile foundations, and the pier is connected with the bearing.

In order to avoid the danger of bridge caused by damaged pile foundation structure, the detection equipment is carried by staff to detect the pile foundation regularly, especially for the weather with obvious water level change caused by rainy season, the detection is needed for the condition that the water level fluctuation and the alternate change of dry and wet of the top section of the pile foundation are worn or not, neck and exposed ribs. At present, detection equipment commonly used is a patrol robot, and a common patrol robot is an unmanned aerial vehicle, and the unmanned aerial vehicle is controlled by a worker to fly so as to acquire an image of a pile foundation, so that the concrete condition of the pile foundation can be known, and the detection of the pile foundation can be realized.

Aiming at the related technology, the inventor considers that manual control is needed for the whole process when the inspection robot is used for inspecting the pile foundation, the requirement for the use of the inspection robot by the worker is high, and the inspection robot has a certain operation threshold, so that the inspection robot is inconvenient for the daily periodic inspection of the pile foundation, and the improvement space is still provided.

Disclosure of Invention

In order to facilitate daily detection of bridge pile foundations, the application provides a highway bridge pile foundation detection method and system based on a patrol robot.

In a first aspect, the present application provides a highway bridge pile foundation detection method based on a patrol robot, which adopts the following technical scheme:

a highway bridge pile foundation detection method based on a patrol robot comprises the following steps:

acquiring the position and contour of a bridge pile foundation;

determining pile foundation distance according to any two bridge pile foundation positions, and summing under a single pile foundation according to all corresponding pile foundation distance to determine comprehensive distance;

determining the comprehensive distance with the largest value according to a preset ordering rule, and defining the pile foundation corresponding to the comprehensive distance as an initial pile foundation;

Determining a pile foundation distance with the smallest value at the initial pile foundation according to the sorting rule, defining another pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determining the adjacent pile foundation based on the rest pile foundations according to the adjacent pile until the determination of all the adjacent pile foundations is completed, and determining the movement detection sequence according to the sequence of the adjacent pile foundations;

determining a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determining a starting position on the pile foundation detection path of the starting pile foundation, and determining a patrol moving path according to all pile foundation detection paths and the moving detection sequence;

and controlling the inspection robot to move towards the direction of the initial position, acquiring the water interval distance, and controlling the inspection robot to move and detect along the inspection moving path when the water interval distance is consistent with the preset fixed distance and the inspection robot is at the initial position.

Through adopting above-mentioned technical scheme, when utilizing inspection robot to detect bridge pile foundation, can acquire bridge pile foundation position and every pile foundation's profile, can be according to the position that the pile foundation is located this moment in order to generate the inspection travel path that supplies inspection robot to detect to make inspection robot can detect with automatic according to bridge pile foundation specific condition, be convenient for carry out daily detection to bridge pile foundation.

Optionally, after the comprehensive distance is determined, the highway bridge pile foundation detection method based on the inspection robot further comprises the following steps:

judging whether at least two pile foundations with the largest comprehensive distance values exist or not;

if at least two pile foundations with the largest comprehensive distance value do not exist, determining an initial pile foundation according to the comprehensive distance;

if at least two pile foundations with the largest comprehensive distance value exist, defining the bridge pile foundation position corresponding to the comprehensive distance as a target position, and acquiring the equipment initial position of the inspection unmanned aerial vehicle;

establishing a parallel moving line segment according to the target position and the initial position of the equipment, determining a transverse moving path according to the parallel moving line segment, and defining an intersection point between the parallel moving line segment and the pile foundation contour of the bridge as an avoidance point;

determining an avoidance arc line segment and an avoidance straight line segment according to two avoidance points in the same bridge pile foundation contour, and determining an avoidance redundant path according to the avoidance arc line segment and the avoidance straight line segment;

calculating according to the transverse movement path and all corresponding avoidance redundant paths to determine the comprehensive movement path;

and determining the comprehensive moving path with the minimum value according to the sequencing rule, and determining the initial pile foundation according to the target position corresponding to the comprehensive moving path.

Through adopting above-mentioned technical scheme, when there are a plurality of pile foundations that satisfy the requirement can regard as initial pile foundation, accessible inspection robot removes the route that the pile foundation that corresponds required removal in initial position in order to confirm to fly and remove with the nearest pile foundation.

Optionally, after the determination of the redundant path avoidance, the highway bridge pile foundation detection method based on the inspection robot further comprises the following steps:

acquiring the equipment moving direction of the inspection robot from each point on the evading arc section;

determining an adjustment angle according to the moving direction of each device, determining the adjustment angle with the largest numerical value according to the ordering rule, defining the adjustment angle as a required angle, and defining two point positions on an avoidance arc segment corresponding to the required angle as adjustment points;

determining an adjustment distance on the evading arc line segment according to the two adjustment points;

and determining correction parameters corresponding to the adjustment distance and the demand angle according to a preset correction matching relation, and correcting and updating the avoiding redundant routes according to the demand parameters.

By adopting the technical scheme, the method can update the avoided redundant path according to the angle and the pressure which are required to be adjusted when the inspection robot avoids, so that the determination of the avoided redundant path is more accurate.

Optionally, the step of determining the starting position on the pile foundation detection path of the starting pile foundation includes:

generating a changeable virtual moving point on the pile foundation detection path of the initial pile foundation, and determining a virtual moving distance according to the virtual moving point and the point positions on the pile foundation detection paths of the adjacent pile foundations;

determining a virtual moving distance with the minimum value according to the ordering rule, and defining the virtual moving distance as a lower limit moving distance;

determining a virtual moving line segment according to the initial position of the equipment and the virtual moving point, and determining a horizontal moving distance according to the virtual moving line segment;

counting according to the intersection points of the virtual moving line segments and the bridge pile foundation contours to determine the avoiding quantity;

according to a preset adjustment matching relation, determining adjustment parameters corresponding to the avoidance quantity, and updating the horizontal movement distance according to the adjustment parameters;

and carrying out summation calculation according to the updated horizontal movement distance and the lower limit movement distance to determine an actual movement distance, determining the actual movement distance with the minimum value according to the ordering rule, and determining a virtual moving point corresponding to the actual movement distance as a starting position.

By adopting the technical scheme, the method can be used for determining a proper starting position for the mobile detection of the inspection robot.

Optionally, the step of determining the inspection moving path according to all pile foundation detection paths and the moving detection sequence includes:

defining the point positions of the adjacent pile foundations of the starting pile foundations, which are away from the lower limit moving distance of the starting position, as demand point positions;

generating a changeable target moving point on a pile foundation detection path of the adjacent pile foundation;

generating a required moving path according to the required point positions and the target moving points in a preset path generation rule, and determining a required moving distance according to the required moving path;

and determining the minimum value of all the determined required moving distances in all the target moving points according to the sorting rule, updating the target moving point corresponding to the minimum value of the required moving distances into a required point position, updating the new required point position again according to the updated required point position until the required point position of each pile foundation is determined, and determining the inspection moving path according to the starting position, all the required point positions and all the pile foundation detection paths.

Through adopting above-mentioned technical scheme, can confirm the demand point position in every pile foundation department to can effectually produce and patrol and examine the travel path and supply to patrol and examine the robot and remove, thereby make the travel path who patrol and examine the robot as far as possible few.

Optionally, when the inspection robot is controlled to move along the inspection moving path for inspection, the highway bridge pile foundation detection method further comprises:

defining a path between a demand point and a demand point in the inspection moving path as a position adjustment path;

acquiring a current moving position and an object radar state when the inspection robot moves and detects along an inspection moving path, and sequentially acquiring the object radar position within a preset unit time when the object radar state is consistent with a preset in-place state;

generating a changeable virtual time length, determining the position of an external object after the virtual time length according to the radar position of the object, and determining the virtual position of the equipment of the inspection robot after the virtual time length according to the current moving position and the preset equipment moving habit;

determining object separation distance according to the external object position and the virtual position of the equipment;

judging whether the object distance is smaller than a preset safety distance or not;

if the condition that the distance between the objects is smaller than the safety distance does not exist, controlling the inspection robot to continue moving on the inspection moving path in a manner that the equipment moves and is used to;

if the object distance is smaller than the safety distance, the inspection robot is controlled to stop moving until the radar state of the object is inconsistent with the in-place state, and the inspection robot moves along the inspection moving path again.

Through adopting above-mentioned technical scheme, can analyze whether the condition of collision inspection robot can appear to the external object to make inspection robot dodge to the collision condition.

Optionally, if the object distance is smaller than the safety distance, the inspection robot-based highway bridge pile foundation detection method further includes:

defining a corresponding virtual time length as a virtual collision time length when the object distance is smaller than the safety distance, and determining a collision time point according to the current time point and the virtual collision time length;

determining the possible collision duration according to all the collision time points;

judging whether the possible collision time is longer than a preset standard possible time;

if the possible collision time length is longer than the reference possible time length, controlling the inspection robot to stop moving;

and if the possible collision time is not longer than the reference possible time, controlling the inspection robot to continue moving on the inspection moving path in a manner that the equipment moves and is used to.

By adopting the technical scheme, the accuracy of collision can be further determined, so that the inspection robot has a better avoidance effect.

In a second aspect, the application provides a highway bridge pile foundation detection system based on inspection robot, which adopts the following technical scheme:

Highway bridge pile foundation detecting system based on inspection robot includes:

the acquisition module is used for acquiring the position of the bridge pile foundation and the contour of the bridge pile foundation;

the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;

the judging module is connected with the acquisition module and the processing module and is used for judging information;

the processing module determines pile foundation spacing according to any two bridge pile foundation positions, and performs summation calculation under a single pile foundation according to all corresponding pile foundation spacing to determine comprehensive spacing;

the processing module determines the comprehensive distance with the largest value according to a preset ordering rule, and defines the pile foundation corresponding to the comprehensive distance as an initial pile foundation;

the processing module determines the pile foundation distance with the minimum value at the initial pile foundation according to the sorting rule, defines the other pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determines the adjacent pile foundation based on the rest pile foundations according to the adjacent pile until the determination of all the adjacent pile foundations is completed, and determines the movement detection sequence according to the sequence of the adjacent pile foundations;

the processing module determines a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determines a starting position on the pile foundation detection path of the starting pile foundation, and determines a patrol moving path according to all pile foundation detection paths and the moving detection sequence;

The processing module controls the inspection robot to move towards the direction of the initial position, enables the acquisition module to acquire the water interval distance, and controls the inspection robot to move and detect along the inspection moving path when the judgment module judges that the water interval distance is consistent with the preset fixed distance and the inspection robot is at the initial position.

Through adopting above-mentioned technical scheme, when utilizing inspection robot to detect bridge pile foundation, the acquisition module can acquire bridge pile foundation position and the profile of every pile foundation, and processing module can be according to the position that the pile foundation is located in order to generate the inspection travel path that the inspection robot detected this moment to make inspection robot can detect in order to automatic according to bridge pile foundation concrete condition, be convenient for carry out daily detection to bridge pile foundation.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the inspection robot is used for detecting the bridge pile foundation, the inspection robot can automatically move and detect the bridge pile foundation, so that the bridge pile foundation can be detected routinely;

2. a more reasonable inspection path can be determined according to the arrangement condition of the bridge pile foundation, so that the overall inspection detection effect is better;

3. The inspection robot can detect and analyze the external movable object in the moving process of the inspection robot, so that the possibility of collision of the inspection robot is reduced, and the safety of the whole operation is improved.

Drawings

Fig. 1 is a flow chart of a highway bridge pile foundation detection method based on a patrol robot.

FIG. 2 is a flow chart of a method of initial pile foundation determination.

FIG. 3 is a schematic diagram of an initial pile foundation determination process.

FIG. 4 is a flow chart of a method of circumventing redundant route updates.

Fig. 5 is a flow chart of a method of starting position determination.

Fig. 6 is a flowchart of a patrol moving path determination method.

Fig. 7 is a flowchart of a collision possibility determination method.

Fig. 8 is a flow chart of a collision possible precision method.

Fig. 9 is a block flow diagram of a highway bridge pile foundation detection method based on a patrol robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 9 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.

The embodiment of the application discloses highway bridge pile foundation detection method based on inspection robot, when utilizing inspection robot to detect bridge pile foundation, can analyze the overall arrangement of pile foundation in order to confirm suitable inspection route to control inspection robot automatic remove in inspection route in order to detect each pile foundation, thereby be convenient for realize the daily detection to bridge pile foundation.

Referring to fig. 1, a method flow of a highway bridge pile foundation detection method based on a patrol robot includes the following steps:

step S100: and obtaining the position and the contour of the bridge pile foundation.

The position of the bridge pile foundation is the position of the bridge pile foundation, can be identified as the position of the central point of the pile foundation, and the outline of the bridge pile foundation is the cross section outline of the bridge, such as a circle, a square and the like, and comprises corresponding side length or radius and other data, and both can be obtained through a construction result diagram of the corresponding bridge; the corresponding position can be determined by establishing a coordinate system at the initial position of the unmanned aerial vehicle before operation, and the position is a plane position.

Step S101: and determining the pile foundation distance according to any two bridge pile foundation positions, and summing under a single pile foundation according to all corresponding pile foundation distances to determine the comprehensive distance.

The pile foundation distance is the distance value between two pile foundations, and the comprehensive distance is the sum of the distance values of a single pile foundation from all other pile foundations.

Step S102: and determining the comprehensive distance with the maximum value according to a preset ordering rule, and defining the pile foundation corresponding to the comprehensive distance as the initial pile foundation.

The sequencing rule is a method which is set by staff and can sequence the numerical values, such as a bubbling method, and the comprehensive distance with the largest numerical value can be determined through the sequencing rule, namely the sum of distance values of the pile foundation from all the rest of pile foundations is the largest, namely the pile foundation is the edge pile foundation in all the pile foundations of the bridge, and the initial pile foundation is defined at the moment to distinguish the pile foundations, so that the subsequent analysis is facilitated.

Step S103: determining the pile foundation distance with the smallest value at the initial pile foundation according to the sorting rule, defining the other pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determining the adjacent pile foundation based on the rest pile foundations according to the adjacent pile until the determination of all the adjacent pile foundations is completed, and determining the movement detection sequence according to the sequence of the adjacent pile foundations.

The pile foundations closest to the initial pile foundations are determined through the sequencing rule, so that adjacent pile foundations are defined, the moving detection sequence is the sequence for detecting the pile foundations, and the distance of the movement of the inspection robot is minimized through the determining sequence of the adjacent pile foundations, so that the moving detection sequence can be effectively determined.

Step S104: and determining a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determining a starting position on the pile foundation detection path of the starting pile foundation, and determining a patrol moving path according to all pile foundation detection paths and the moving detection sequence.

The pile foundation detection path is a path required to move by the inspection robot when a single pile foundation is detected, for example, the outline of a bridge pile foundation is circular, at the moment, the inspection robot needs to be ensured to have a sufficient visual field and observe the detail of the pile foundation, the distance value between the inspection robot and the outer outline of the pile foundation needs to be ensured to be fixed, at the moment, the radius of the pile foundation detection path can be determined through the fixed distance value and the original radius of the pile foundation, and then the circle is drawn by the position of the bridge pile foundation for determination; in the method, the pile foundation detection path and the contour of the bridge pile foundation are in an equal proportion graph, and the proportion condition between the pile foundation detection path and the contour of the bridge pile foundation is manually input by a worker under the operation condition; the initial position is the position when the inspection robot starts to detect the initial pile foundation, and the determination method is described below and is not described in detail here; the inspection moving path is a path that can move when inspecting each pile foundation along the movement inspection sequence, and the specific determination method is described below, which is not described in detail herein.

Step S105: and controlling the inspection robot to move towards the direction of the initial position, acquiring the water interval distance, and controlling the inspection robot to move and detect along the inspection moving path when the water interval distance is consistent with the preset fixed distance and the inspection robot is at the initial position.

Controlling the inspection robot to move in the direction of the initial position of the image so that the inspection robot can reach the initial point of the inspection moving path, and facilitating the subsequent detection of the inspection robot; the water interval distance is a distance value between the inspection robot and the water surface below, and can be obtained by installing a forward downward distance sensor below the inspection robot; the fixed distance is the machine water interval distance that can make to patrol and examine the better machine water interval distance when examining the boundary department of air and surface of water in the pile foundation that the robot set for the staff, steerable inspection robot is in the removal of inspection travel path detection when machine water interval distance is unanimous with the fixed distance to realize the automated inspection of inspection robot, be convenient for realize the daily detection of bridge pile foundation.

Referring to fig. 2, after the integrated distance is determined, the inspection robot-based highway bridge pile foundation detection method further includes:

step S200: judging whether at least two pile foundations with the largest comprehensive distance value exist.

The purpose of the judgment is to know whether a more accurate determination can be made on the unique initial pile foundation.

Step S2001: if at least two pile foundations with the largest comprehensive distance value do not exist, determining the initial pile foundations according to the comprehensive distance.

When at least two pile foundations with the largest comprehensive distance value do not exist, only the pile foundations meeting the requirements are indicated, and the initial pile foundations are directly determined.

Step S2002: if at least two pile foundations with the largest comprehensive distance value exist, defining the bridge pile foundation position corresponding to the comprehensive distance as a target position, and acquiring the equipment initial position of the inspection unmanned aerial vehicle.

When at least two pile foundations with the largest comprehensive distance value exist, at least two pile foundations meeting the requirements are indicated to exist, and further analysis is needed to determine the initial pile foundations; the target positions are defined to distinguish different bridge pile foundation positions, so that subsequent analysis is facilitated, the initial position of the equipment is the position of the inspection unmanned aerial vehicle when the inspection unmanned aerial vehicle does not work, and the position is a plane position, and reference is made to fig. 3.

Step S201: and establishing a parallel moving line segment according to the target position and the initial position of the equipment, determining a transverse moving path according to the parallel moving line segment, and defining an intersection point between the parallel moving line segment and the pile foundation contour of the bridge as an avoidance point.

The parallel moving line segment is a line segment taking a target position and an equipment initial position as two endpoints, the transverse moving path is the length of the parallel moving line segment, and the avoidance points are defined to distinguish different points on the parallel moving line segment, so that the follow-up analysis is convenient.

Step S202: and determining an avoidance arc line segment and an avoidance straight line segment according to two avoidance points in the same bridge pile foundation contour, and determining an avoidance redundant path according to the avoidance arc line segment and the avoidance straight line segment.

The avoidance arc line segment is a line segment with smaller radian between two avoidance points in the bridge pile foundation outline, and referring to fig. 3, the avoidance straight line segment is a straight line segment between two avoidance points, and the avoidance redundant path is a length difference value between the avoidance arc line segment and the avoidance straight line segment.

Step S203: and calculating according to the transverse movement path and all corresponding avoidance redundant paths to determine the comprehensive movement path.

The comprehensive moving path is a path value which is actually required to be moved when the inspection robot moves from the initial position of the equipment to the target position and avoids at the pile foundation,

step S204: and determining the comprehensive moving path with the minimum value according to the sequencing rule, and determining the initial pile foundation according to the target position corresponding to the comprehensive moving path.

The comprehensive moving path with the minimum value can be determined through the sequencing rule, so that the minimum path required by the inspection robot to move from the initial position to the target position of the equipment is determined, the pile foundation is defined as the initial pile foundation, and the overall operation efficiency of the inspection robot is improved.

Referring to fig. 4, after the determination of the redundant path avoidance, the highway bridge pile foundation detection method based on the inspection robot further includes:

step S300: and acquiring the equipment moving direction of the inspection robot from each point on the evading arc section.

The moving direction of the equipment is the direction in which the inspection robot moves when moving to the avoidance arc segment.

Step S301: and determining an adjustment angle according to the moving direction of each device, determining the adjustment angle with the largest numerical value according to the ordering rule, defining the adjustment angle as a required angle, and defining two points on an avoidance arc segment corresponding to the required angle as adjustment points.

The adjusting angle is an angle of an included angle formed by any two equipment moving directions, the adjusting angle with the largest numerical value can be determined through a sequencing rule, and the required angle is defined at the moment to distinguish different adjusting angles, so that the subsequent analysis is convenient; when the adjustment angle is larger, the more parameters which need to be adjusted are indicated to move the inspection robot, and the greater the moving pressure is; and the adjusting point is the position of the inspection robot when the moving directions of the two devices are acquired when the required angle is determined.

Step S302: and determining the adjustment distance on the evading arc line according to the two adjustment points.

The distance between the two adjusting points is adjusted to be the distance value between the two evading arc sections.

Step S303: and determining correction parameters corresponding to the adjustment distance and the demand angle according to a preset correction matching relation, and correcting and updating the avoiding redundant routes according to the demand parameters.

The larger the required angle is, the smaller the adjustment distance is, which means that the inspection robot needs to perform larger angle adjustment at a smaller distance, and the whole flying difficulty is larger at the moment, so that the situation needs to be avoided as much as possible in the path selection process; in order to avoid the occurrence of the situation, when the situation occurs, the determined avoidance superfluous path needs to be increased to reduce the situation of selecting the path, so that the use of correction parameters is introduced, wherein the correction parameters are parameters for correcting the avoidance superfluous path, different adjustment stand-off distances and different correction parameters corresponding to the required angle are adopted, and the correction matching relationship among the three is determined by a staff through multiple experiments in advance; and multiplying the correction parameter by the avoiding redundant route to update the avoiding redundant route.

Referring to fig. 5, the step of determining the starting position on the pile foundation detection path of the starting pile foundation includes:

step S400: and generating a changeable virtual moving point on the pile foundation detection path of the initial pile foundation, and determining the virtual moving distance according to the virtual moving point and the point positions on the pile foundation detection paths of the adjacent pile foundations.

The virtual moving point is any point on a pile foundation detection path of the initial pile foundation, and can move and change on the pile foundation detection path; the virtual moving distance is the distance between the virtual moving point and the point position on the pile foundation detection path of the adjacent pile foundations.

Step S401: and determining a virtual moving distance with the minimum value according to the ordering rule, and defining the virtual moving distance as a lower limit moving distance.

The virtual moving distance with the minimum value, namely the minimum distance value required to move from the initial pile foundation to the corresponding adjacent pile foundation, is determined through the sequencing rule, and is defined as the lower limit moving distance for identification at the moment, so that the subsequent analysis is facilitated.

Step S402: and determining a virtual moving line segment according to the initial position of the equipment and the virtual moving point, and determining a horizontal moving distance according to the virtual moving line segment.

The virtual moving line segment is a line segment taking the initial position of the equipment and the virtual moving point as two endpoints, and the horizontal moving distance is the length value of the virtual moving line segment.

Step S403: and counting according to the intersection points of the virtual moving line segments and the bridge pile foundation contours to determine the avoiding quantity.

The evasion number is the total number of intersections of the virtual moving line segments and all bridge pile foundation contours.

Step S404: and determining adjustment parameters corresponding to the evasion quantity according to a preset adjustment matching relation, and updating the horizontal movement distance according to the adjustment parameters.

The different evasion numbers indicate that the number of times that the inspection robot needs to adjust the moving direction is different, and the pressure of the moving operation is different at the moment, so that a path with small pressure is selected as much as possible for use when the inspection robot moves; the adjustment parameters are parameters for updating the horizontal movement distance, different avoidance numbers correspond to different adjustment parameters, and the horizontal movement distance can be updated by multiplying the adjustment parameters by the horizontal movement distance.

Step S405: and carrying out summation calculation according to the updated horizontal movement distance and the lower limit movement distance to determine an actual movement distance, determining the actual movement distance with the minimum value according to the ordering rule, and determining a virtual moving point corresponding to the actual movement distance as a starting position.

The actual moving distance is a rough distance value required to be moved when the inspection robot moves from the initial position of the equipment to the adjacent pile foundation corresponding to the initial pile foundation, the actual moving distance with the minimum value is determined through the sequencing rule, and the corresponding virtual moving point is determined to be the initial position, so that the whole distance required to be moved by the follow-up inspection robot is reduced, and the whole working efficiency is improved.

Referring to fig. 6, the step of determining the patrol moving path according to all pile foundation detection paths and the moving detection sequence includes:

step S500: and defining the point positions of the adjacent pile foundations of the starting pile foundations, which are away from the lower limit moving distance of the starting position, as the demand point positions.

And the demand points are defined to distinguish the points on the adjacent pile foundations of the initial pile foundations, so that the subsequent analysis is convenient.

Step S501: and generating a changeable target moving point on the pile foundation detection path of the adjacent pile foundation.

The target moving point is a moving point on a pile foundation detection path of an adjacent pile foundation, and the moving point can move on the pile foundation detection path.

Step S502: and generating a required moving path according to the required point position and the target moving point in a preset path generation rule, and determining the required moving distance according to the required moving path.

The required moving path is a path which can move from a required point to a target moving point in a plane, the path generation rule is a method for generating all paths which can meet requirements after inputting a starting point and a finishing point, and the method is specifically set by staff according to actual conditions; the required moving distance is a path value required to be moved when the inspection robot moves according to the required moving path.

Step S503: and determining the minimum value of all the determined required moving distances in all the target moving points according to the sorting rule, updating the target moving point corresponding to the minimum value of the required moving distances into a required point position, updating the new required point position again according to the updated required point position until the required point position of each pile foundation is determined, and determining the inspection moving path according to the starting position, all the required point positions and all the pile foundation detection paths.

The shortest distance value required by moving from the required point position to the target moving point can be determined through the ordering rule, namely, the required moving path at the moment is the shortest path on the pile foundation detection path for enabling the inspection robot to move from the required point position of the current pile foundation to the adjacent pile foundation, and the required point position of each pile foundation is updated and determined continuously at the moment, so that the entering point or the leaving point of each pile foundation can be determined when the inspection robot moves between the pile foundations, and the inspection moving path can be confirmed; the inspection moving path comprises a pile foundation detection path when the pile foundation is detected and a required moving path between the pile foundation and the pile foundation, and when the detected pile foundation exists between the pile foundation and the pile foundation, the pile foundation needs to be avoided according to the determination of the avoiding point.

Referring to fig. 7, when the inspection robot is controlled to move along the inspection moving path for inspection, the highway bridge pile foundation detection method further includes:

step S600: and defining a path between the demand point and the demand point in the inspection moving path as a position adjustment path.

Position adjustment paths are defined to distinguish different required movement paths, so that subsequent analysis is facilitated.

Step S601: when the inspection robot moves along the inspection moving path to detect, the current moving position and the object radar state are obtained, and when the object radar state is consistent with the preset in-place state, the object radar position is obtained successively within the preset unit time.

The current moving position is a position corresponding to the space coordinate system in the moving process of the inspection robot, and the radar state of the object is a state of detecting an external object by a radar arranged on the inspection robot; the in-place state is a state when the radar detects that an external moving object exists, the unit duration is a fixed value duration set by a worker, for example, 1s, and the radar position of the object is a spatial position where the radar detects that the object is in a current moving position relative to the object.

Step S602: generating a changeable virtual time length, determining the position of an external object after the virtual time length according to the radar position of the object, and determining the virtual position of the equipment of the inspection robot after the virtual time length according to the current moving position and the preset equipment moving habit.

The position of the external object is the approximate position of the object detected by the radar after the virtual time length, and the moving direction and the moving speed of the external object can be determined through the change of the radar positions of the two objects in the unit time length, so that the position of the external object can be determined; the equipment moving habit is a moving habit of the inspection robot when the inspection robot moves along an inspection moving path, and comprises a linear moving speed, an arc moving speed and the like, wherein the habit is input in advance by a worker; the virtual position of the equipment is the approximate position of the inspection robot in the current moving position after the inspection robot is used to the virtual time of flight on the inspection moving path according to the movement of the equipment.

Step S603: the object standoff distance is determined based on the external object location and the device virtual location.

The object distance is the distance between the external object and the inspection robot after the virtual time.

Step S604: judging whether the object distance is smaller than the preset safety distance or not.

The safety distance is the minimum object distance set by the staff and used for determining that collision basically does not occur, and the aim of judgment is to know whether the external moving object impacts the inspection robot.

Step S6041: and if the condition that the distance between the objects is smaller than the safety distance does not exist, controlling the inspection robot to continue moving along the inspection moving path in the condition that the equipment movement is used to.

When the situation that the distance between the objects is smaller than the safety distance does not exist, the situation that the external moving object can strike the inspection robot is basically not shown, and the inspection robot is controlled to continue to move normally.

Step S6042: if the object distance is smaller than the safety distance, the inspection robot is controlled to stop moving until the radar state of the object is inconsistent with the in-place state, and the inspection robot moves along the inspection moving path again.

When the object distance is smaller than the safety distance, the collision is possible, and the inspection robot is controlled to stop moving to reduce the possibility of collision in order to improve the safety of the inspection robot.

Referring to fig. 8, if there is a situation that the distance between objects is smaller than the safety distance, the inspection robot-based highway bridge pile foundation detection method further includes:

step S700: and defining the corresponding virtual time length as virtual collision time length when the distance between the objects is smaller than the safety distance, and determining a collision time point according to the current time point and the virtual collision time length.

When the object phase distance is smaller than the safety distance, the possibility that the inspection robot collides with an external object is shown, and further analysis is needed; defining virtual collision time length to distinguish different virtual time lengths, facilitating subsequent analysis, wherein the collision time point is a time point at which collision is possible, and the virtual collision time length is delayed backwards from the current time point to determine.

Step S701: the time period of the possible collision is determined according to all the collision time points.

The possible collision duration is the total duration of the existing collision time points, for example, the existing collision time points 3:06:01 and 3:06:10, and the possible collision duration is 2s.

Step S702: and judging whether the possible collision time period is longer than a preset reference possible time period.

The standard possible duration is the minimum possible collision duration when the operator determines that a collision occurs with a high probability, and the aim of the judgment is to know whether the collision occurs with the high probability.

Step S7021: and if the possible collision time is longer than the reference possible time, controlling the inspection robot to stop moving.

When the possible collision time is longer than the reference possible time, the fact that the collision occurs with a larger probability is indicated, and the inspection robot is controlled to stop moving for the safety of the inspection robot.

Step S7022: and if the possible collision time is not longer than the reference possible time, controlling the inspection robot to continue moving on the inspection moving path in a manner that the equipment moves and is used to.

When the possible collision time is not longer than the reference possible time, the fact that collision cannot occur is indicated to have a larger probability, and at the moment, in order to improve the overall operation efficiency, the inspection robot can be controlled to continue moving.

Referring to fig. 9, based on the same inventive concept, an embodiment of the present invention provides a highway bridge pile foundation detection system based on a patrol robot, including:

the acquisition module is used for acquiring the position of the bridge pile foundation and the contour of the bridge pile foundation;

the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;

the judging module is connected with the acquisition module and the processing module and is used for judging information;

the processing module determines pile foundation spacing according to any two bridge pile foundation positions, and performs summation calculation under a single pile foundation according to all corresponding pile foundation spacing to determine comprehensive spacing;

the processing module determines the comprehensive distance with the largest value according to a preset ordering rule, and defines the pile foundation corresponding to the comprehensive distance as an initial pile foundation;

The processing module determines the pile foundation distance with the minimum value at the initial pile foundation according to the sorting rule, defines the other pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determines the adjacent pile foundation based on the rest pile foundations according to the adjacent pile until the determination of all the adjacent pile foundations is completed, and determines the movement detection sequence according to the sequence of the adjacent pile foundations;

the processing module determines a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determines a starting position on the pile foundation detection path of the starting pile foundation, and determines a patrol moving path according to all pile foundation detection paths and the moving detection sequence;

the processing module controls the inspection robot to move towards the direction of the initial position, enables the acquisition module to acquire the water interval distance, and controls the inspection robot to move and detect along the inspection moving path when the judgment module judges that the water interval distance is consistent with the preset fixed distance and the inspection robot is at the initial position;

the initial pile foundation determining module is used for determining a unique initial pile foundation when a plurality of pile foundations meeting the requirements exist;

the redundant path avoiding updating module is used for updating the redundant path according to the pressure condition required to be adjusted when the inspection robot avoids the pile foundation;

The starting position determining module is used for determining a proper starting position for the movement control of the inspection robot;

the inspection moving path determining module is used for determining a proper inspection moving path for the inspection robot according to the specific condition of each pile foundation;

the collision possibility analysis module is used for analyzing the condition that an external object impacts the inspection robot in the moving process;

and the collision possible accurate module is used for analyzing the probability of collision so as to ensure that the inspection robot has better avoidance processing effect.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

Claims (8)

1. A highway bridge pile foundation detection method based on a patrol robot is characterized by comprising the following steps:

Acquiring the position and contour of a bridge pile foundation;

determining pile foundation distance according to any two bridge pile foundation positions, and summing under a single pile foundation according to all corresponding pile foundation distance to determine comprehensive distance;

determining the comprehensive distance with the largest value according to a preset ordering rule, and defining the pile foundation corresponding to the comprehensive distance as an initial pile foundation;

determining a pile foundation distance with the smallest value at the initial pile foundation according to the sorting rule, defining another pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determining the adjacent pile foundation based on the rest pile foundations according to the adjacent pile until the determination of all the adjacent pile foundations is completed, and determining the movement detection sequence according to the sequence of the adjacent pile foundations;

determining a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determining a starting position on the pile foundation detection path of the starting pile foundation, and determining a patrol moving path according to all pile foundation detection paths and the moving detection sequence;

and controlling the inspection robot to move towards the direction of the initial position, acquiring the water interval distance, and controlling the inspection robot to move and detect along the inspection moving path when the water interval distance is consistent with the preset fixed distance and the inspection robot is at the initial position.

2. The inspection robot-based highway bridge pile foundation detection method of claim 1, wherein after the comprehensive distance is determined, the inspection robot-based highway bridge pile foundation detection method further comprises:

judging whether at least two pile foundations with the largest comprehensive distance values exist or not;

if at least two pile foundations with the largest comprehensive distance value do not exist, determining an initial pile foundation according to the comprehensive distance;

if at least two pile foundations with the largest comprehensive distance value exist, defining the bridge pile foundation position corresponding to the comprehensive distance as a target position, and acquiring the equipment initial position of the inspection unmanned aerial vehicle;

establishing a parallel moving line segment according to the target position and the initial position of the equipment, determining a transverse moving path according to the parallel moving line segment, and defining an intersection point between the parallel moving line segment and the pile foundation contour of the bridge as an avoidance point;

determining an avoidance arc line segment and an avoidance straight line segment according to two avoidance points in the same bridge pile foundation contour, and determining an avoidance redundant path according to the avoidance arc line segment and the avoidance straight line segment;

calculating according to the transverse movement path and all corresponding avoidance redundant paths to determine the comprehensive movement path;

And determining the comprehensive moving path with the minimum value according to the sequencing rule, and determining the initial pile foundation according to the target position corresponding to the comprehensive moving path.

3. The inspection robot-based highway bridge pile foundation detection method according to claim 2, wherein after determining the avoidance of the redundant path, the inspection robot-based highway bridge pile foundation detection method further comprises:

acquiring the equipment moving direction of the inspection robot from each point on the evading arc section;

determining an adjustment angle according to the moving direction of each device, determining the adjustment angle with the largest numerical value according to the ordering rule, defining the adjustment angle as a required angle, and defining two point positions on an avoidance arc segment corresponding to the required angle as adjustment points;

determining an adjustment distance on the evading arc line segment according to the two adjustment points;

and determining correction parameters corresponding to the adjustment distance and the demand angle according to a preset correction matching relation, and correcting and updating the avoiding redundant routes according to the demand parameters.

4. The inspection robot-based highway bridge pile foundation inspection method of claim 2, wherein the step of determining the starting position on the pile foundation inspection path of the starting pile foundation comprises:

Generating a changeable virtual moving point on the pile foundation detection path of the initial pile foundation, and determining a virtual moving distance according to the virtual moving point and the point positions on the pile foundation detection paths of the adjacent pile foundations;

determining a virtual moving distance with the minimum value according to the ordering rule, and defining the virtual moving distance as a lower limit moving distance;

determining a virtual moving line segment according to the initial position of the equipment and the virtual moving point, and determining a horizontal moving distance according to the virtual moving line segment;

counting according to the intersection points of the virtual moving line segments and the bridge pile foundation contours to determine the avoiding quantity;

according to a preset adjustment matching relation, determining adjustment parameters corresponding to the avoidance quantity, and updating the horizontal movement distance according to the adjustment parameters;

and carrying out summation calculation according to the updated horizontal movement distance and the lower limit movement distance to determine an actual movement distance, determining the actual movement distance with the minimum value according to the ordering rule, and determining a virtual moving point corresponding to the actual movement distance as a starting position.

5. The inspection robot-based highway bridge pile foundation detection method of claim 4, wherein the step of determining the inspection movement path according to all pile foundation detection paths and the movement detection sequence comprises:

Defining the point positions of the adjacent pile foundations of the starting pile foundations, which are away from the lower limit moving distance of the starting position, as demand point positions;

generating a changeable target moving point on a pile foundation detection path of the adjacent pile foundation;

generating a required moving path according to the required point positions and the target moving points in a preset path generation rule, and determining a required moving distance according to the required moving path;

and determining the minimum value of all the determined required moving distances in all the target moving points according to the sorting rule, updating the target moving point corresponding to the minimum value of the required moving distances into a required point position, updating the new required point position again according to the updated required point position until the required point position of each pile foundation is determined, and determining the inspection moving path according to the starting position, all the required point positions and all the pile foundation detection paths.

6. The inspection robot-based highway bridge pile foundation detection method of claim 5, wherein when the inspection robot is controlled to move along the inspection moving path for inspection, the highway bridge pile foundation detection method further comprises:

defining a path between a demand point and a demand point in the inspection moving path as a position adjustment path;

Acquiring a current moving position and an object radar state when the inspection robot moves and detects along an inspection moving path, and sequentially acquiring the object radar position within a preset unit time when the object radar state is consistent with a preset in-place state;

generating a changeable virtual time length, determining the position of an external object after the virtual time length according to the radar position of the object, and determining the virtual position of the equipment of the inspection robot after the virtual time length according to the current moving position and the preset equipment moving habit;

determining object separation distance according to the external object position and the virtual position of the equipment;

judging whether the object distance is smaller than a preset safety distance or not;

if the condition that the distance between the objects is smaller than the safety distance does not exist, controlling the inspection robot to continue moving on the inspection moving path in a manner that the equipment moves and is used to;

if the object distance is smaller than the safety distance, the inspection robot is controlled to stop moving until the radar state of the object is inconsistent with the in-place state, and the inspection robot moves along the inspection moving path again.

7. The inspection robot-based highway bridge pile foundation detection method of claim 6, wherein if the distance between objects is smaller than the safety distance, the inspection robot-based highway bridge pile foundation detection method further comprises:

Defining a corresponding virtual time length as a virtual collision time length when the object distance is smaller than the safety distance, and determining a collision time point according to the current time point and the virtual collision time length;

determining the possible collision duration according to all the collision time points;

judging whether the possible collision time is longer than a preset standard possible time;

if the possible collision time length is longer than the reference possible time length, controlling the inspection robot to stop moving;

and if the possible collision time is not longer than the reference possible time, controlling the inspection robot to continue moving on the inspection moving path in a manner that the equipment moves and is used to.

8. Highway bridge pile foundation detecting system based on inspection robot, its characterized in that includes:

the acquisition module is used for acquiring the position of the bridge pile foundation and the contour of the bridge pile foundation;

the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;

the judging module is connected with the acquisition module and the processing module and is used for judging information;

the processing module determines pile foundation spacing according to any two bridge pile foundation positions, and performs summation calculation under a single pile foundation according to all corresponding pile foundation spacing to determine comprehensive spacing;

The processing module determines the comprehensive distance with the largest value according to a preset ordering rule, and defines the pile foundation corresponding to the comprehensive distance as an initial pile foundation;

the processing module determines the pile foundation distance with the minimum value at the initial pile foundation according to the sorting rule, defines the other pile foundation corresponding to the pile foundation distance as an adjacent pile foundation, determines the adjacent pile foundation based on the rest pile foundations according to the adjacent pile until the determination of all the adjacent pile foundations is completed, and determines the movement detection sequence according to the sequence of the adjacent pile foundations;

the processing module determines a pile foundation detection path according to the position of the bridge pile foundation and the contour of the bridge pile foundation, determines a starting position on the pile foundation detection path of the starting pile foundation, and determines a patrol moving path according to all pile foundation detection paths and the moving detection sequence;

the processing module controls the inspection robot to move towards the direction of the initial position, enables the acquisition module to acquire the water interval distance, and controls the inspection robot to move and detect along the inspection moving path when the judgment module judges that the water interval distance is consistent with the preset fixed distance and the inspection robot is at the initial position.