CN208569041U - Bridge cruising inspection system - Google Patents
Bridge cruising inspection system Download PDFInfo
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- CN208569041U CN208569041U CN201820017485.9U CN201820017485U CN208569041U CN 208569041 U CN208569041 U CN 208569041U CN 201820017485 U CN201820017485 U CN 201820017485U CN 208569041 U CN208569041 U CN 208569041U
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Abstract
The utility model discloses a kind of bridge cruising inspection systems, comprising: unmanned plane, data transmission module, ground control centre, and the data acquisition module being equipped on unmanned plane.Data acquisition module includes laser 3 d scanner and geological radar, and unmanned plane acquires the field data of bridge by laser 3 d scanner and geological radar.The field data of unmanned plane acquisition is sent to ground control centre by data transmission module.Ground control centre further comprises data processing and fault detection module, the radar return data for laser three-dimensional scanning data and the geological radar acquisition that data processing is used to acquire laser 3 d scanner with fault detection module are handled and are analyzed, the defect for detecting bridge and the position where defect.The utility model is able to solve the technical problem that existing highway bridge routine inspection mode at high cost, low efficiency, means are single, reliability is low.
Description
Technical field
The utility model relates to engineering measurement fields, and in particular to a kind of bridge cruising inspection system is particularly applied to railway
The cruising inspection system of bridge.
Background technique
By 2013, domestic railway total kilometrage broke through 100,000 kilometers, and high-speed rail operating mileage nearly Wan Gongli is accounted for by bridge
The ratio of route 52% calculates, and there are about 5,000 Yu Gongli for China's high-speed rail bridge.Such as: Beijing-Tianjin inter-city bridge cumulative length accounts for completely just
The ratio of line overall length is 86.6%, and Beijing-Shanghai express railway 80.5%, intercity wide pearl is 94.0%, and military wide visitor aims at 48.5%, Harbin-to-Dalian
Visitor aims at 74.3%.According to Mid-term and Long-term Plan of the Railway Network, China express railway development is attached most importance to " four vertical four is horizontal ", and building is fast
The main skeleton of fast passenger transportation network forms the railway transport of passengers channel of quick, convenient, big ability, is done step-by-step and separates lines for passenger and freight transport.In advance
The year two thousand twenty is counted, whole nation construction Line for Passenger Transportation is up to 1.6 ten thousand kilometers or more.It means that China will have within 8 years futures
Nearly 7,000 kilometers of high-speed rail will be built, and have 4,000 kilometers or so of high-speed rail bridge to be born.
Substructure of the bridge as track, for safety, stationarity and the ride comfort for ensuring high-speed cruising condition
It is required that the detection of bridge is particularly important with maintenance.Due to the complexity of bridge machinery engineering, particularity, develop bridge inspection
Equipment is surveyed, it is not only particularly necessary but also urgent.The disease of general bridge specifically includes that disease of beam body, bearing damage, pier disease
With other affiliated facility diseases, and at present to the detection of bridge primarily directed to following disease carry out check or ordinary maintenance: 1.
The inspection of bridge top bottom surface, abutment surface crackle；2. the inspection in inside concrete gap；3. the inspection of concrete crushing strength；4. living
The curb girder of dynamic support roll shaft length travel；5. the inspection of laminated rubber bearing；6. the inspection etc. of girder steel crackle.At this stage, bridge
Beam detection is main to be checked using manually visualizing or is concluded by the methods of bridge inspection vehicle of small-sized assisted detector is carried
Bridge whether there is defect.All there is artificial ginseng either by large scale equipment, or with small-sized assisted detector in bridge machinery
With than the disadvantages such as great, the time is long, low efficiency, at high cost, large labor intensity, safety are low, and train operation route is occupied, inspection
Repair limitation of the time by train operation, the activity duration needs the technological deficiency carried out in skylight point, and its Checking on effect with
The experience and sense of responsibility of patrolman is directly related.Therefore, a kind of high degree of automation is studied, the bridge of energy all weather operations is split
Seam detection device seems extremely important.
In the prior art, mainly have following documents related to the present utility model application:
Document 1 is Yin Dong in application on 04 30th, 2015, and on 09 30th, 2015 disclosures, Publication No.
The Chinese utility model patent " the bridge quality device for fast detecting based on UAV system " of CN204676420U.This is practical new
The bridge quality device for fast detecting of type description includes Transporting equipment, unmanned plane detection platform and bridge quality detection apparatus, bridge
Beam quality detection apparatus is equipped in unmanned plane detection platform, and detection mechanical arm is arranged on Transporting equipment, has in detection mechanical arm
There are unmanned plane landing platform and unmanned plane running monitor device, unmanned plane detection platform is taken off through unmanned plane landing platform to bridge
Region to be measured.
Document 2 is Wuhan University in application on 04 28th, 2015, and on 04 19th, 2017 disclosures, Publication No.
The Chinese invention application " one kind is for bridge tunnel automatic detecting rotor wing unmanned aerial vehicle system and air navigation aid " of CN104843176A.
The bridge tunnel automatic detecting rotor wing unmanned aerial vehicle system of invention description carries out independent navigation by GPS and laser radar, IMU
Rotor wing unmanned aerial vehicle cruising inspection system is realized in spacious bridge area using utilizing inside GPS navigation system and closed tunnel
Laser radar navigation system carries out autonomous inspection, dodges by the realization of automatic obstacle-avoiding system to bridge tunnel and motor vehicle,
The image of shooting key area sends back to earth station, and the disease thematic map of bridge tunnel is generated by earth station, uses for related personnel.
Document 3 was Group Plc, Su Jiao section in application on 08 11st, 2015, and on December 02nd, 2015
Bulletin, Chinese utility model patent " a kind of bridge monitoring data acquisition system based on unmanned plane that notification number is CN204833672
System ".The bridge monitoring data collection system of utility model description includes unmanned plane, monitoring system and control system, monitoring
System is arranged on bridge to be monitored, connect with UAV Communication, and set-up of control system is in data center, unmanned plane and control
System communication connection.The utility model based on the bridge monitoring data collection system of unmanned plane by unmanned plane storing data, nobody
Machine flies to monitoring system position, receives the data of monitoring system transmission, overcomes existing wire transmission distance limitation and nothing
Not the technical issues of line transmission precision not can guarantee.
Document 4 was Shanghai Pujiang Qiao Sui bridge Management Co., Ltd in application on 2 04th, 2015, and in 04 month 2016
06 open, Chinese invention application " portable six rotor flying for bridge machinery of Publication No. CN105460210A
Device ".The portable six rotorcraft of invention description includes body, six foldable horn components, looks up camera head, two
Axis laser holder, ultrasonic obstacle avoidance apparatus and retractable landing gear, wherein foldable horn is by motor, blade, collision prevention structure, horn
And folding structure composition.The patent application is directed to bridge machinery purposes, and camera head is looked up in exploitation design, for shooting bridge bottom
Face and bridge pier defect information；Design laser scanning and ranging instrument holder, in the scanning of bridge bottom two dimensional character and bridge bottom without GPS
The positioning of aircraft under environment；Ultrasonic obstacle avoidance apparatus is designed, for avoidance of the aircraft under complex environment；Foldable horn can
Convenient fast folding and expansion, efficiently solve the problems, such as that larger size unmanned vehicle is inconvenient to carry.
Document 5 is applied for Qiao Pei on December 29th, 2015, and, Publication No. open on 06 15th, 2016
A kind of Chinese invention application " Detection System for Bridge based on four wing unmanned planes " of CN205313975U.The beam inspection of invention description
Examining system, including four wing unmanned planes, four wing unmanned planes include rotating vane, and rotating vane is provided with baffle liner；Four wing unmanned planes
On be provided with camera, communication module and single-chip microcontroller, single-chip microcontroller and the acceleration transducer being mounted on four wing unmanned planes and surpass
The connection of sonic detection module.The utility model carries camera, single-chip microcontroller and various for detecting bridge on four wing unmanned planes
The sensor of beam can acquire high definition picture, the data informations such as video during four wing unmanned plane during flyings or fixed point, and lead to
Collected signal is sent to ground receiver end via communication module by the processing for crossing single-chip microcontroller；Ground receives number by terminal
According to decision-making foundation and aid decision can be provided after data for specialized engineering personnel.
Document 6 was that Sichuan is that a day construction project detection Co., Ltd applied on February 05th, 2016, and in 2017 08
The moon 15 is open, and " a kind of wired unmanned plane is used for the detection dress of abutment surface for the Chinese invention application of Publication No. CN107042887
It sets ".The detection device for abutment surface of patent application description, including rotor wing unmanned aerial vehicle, contact bar, power supply and elevator
Structure, wherein elevating mechanism further includes variable-frequency motor, transmission shaft, reel and rack, and wherein variable-frequency motor is fixedly mounted on the rack,
The output end of variable-frequency motor is fixedly connected with transmission shaft, and transmission shaft is successively fixed with reel I and reel II along axial direction, rotor without
The contact bar of man-machine connection is connect with the positive and negative anodes output end of power supply respectively, the twisted rope on elevating mechanism reel respectively with contact bar
The same end connection, pass through elevating mechanism in the longitudinal direction controlled level operation rotor wing unmanned aerial vehicle observation device lifting, realize
Rotor wing unmanned aerial vehicle can fill up the technological gap of large bridge detection along contact bar axial direction level cruise shooting observation.
Although above six documents are proposed using unmanned plane as platform, carry high definition camera and acquire bridge data, complete
Bridge Crack is detected.But in the technical solution of above-mentioned six documents description, there is also following obvious shortcomings:
(1) it carries high definition camera and acquires bridge high definition picture, means are single, can only obtain bridge plane information, lack bridge
The defects of beam crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole depth or elevation information, detection effect it is affected by environment
Greatly, reliability is low.
(2) camera obtain high-resolution picture, it is very strict to intensity of illumination, uniformity requirements, and under bridge illumination have it is bright
Dark areas needs to carry out light filling to camera in the insufficient region of illumination, does not all propose corresponding reasonable phase in above six documents
Machine light filling scheme.
(3) unmanned plane cruising ability and loading capacity limit the quantity and power for carrying light compensating lamp, while above six texts
It offers and reasonable planning is not done to the path of unmanned plane during flying, i.e. bridge raw data acquisition path, defect does not have precise positioning,
There is no systematic bridge data acquisition, transmission and processing scheme, causes difficulty to maintenance and subsequent data analysis comparison.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of bridge cruising inspection system, to solve existing highway bridge inspection
Mode is at high cost, low efficiency, the technical problem that means are single, reliability is low.
In order to realize that above-mentioned purpose of utility model, the technology that the utility model specifically provides a kind of bridge cruising inspection system are real
Existing scheme, a kind of bridge cruising inspection system, comprising: unmanned plane, data transmission module, ground control centre, and it is equipped on the nothing
Data acquisition module on man-machine.The data acquisition module includes laser 3 d scanner and geological radar.The unmanned plane
The bridge field data acquired by the laser 3 d scanner, geological radar is sent to described through the data transmission module
Ground control centre.The ground control centre further comprises data processing and fault detection module, the data processing with
The laser three-dimensional scanning data and the geological radar that fault detection module is used to acquire the laser 3 d scanner acquire
Radar return data handled and analyzed, the defect for detecting the bridge and the position where defect.
Preferably, the laser 3 d scanner for scan the bridge include abutment surface, bridge outer face, bridge bottom surface,
Movable bearing support, rubber support, girder steel inner region three-dimensional point information and form three dimensional point cloud, to reflect bridge inspection
Survey region include crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole the defects of.
Preferably, the geological radar is used to carry out the inside concrete gap detection of the bridge.
Preferably, the data acquisition module further includes and ensuring the nothing for preventing the unmanned plane collision object
The ultrasonic radar of man-machine safety flight.
Preferably, the data acquisition module further includes for determining swashing for distance between the unmanned plane and measurand
Optar.
Preferably, the data processing includes: with fault detection module
Be connected with the data transmission module, the laser three-dimensional scanning data for being transmitted to the data transmission module into
The data storage cell of row storage；
Be connected with the data storage cell, the laser three-dimensional scanning data for being stored to the data storage cell into
The initial modeling unit of initial three-dimensional point cloud model is established after the pretreatment of row interference filtering；
It is connected with the initial modeling unit, for initial three-dimensional point cloud model to be converted to triangle grid model, and
Abbreviation processing is carried out to the triangle grid model, to rebuild the data gridding processing unit of the bridge threedimensional model.
Preferably, the ground control centre is additionally provided with unmanned aerial vehicle (UAV) control module, and the unmanned aerial vehicle (UAV) control module passes through
Control instruction is sent to the flight control modules of the unmanned plane by the data transmission module in real time, and the unmanned plane passes through institute
Data transmission module is stated by the unmanned aerial vehicle (UAV) control module of Flight Condition Data real-time Transmission to the ground control centre.
Preferably, the data processing further includes being connected with the data gridding processing unit with fault detection module
Fault detection unit, the fault detection unit are used for the three dimensional point cloud in the bridge threedimensional model to undergo reconstruction
Spatial measurement is carried out, detects the position of the defect and defect on the bridge, while defective locations and type being sent to just
It takes on formula handheld terminal.
Preferably, the data acquisition module further includes for obtaining unmanned plane location information in flight course
GPS navigator, the initial modeling unit are used for according to the laser 3 d scanner to the part of the bridge tested region
The Global localization information of location information and the GPS navigator forms initial three dimensional point cloud, and by discrete point cloud
Data are converted to three-dimensional point cloud model.
Preferably, the ground control centre uses any self-operating equipment including lorry or mobile inspection car
As carrier.
By implementing the technical solution of above-mentioned bridge cruising inspection system provided by the utility model, have the following beneficial effects:
(1) the utility model bridge cruising inspection system is using unmanned plane as platform, at low cost, high-efficient, high reliablity, flexibility
Greatly, it and is not required to occupy track, detection time is unrestricted, does not influence train operation, by installing avoidance radar, improves unmanned plane
The safety of flight；
(2) the utility model bridge cruising inspection system uses laser scanning bridge three-dimensional information, and laser scanning is to temperature and light
According to not requiring, camera imaging is able to solve because illumination obtains image data, the low technical problem of anti-interference；
(3) the utility model bridge cruising inspection system is empty by carry out in three-dimensional modeling and point cloud data to bridge
The area of a room measures defect three-dimensional information, by the processing to three dimensional point cloud, rebuilds the threedimensional model that bridge is detected region, energy
Enough realize detects the various dimensions of bridge defect, is not only able to obtain the plane information of defect, moreover it is possible to obtain depth information, and energy
The specific location of bridge defect is enough accurately positioned；
(4) the utility model bridge cruising inspection system is compared by acquiring data twice to front and back, being capable of dynamic detection
The variable quantity of flaw size can effectively instruct worker to carry out upkeep operation；
(5) the utility model bridge cruising inspection system can complete the spy to bridge concrete internal voids using geological radar
It surveys, the perfect detection of internal hurt.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described.It should be evident that the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other embodiments.
Fig. 1 is a kind of function composition schematic diagram of specific embodiment of the utility model bridge cruising inspection system；
Fig. 2 is a kind of system structure diagram of specific embodiment of the utility model bridge cruising inspection system；
Fig. 3 is the functional group of data storage and processing module in a kind of specific embodiment of the utility model bridge cruising inspection system
At schematic diagram；
Fig. 4 is the structure group of data storage and processing module in a kind of specific embodiment of the utility model bridge cruising inspection system
At block diagram；
Fig. 5 is the schematic diagram that abutment surface inspection is carried out using the utility model bridge cruising inspection system；
Fig. 6 is the schematic diagram that the face inspection of bridge outer is carried out using the utility model bridge cruising inspection system；
Fig. 7 is the schematic diagram that the inspection of bridge bottom surface is carried out using the utility model bridge cruising inspection system；
Fig. 8 is a kind of program flow diagram of specific embodiment of bridge method for inspecting based on Tthe utility model system；
Fig. 9 is the program flow of data storage and treatment process in a kind of specific embodiment of the utility model bridge cruising inspection system
Cheng Tu；
In figure: 1- unmanned plane, 2- data acquisition module, 3- data transmission module, the ground control centre 4-, the storage of 5- data
With processing module, 6- unmanned aerial vehicle (UAV) control module, 7- bridge, 21- laser 3 d scanner, 22- geological radar, 23- laser ranging
Instrument, 24- ultrasonic radar, 51- data storage cell, the initial modeling unit of 52-, 53- data gridding processing unit, 54-- event
Hinder detection unit, 71- abutment surface, 72- bridge outer face, 73- bridge bottom surface.
Specific embodiment
For the sake of quoting and understanding, will hereafter used in technical term, write a Chinese character in simplified form or abridge and be described below:
GPS:Global Positioning System, the abbreviation of global positioning system；
Point cloud data: scanning data records in dots, each point includes three-dimensional coordinate, some may contain face
Color information (RGB) or Reflection intensity information (Intensity)；Point cloud data is other than with geometric position, and there are also face for some
Color information, colouring information is usually to obtain chromatic image by camera, then by the colouring information (RGB) of the pixel of corresponding position
Assign corresponding point in point cloud；The acquisition of strength information is the collected echo strength of laser scanner reception device, this intensity
Emitted energy of the information usually with the Facing material of target, roughness, incident angular direction and instrument, optical maser wavelength are related.
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical solutions in the embodiments of the present invention are clearly and completely described.Obviously, it is retouched
The embodiment stated is only a part of the embodiment of the utility model, instead of all the embodiments.Based in the utility model
Embodiment, all other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It fall within the protection scope of the utility model.
As shown in attached drawing 1 to attached drawing 9, the specific embodiment of the utility model bridge cruising inspection system is given, below with reference to
The utility model is described in further detail for the drawings and specific embodiments.
Embodiment 1
As shown in Figure 1 and Figure 2, a kind of specific embodiment of the utility model bridge cruising inspection system, is patrolled for bridge 7
Inspection, comprising: unmanned plane 1, data transmission module 3, ground control centre 4, and the data acquisition module 2 being equipped on unmanned plane 1.
Unmanned plane 1 can be using forms such as fixed-wing unmanned plane, multi-rotor unmanned aerial vehicle or unmanned helicopters.Wherein, data acquisition module 2
Including being mounted on unmanned plane 1 for acquiring the various sensors of bridge field data.Data acquisition module 2 further comprises swashing
Light spatial digitizer 21 and geological radar 22.Unmanned plane 1 acquires bridge 7 by laser 3 d scanner 21 and geological radar 22
Field data.The field data that unmanned plane 1 acquires is sent to ground control centre 4 by data transmission module 3.In the control of ground
The laser three-dimensional scanning data that the data processing of the heart 4 acquires laser 3 d scanner 21 with fault detection module 5 are handled,
It completes to be detected bridge 7 three-dimensional modeling in region, while the radar return data for acquiring geological radar 22 are handled.Number
According to processing with fault detection module 5 by analyzing three-dimensional modeling and radar return data, detect bridge 7 defect and
Position where defect.Geological radar technology is a kind of geophysical probing technique, it is continuously emitted by transmitter to underground
Pulsed frequency electromagnetic waves, according to the back wave arrival time being recorded, the spread speed of electromagnetic wave in the medium can be true
The depth of demarcation face or objective body can further judge the shape of objective body according to the form, power and its frequecy characteristic of back wave
State and property.Laser 3 d scanner 21 is acquired the field data of bridge 7, obtains the point cloud data of bridge 7 and to bridge
The detected region of beam 7 carries out reconstructing three-dimensional model, Bridge Defect Detecting is carried out in point cloud data, detection content not only includes
The plane information of defect, and depth information can be extracted, and the specific location of defect can be accurately positioned.In the present embodiment
In, geological radar 22 is detected by the inside concrete to bridge 7, is sentenced according to the form, power and its frequency of back wave
The gap of disconnected inside concrete.
As shown in attached drawing 5,6 and 7, it includes abutment surface 71, bridge outer face that laser 3 d scanner 21 scans bridge 7 respectively
72, bridge bottom surface 73, movable bearing support, rubber support, girder steel inner region three-dimensional point information and form three dimensional point cloud, with anti-
Reflect 7 detection zone of bridge include crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole the defects of.Data acquisition refers to
The related data of bridge 7 is acquired, this step is mainly completed by laser 3 d scanner 21.In order to obtain more complete and quality compared with
High bridge three-dimensional data needs to consider the planning such as scanning viewpoint, the selection of laser scanner and scanning resolution, scanning number
According to format and the problems such as expression.In addition to this, to recover fairly large threedimensional model, it is also necessary to introduce ancillary equipment into
The extraction of row related data, such as the location information in 1 driving process of unmanned plane is obtained using GPS navigator.Data processing with
Fault detection module 5 to three dimensional point cloud by carrying out spatial measurement to position bridge 7 including defect length, width, depth, height
Information including degree, position, while the laser three-dimensional scanning data by acquiring twice to front and back compare, to obtain defect
Dynamic variable quantity.Therefore, the present embodiment bridge cruising inspection system to bridge 7 carry out defects detection type include but is not limited to
Lower situation:
1, abutment surface 71, bridge outer face 72, bridge bottom surface 73, crack of box girder, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole
Detection；
2, inside concrete gap is detected；
3, laminated rubber bearing detects.
Geological radar 22 detects for realizing the inside concrete gap of bridge 7.Data acquisition module 2 further includes for preventing
Only 1 collision object of unmanned plane, and ensure the ultrasonic radar 24 of 1 safe flight of unmanned plane.Data acquisition module 2 further includes being used for
Determine the laser range finder 23 of distance between unmanned plane 1 and measurand, the use of laser range finder 23 can guarantee unmanned plane 1
The consistency of distance between measurand.
As shown in attached drawing 3 and attached drawing 4, the function of data processing and fault detection module 5 includes: to receive bridge route scene
Data analyze data, determine defective locations, classify to defect (security risk), and what then output user needed is used to refer to
Lead the various reports of the maintenance of way.Data processing and fault detection module 5 further comprise the data storage cell being sequentially connected
51, initial modeling unit 52 and data gridding processing unit 53.Three-dimensional bridge object of the present embodiment based on laser scanning data
Model Reconstruction is to carry out a series of subsequent processing completions, specific mistake by the range data obtained to laser 3 d scanner 21
Journey are as follows: the laser three-dimensional scanning data that data storage cell 51 transmits data transmission module 3 store.Initial modeling unit
The laser three-dimensional scanning data of 52 pairs of storages establish initial three-dimensional point cloud model after carrying out interference filtering pretreatment.Scanning process
Middle to obtain point cloud data largely unrelated with scanned object, this does not only take up a large amount of memory space, but also can be to rear
Many inconvenience are brought in continuous processing, therefore pretreated groundwork includes the filtering and assessment to three-dimensional data.Data
Three-dimensional point cloud model is converted (splicing) as triangle grid model by gridding processing unit 53, and to triangle grid model
Letter processing, to complete the reconstructing three-dimensional model that bridge 7 is detected region.Data processing can also be external with fault detection module 5
Output reconstructing three-dimensional model data are for showing.
Unmanned plane 1 includes complete machine and flight control system, and flight control system includes the sensors such as altimeter, gyroscope,
It is mainly used for realizing flying height, track and the gesture stability of unmanned plane 1, and guarantees the safety and stability flight of unmanned plane 1.Ground
Control centre 4 is additionally provided with unmanned aerial vehicle (UAV) control module 6, and unmanned aerial vehicle (UAV) control module 6 is led to control instruction by data transmission module 3
The flight control modules that wireless transmission is sent to unmanned plane 1 in real time are crossed, unmanned plane 1 passes through data transmission module 3 for state of flight
The unmanned aerial vehicle (UAV) control module 6 that data pass through wireless transmission real-time transmission to ground control centre 4.
Data acquisition module 2 further includes GPS navigator, and flight control modules obtain unmanned plane 1 by GPS navigator and flying
Location information during row.Initial modeling unit 52 is fixed according to part of the laser 3 d scanner 21 to 7 tested region of bridge
The Global localization information of position information and GPS navigator forms initial three dimensional point cloud, and filters or put down by spatial point
Miscellaneous point and redundant points in sliding processing removal three dimensional point cloud.The specific work process of initial modeling unit 52 are as follows: logical first
The local positioning and Global localization for crossing unmanned plane 1 organize scan data, it is established that initial point cloud model.Through laser three
Often there are many miscellaneous points due to being protected from environmental and the error of equipment itself in the primary data that dimension scanner 21 obtains.
On the one hand, it if these miscellaneous points cannot be effectively removed, will produce serious influence to the treatment effect of subsequent step.Another party
Face, if redundant points cannot be effectively removed, will seriously affect the processing speed of subsequent step since data volume is excessive.Therefore,
Initial treatment to three dimensional point cloud is the key that one step of reconstructing three-dimensional model.Currently, common processing method is mainly had time
Between point filtering, the methods of smooth can be effectively removed miscellaneous point and redundant points.
The model or discrete three dimensional point cloud obtained after initially pre-processing, cannot really and accurately reflect bridge
7 configuration of surface also needs further to convert triangle grid model for three dimensional point cloud, to reach preferably visualization effect
Fruit.The discrete point cloud data obtained after pretreatment is converted to three-dimensional point cloud model by initial modeling unit 52, at data gridding
Three-dimensional point cloud model is converted to triangle grid model by reason unit 53, and 7 surface of bridge showed through triangle gridding can be clear
Its profile is found out clearly, but in order to meet the needs of subsequent correlation step processing, is needed to initial triangle gridding
Letter.The principle for carrying out abbreviation to the triangle gridding in triangle grid model is, in the situation for maintaining the surface characteristics of bridge 7 constant
Under, the quantity of triangle gridding is reduced to the maximum extent.
Data processing and fault detection module 5 still further comprise fault detection unit 54,54 pairs of fault detection unit warps
The three dimensional point cloud crossed in 7 threedimensional model of bridge rebuild carries out spatial measurement, detects defect on bridge 7 and defect
Position, for example, key position crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole, inside concrete gap the defects of, and
Classify to security risk, then exports the various reports for being used to instruct the bridge maintenance of way that user needs.Fault detection
Defective locations and type are sent on portable handheld terminal by unit 54 simultaneously, carry portable handheld terminal by staff
It reaches defect place and upper track maintenance is carried out to bridge 7.Position and the picture of defect point are received by using portable handheld terminal,
Staff can be greatly facilitated to carry out defect maintenance.The carrier of ground control centre 4 can be various self-operating equipment,
Such as: lorry, mobile inspection car.
The bridge cruising inspection system of the present embodiment description is platform with unmanned plane 1, passes through laser 3 d scanner 21, geology thunder
Up to the field data of 22 acquisition bridges 7, (wireless communication) module 3 is transmitted by data and is sent data in the control of ground in real time
The data processing and fault detection module 5 of the heart (computer control processing center) 4, data processing and fault detection module (carrier
Can be computer) 5 pairs by handling laser three-dimensional scanning data, the three-dimensional for completing to be detected region to bridge is built
Mould, while the echo received to geological radar 22 is analyzed, and the specific position of the defect and defect point on bridge 7 is found out
It sets.The bridge cruising inspection system of the present embodiment description has that high degree of automation, safety is good, at low cost, flexibility is big, and inspection
Time is unrestricted, do not influence train operation, can all-weather operation the advantages that, and Put on file can be carried out to failure, then
Staff is instructed to safeguard.Meanwhile the bridge cruising inspection system of the present embodiment description is by carrying laser 3 d scanner 21
The three-dimensional point in the regions such as abutment surface 71, bridge bottom surface 72, bridge outer face 73, movable bearing support, laminated rubber bearing, girder steel is scanned respectively
Then information establishes the threedimensional model that bridge is detected region, it is with three-dimensional that three-dimensional point information, which scans obtained data,
Cloud is put composed by the point of coordinate, spatial measurement can be directly carried out in cloud, temperature and illumination are not wanted in laser scanning
It asks, is able to solve the even bring fogging image problem of uneven illumination, while there is high efficiency, high-precision advantage.This implementation
Example can obtain the high-resolution three-dimension point cloud data that bridge is detected region surface by 3 D laser scanning, can be very straight
See the defects of ground reflection bridge is detected the crack in region, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole problem.The present embodiment
Length, width, depth or the elevation information and specific location information that bridge defect can be accurately positioned are measured by three-dimensional point,
The comparison for acquiring data twice by front and back simultaneously, can obtain the dynamic variable quantity of defect information.
Embodiment 2
As shown in Fig. 8, a kind of specific embodiment of the bridge method for inspecting based on system described in embodiment 1, including with
Lower step:
S101) unmanned plane 1, which passes through, carries showing for laser 3 d scanner 21 and the acquisition bridge 7 of geological radar 22 thereon
Field data；
S102) field data that unmanned plane 1 acquires is sent to ground control centre 4 by data transmission module 3；
S103) data processing of ground control centre 4 and fault detection module 5 swash 21 acquisition of laser 3 d scanner
Light 3 d scan data is handled, and the three-dimensional modeling that region is detected to bridge 7 is completed, while geological radar 22 is acquired
Radar return data are handled；
S104) data processing is detected with fault detection module 5 by analyzing three-dimensional modeling and radar return data
The defect of bridge 7 and the position where defect out.
Step S101) further comprise:
It includes abutment surface 71, bridge outer face 72, bridge bottom surface 73, activity branch that laser 3 d scanner 21 scans bridge 7 respectively
The three-dimensional point information in the regions such as seat, rubber support, girder steel simultaneously forms three dimensional point cloud, to reflect that 7 detection zone of bridge includes
Crack, honeycomb, pitted skin, peeling, arrisdefect, cavity, hole the defects of.
Step S101) further comprise:
Geological radar 22 continuously emits pulsed frequency electromagnetic waves by the tested region to bridge 7, and receives electromagnetic wave
Echo-signal detects the inside concrete gap of bridge 7.
Unmanned plane 1 prevents 1 collision object of unmanned plane by the ultrasonic radar 24 of carrying thereon, and ensures unmanned plane 1
Safe flight.
Unmanned plane 1 is by carrying laser range finder 23 determining the distance between unmanned plane 1 and measurand thereon.
The treatment process of data processing and fault detection module 5 is primarily directed to the bridge obtained by laser three-dimensional scanning
The point cloud data for being detected region is handled, (just comprising point cloud data storage, data preprocessing, cloud data registration
The three-dimensional point cloud model of beginning is established), the processes such as data gridding (including mesh simplification), rebuild the three-dimensional that bridge is detected region
Model, and Crack Detection is carried out in three dimensional point cloud.Meanwhile geology radar signal returns are analyzed, detect coagulation
Native internal voids.As shown in Fig. 9, step S103) in data processing and the treatment process of fault detection module 5 further wrap
It includes:
S1031) the laser three-dimensional scanning data transmitted to data transmission module 3 store；
S1032 initial three-dimensional point cloud is established after) carrying out interference filtering pretreatment to the laser three-dimensional scanning data of storage
Model；
S1033 three-dimensional point cloud model) is converted into triangle grid model, and to triangle grid model carry out abbreviation processing with
Rebuild the threedimensional model of bridge 7.
Control instruction is sent to nothing by data transmission module 3 by the unmanned aerial vehicle (UAV) control module 6 of ground control centre 4 in real time
Man-machine 1 flight control modules, unmanned plane 1 pass through data transmission module 3 for Flight Condition Data real-time Transmission to unmanned plane control
Molding block 6.
Step S104) it further includes steps of
The packet of bridge 7 is positioned by carrying out spatial measurement to the three dimensional point cloud in 7 threedimensional model of bridge to undergo reconstruction
The information including defect length, width, depth, height, position is included, detects the position of the defect and defect on bridge 7.Together
When, it is compared by the laser three-dimensional scanning data acquired twice to front and back, to obtain the dynamic variable quantity of defect.Simultaneously will
Defective locations and type are sent on portable handheld terminal, are carried portable handheld terminal by staff and are carried out to bridge 7
Maintenance.
Flight control modules obtain position of the unmanned plane 1 in flight course by the GPS navigator being mounted on unmanned plane 1
Confidence breath.Step S1032) further comprise:
Data processing is with fault detection module 5 according to laser 3 d scanner 21 to the local positioning of 7 tested region of bridge
The Global localization information of information and GPS navigator forms initial three dimensional point cloud, and by spatial point filtering or smoothly
Miscellaneous point and redundant points in processing removal point cloud data.Data processing is discrete by what is obtained after pretreatment with fault detection module 5
Point cloud data is converted to three-dimensional point cloud model.
Step S1033) further comprise:
Three-dimensional point cloud model is converted into triangle grid model, and to the triangle gridding in triangle grid model
Letter reduces the quantity of triangle gridding in the case where the surface characteristics of maintenance bridge 7 is constant to the maximum extent.
By implementing the technical solution of the bridge cruising inspection system of the utility model specific embodiment description, can generate as follows
Technical effect:
(1) the bridge cruising inspection system of the utility model specific embodiment description is using unmanned plane as platform, at low cost, efficiency
Height, high reliablity, flexibility are big, and are not required to occupy track, and detection time is unrestricted, does not influence train operation, passes through installation
Avoidance radar improves the safety of unmanned plane during flying；
(2) the bridge cruising inspection system of the utility model specific embodiment description uses laser scanning bridge three-dimensional information, swashs
Optical scanning does not require temperature and illumination, is able to solve camera imaging because illumination obtains image data, the low skill of anti-interference
Art problem；
(3) the utility model specific embodiment description bridge cruising inspection system by bridge carry out three-dimensional modeling, and
Spatial measurement is carried out in point cloud data and obtains defect three-dimensional information, and by the processing to three dimensional point cloud, it is tested to rebuild bridge
The threedimensional model in region can be realized the various dimensions detection to bridge defect, be not only able to obtain the plane information of defect, moreover it is possible to
Depth information is obtained, and the specific location of bridge defect can be accurately positioned；
(4) the bridge cruising inspection system of the utility model specific embodiment description is carried out pair by acquiring data twice to front and back
Than capableing of the variable quantity of dynamic detection flaw size, worker can effectively be instructed to carry out upkeep operation；
(5) the bridge cruising inspection system of the utility model specific embodiment description can be completed mixed to bridge using geological radar
The detection of solidifying soil internal voids, the perfect detection of internal hurt.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation.Although the utility model is disclosed as above with preferred embodiment, it is not intended to limit the utility model.It is any ripe
Those skilled in the art is known, in the case where not departing from the Spirit Essence and technical solution of the utility model, all using upper
The methods and technical content for stating announcement makes many possible changes and modifications to technical solutions of the utility model, or is revised as
With the equivalent embodiment of variation.Therefore, all contents without departing from technical solutions of the utility model, the skill according to the utility model
It is practical new to still fall within this for art any simple modification, equivalent replacement, equivalence changes and modification substantially made to the above embodiment
The range of type technical solution protection.
Claims (10)
1. a kind of bridge cruising inspection system, comprising: unmanned plane (1), data transmission module (3), ground control centre (4), and carry
In the data acquisition module (2) on the unmanned plane (1)；The data acquisition module (2) includes laser 3 d scanner (21)
With geological radar (22)；The bridge that the unmanned plane (1) is acquired by the laser 3 d scanner (21), geological radar (22)
(7) field data is sent to the ground control centre (4) through the data transmission module (3)；The ground control centre (4)
It further comprise data processing and fault detection module (5), the data processing and fault detection module (5) are used to swash to described
Light spatial digitizer (21) acquisition laser three-dimensional scanning data and the geological radar (22) acquisition radar return data into
Row processing and analysis, the defect for detecting the bridge (7) and the position where defect.
2. bridge cruising inspection system according to claim 1, it is characterised in that: the laser 3 d scanner (21) is for sweeping
Retouching the bridge (7) includes that abutment surface (71), bridge outer face (72), bridge bottom surface (73), movable bearing support, rubber support, girder steel exist
The three-dimensional point information of inner region simultaneously forms three dimensional point cloud, with reflect the bridge (7) detection zone include crack, honeycomb,
Pitted skin, peeling, arrisdefect, cavity, hole the defects of.
3. bridge cruising inspection system according to claim 1 or 2, it is characterised in that: the geological radar (22) is for carrying out
The inside concrete gap of the bridge (7) detects.
4. bridge cruising inspection system according to claim 3, it is characterised in that: the data acquisition module (2) further includes using
In preventing the unmanned plane (1) collision object, and ensure the ultrasonic radar (14) of the unmanned plane (1) safe flight.
5. bridge cruising inspection system according to claim 4, it is characterised in that: the data acquisition module (2) further includes using
In the laser range finder (13) for determining distance between the unmanned plane (1) and measurand.
6. according to claim 1, the described in any item bridge cruising inspection systems in 2,4 or 5, which is characterized in that the data processing with
Fault detection module (5) includes:
It is connected with the data transmission module (3), the laser three-dimensional scanning data for being transmitted to the data transmission module (3)
The data storage cell (51) stored；
It is connected with the data storage cell (51), the laser three-dimensional scanning number for being stored to the data storage cell (51)
According to the initial modeling unit (52) for establishing initial three-dimensional point cloud model after progress interference filtering pretreatment；
It is connected with the initial modeling unit (52), for initial three-dimensional point cloud model to be converted to triangle grid model, and
Abbreviation processing is carried out to the triangle grid model, to rebuild the data gridding processing unit of the bridge (7) threedimensional model
(53)。
7. bridge cruising inspection system according to claim 6, it is characterised in that: the ground control centre (4) is additionally provided with
Unmanned aerial vehicle (UAV) control module (6), the unmanned aerial vehicle (UAV) control module (6) are real-time by control instruction by the data transmission module (3)
The flight control modules of the unmanned plane (1) are sent to, the unmanned plane (1) will be flown by the data transmission module (3)
Status data real-time Transmission to the ground control centre (4) unmanned aerial vehicle (UAV) control module (6).
8. bridge cruising inspection system according to claim 6, it is characterised in that: the data processing and fault detection module
It (5) further include the fault detection unit (54) being connected with the data gridding processing unit (53), the fault detection unit
(54) for carrying out spatial measurement to the three dimensional point cloud in the bridge (7) threedimensional model to undergo reconstruction, institute is detected
The position of the defect and defect on bridge (7) is stated, while defective locations and type being sent on portable handheld terminal.
9. bridge cruising inspection system according to claim 8, it is characterised in that: the data acquisition module (2) further includes using
In the GPS navigator for obtaining unmanned plane (1) location information in flight course, the initial modeling unit (52) is used for root
According to the laser 3 d scanner (21) to the local positioning information and the GPS navigator of the bridge (7) tested region
Global localization information form initial three dimensional point cloud, and discrete point cloud data is converted into three-dimensional point cloud model.
10. according to claim 1, the described in any item bridge cruising inspection systems in 2,4,5,7,8 or 9, it is characterised in that: the ground
Control centre (4) is using any self-operating equipment including lorry or mobile inspection car as carrier.
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| CN201820017485.9U CN208569041U (en) | 2018-01-05 | 2018-01-05 | Bridge cruising inspection system |
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| CN201820017485.9U CN208569041U (en) | 2018-01-05 | 2018-01-05 | Bridge cruising inspection system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901624A (en) * | 2019-04-11 | 2019-06-18 | 株洲时代电子技术有限公司 | A kind of bridge method for inspecting |
| CN110493249A (en) * | 2019-08-31 | 2019-11-22 | 天宇经纬（北京）科技有限公司 | Unmanned plane end load real-time control method and system based on multiple network switching |
| CN110672822A (en) * | 2019-09-23 | 2020-01-10 | 郑州航空工业管理学院 | Nondestructive testing system for structural defects of bridge concrete |
| CN112051267A (en) * | 2020-09-07 | 2020-12-08 | 株洲飞鹿高新材料技术股份有限公司 | System and method for detecting building defects |
| CN113125444A (en) * | 2021-04-20 | 2021-07-16 | 上海应用技术大学 | Railway bridge disease monitoring method based on unmanned aerial vehicle carrying three-dimensional scanner |
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| CN115236658A (en) * | 2022-07-13 | 2022-10-25 | 中交第二公路勘察设计研究院有限公司 | Pavement crack three-dimensional form monitoring method based on active radar remote sensing cooperation |
| CN117745786A (en) * | 2024-02-20 | 2024-03-22 | 中路高科交通检测检验认证有限公司 | Road crack depth detection device and detection method based on three-dimensional point cloud data |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901624A (en) * | 2019-04-11 | 2019-06-18 | 株洲时代电子技术有限公司 | A kind of bridge method for inspecting |
| CN110493249A (en) * | 2019-08-31 | 2019-11-22 | 天宇经纬（北京）科技有限公司 | Unmanned plane end load real-time control method and system based on multiple network switching |
| CN110672822A (en) * | 2019-09-23 | 2020-01-10 | 郑州航空工业管理学院 | Nondestructive testing system for structural defects of bridge concrete |
| CN112051267A (en) * | 2020-09-07 | 2020-12-08 | 株洲飞鹿高新材料技术股份有限公司 | System and method for detecting building defects |
| CN112051267B (en) * | 2020-09-07 | 2024-06-07 | 株洲飞鹿高新材料技术股份有限公司 | System and method for detecting building defects |
| CN113125444A (en) * | 2021-04-20 | 2021-07-16 | 上海应用技术大学 | Railway bridge disease monitoring method based on unmanned aerial vehicle carrying three-dimensional scanner |
| CN113838190A (en) * | 2021-09-16 | 2021-12-24 | 山西观复智能科技有限公司 | Boiler inner wall inspection method and system |
| CN115236658A (en) * | 2022-07-13 | 2022-10-25 | 中交第二公路勘察设计研究院有限公司 | Pavement crack three-dimensional form monitoring method based on active radar remote sensing cooperation |
| CN117745786A (en) * | 2024-02-20 | 2024-03-22 | 中路高科交通检测检验认证有限公司 | Road crack depth detection device and detection method based on three-dimensional point cloud data |
| CN117745786B (en) * | 2024-02-20 | 2024-05-14 | 中路高科交通检测检验认证有限公司 | Road crack depth detection device and detection method based on three-dimensional point cloud data |
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