KR20060056572A - Bridge inspecting system capable of coordinate confirmation about image - Google Patents

Abstract

A transport means fixedly installed on an upper portion of the bridge inspection vehicle, the transfer means for operating on input data input by the input means and generating local coordinates corresponding thereto; Image acquisition means for moving by the transfer means to obtain an image of the lower bridge; An image distance measuring means installed at one side of the image obtaining means for measuring local coordinates of the obtained image; DGPS measuring means for measuring local coordinates of said bridge inspection vehicle using satellites; Coordinate conversion means for converting local coordinates of the transfer means, image distance measurement means, and DGPS measurement means into global coordinates; Image processing means for image processing global coordinates of the coordinate conversion means corresponding to the image together with the image obtained by the image acquisition means; And a control means electrically connected to the transfer means, the image acquisition means, the image distance measurement means, the DGPS measurement means, the coordinate conversion means, and the image processing means to control the components. An inspection system is provided.

Bridge, bridge inspection, bridge inspection vehicle, bridge inspection system, mobile robot, encoder, DGPS, global coordinate

Description

Bridge inspection system capable of coordinate confirmation about image

1 is a perspective view illustrating a bridge inspection vehicle to which a bridge inspection system capable of recognizing coordinates for an image according to an exemplary embodiment of the present invention is applied;

2 is a configuration diagram schematically showing the configuration of the bridge inspection system of FIG.

3A and 3B are exemplary views showing an operating state of the conveying means in the bridge inspection system of Fig. 2, respectively;

4 is a block control diagram showing the operation of the coordinate conversion means in the bridge inspection system of FIG.

5A is a block control diagram showing an operation of an image processing means in the bridge inspection system of FIG.

5B is a flowchart showing the operation of each component in the image processing means of FIG. 5A; And

6 is a flowchart illustrating an operation of a bridge inspection system capable of recognizing coordinates for an image according to an exemplary embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

 10: input means 20: transfer means

30: image acquisition means 40: display means

50: video distance measuring means 60: DGPS measuring means

70: coordinate conversion means 80: image processing means

90 control means 100 bridge inspection vehicle

200: satellites

The present invention relates to a bridge inspection system, and more particularly, to a bridge inspection system capable of acquiring images of a lower portion of a bridge through a remotely controllable camera and recognizing coordinates of an image having a crack element.

In general, the bridge inspection work is stopped or moved to the upper part of the bridge using the bridge inspection vehicle, and the cracking elements such as cracks and breaks in the lower part of the bridge are visually observed by the inspector.

However, in the conventional bridge inspection work, the boom is enlarged to support the load and the basket of the safety accident because the risk of safety accident is increased by mounting a basket on which the inspector rides on the front end of the multistage boom of the bridge inspection vehicle. As a result, there is a problem that the body is large.

In addition, when the bridge inspection operation is made only by the naked eye of the inspector, only the inspector knows the inspection data, so there is no reliability of the inspection and the inspection data cannot be stored, which makes it difficult to review or analyze the inspection data later.

Therefore, in order to solve the above problems, the method and device for defect inspection of bridges using vision system of Korean Patent Registration No. 10-0359386 and the unmanned inspection device of bridges of Korean Patent Application No. 10-2004-19143 It has been disclosed.

Conventional bridge inspection devices as described above, the camera is equipped with a top and bottom and left and right position control at the end of the two-axis scalar robot, the hydraulic link mechanism is operated from the upper portion of the bridge to access the lower bridge, two-axis scalar robot The vehicle is controlled to a desired position while moving the inspection vehicle and the real-time monitoring is performed by wire or wireless to process the photographed image with a vision system to perform an external survey of the bridge.

However, in the conventional bridge inspection apparatus as described above, only the cracks in the lower part of the bridge, the determination of abnormality in the welded part, and the calculation of the width and length of the crack are calculated for the image. Accurate coordinate recognition of the actual position of the image is difficult due to the positional error of the camera due to the shaking of the vehicle moving the bridge and the image processing error captured by the camera. In addition, it is difficult to improve the reliability of the analysis when the defect analysis is performed on the lower part of the bridge based on the image.

In addition, since the exact coordinates of the image are not recognized in the storage management of the image indicating the abnormality of the bridge, it cannot be compared with the captured image in the case of continuous irradiation in the future. There is a problem that cannot accurately determine whether or not it occurred.

Therefore, an object of the present invention is to receive the position information of the image acquisition means using satellite navigation and encoder during the bridge inspection, and to receive the position information of the image acquired by the image acquisition means using laser light wave means to receive the actual position of the image. It is to provide a bridge inspection system capable of recognizing the coordinates for the image that can recognize the exact coordinates.

In addition, another object of the present invention is to provide a bridge inspection system capable of recognizing the coordinates for the image that can improve the reliability when analyzing the defect by storing and storing the image obtained by the image acquisition means and the position information for the image together To provide.

According to the present invention, there is provided a bridge inspection system, comprising: transfer means fixed to an upper portion of a bridge inspection vehicle to operate on input data input by an input means and to generate local coordinates corresponding thereto; Image acquisition means for moving by the transfer means to obtain an image of the lower bridge; An image distance measuring means installed at one side of the image obtaining means for measuring local coordinates of the obtained image; DGPS measuring means for measuring local coordinates of said bridge inspection vehicle using satellites; Coordinate conversion means for converting local coordinates of the transfer means, image distance measurement means, and DGPS measurement means into global coordinates; Image processing means for image processing global coordinates of the coordinate conversion means corresponding to the image together with the image obtained by the image acquisition means; And control means for controlling the components by being electrically connected to the transfer means, the image acquisition means, the image distance measurement means, the DGPS measurement means, the coordinate conversion means, and the image processing means. A bridge inspection system is provided.

In addition, the conveying means, a plurality of hydraulic cylinders and hydraulic motors are driven by a hydraulic pump and a hydraulic control valve operated by the power drawn from the bridge inspection vehicle to the image acquisition position corresponding to the position data of the input means Preferably, the plurality of hydraulic cylinders are provided with rotary encoders and wire encoders for generating local coordinates corresponding to the position data.

In addition, the image distance measuring means, it is preferable that the laser light wave is fixed to one side of the image acquisition means to measure the distance between the image acquisition position and the image acquisition means.

The DGPS measuring unit may include a mobile receiver installed in the transfer unit and a reference receiver spaced apart from the mobile receiver by a predetermined distance, and the mobile receiver receives its position data from the satellite and transmits the position data to the reference receiver. The reference receiver preferably calculates a correction value of the position data of the mobile receiver and transmits the correction value to the mobile receiver again to minimize the error range for the position data.

In addition, the coordinate conversion means, the position data corresponding to the motion of the transfer means, the position data of the image obtained by the image distance measuring means and the DGPS position data of the DGPS measuring means to receive each of the position data It is preferable to calculate the corresponding local coordinates as global coordinates for the four corners of the image, assuming that the image is a plane.

In addition, the image processing means, the image acquisition to extract the sharpest image for a plurality of images having the same global coordinates obtained by the image acquisition means and to store the global coordinates corresponding to the image with the extracted image part; An image analysis unit for extracting crack elements of the image and removing non-cracked elements based on the image obtained by the image acquisition unit and the global coordinates; And an image correction unit for allowing a user to modify, add, and delete the image with respect to the crack element of the image extracted by the image analysis unit.

Further, each component of the image processing means adjusts the shooting magnification of the image acquisition means in consideration of the degree of the actual cracking element of the image acquired by the image acquisition means, the resolution of the image acquisition means, and the error degree of the image processing means. An image scaling algorithm; An image processing algorithm for extracting crack elements by comparing thickness, length, and ambient brightness values of contours of the image to be analyzed based on the definition of cracks for analyzing the crack elements of the image; The pixel size (mm / poxel) of the image acquisition means is determined according to the degree of the crack element to be extracted, and the actual image size (FOV: Field Of View) is obtained by the resolution of the image acquisition means, A resolution / precision processing algorithm that calculates a total number of times of check operation to be performed to obtain an image for a; And an environment setting algorithm for setting an optimal environment of the image and the lighting in order to realize an optimal image in which only a crack element appears in the image and no other elements appear.

In addition, the transfer means is preferably provided with a sensor for detecting obstacles during the bridge inspection work.

In addition, the transfer means is preferably a vibration preventing device that can prevent the vibration of the bridge due to the irregular environmental elements and the self-vibration of the transfer means at the location where the image acquisition means is installed.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

In the following description of the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

FIG. 1 is a perspective view illustrating a bridge inspection vehicle to which a bridge inspection system capable of recognizing coordinates for an image according to an exemplary embodiment of the present invention is applied, and FIG. 2 is a block diagram schematically illustrating a configuration of the bridge inspection system of FIG. 1.

As shown in Figure 1 and 2, the bridge inspection system capable of recognizing the coordinates for the image according to an embodiment of the present invention, is fixed to the upper portion of the bridge inspection vehicle 100 by the input means 10 An image acquisition means 30, an image acquisition means for moving by the transfer means 20, an image acquisition means 30 for obtaining an image of the lower part of the bridge, which is operated by the input data and generates a local coordinate corresponding thereto. Image distance measurement for measuring the local coordinates of the image acquired by the image acquisition means 30 is installed on one side of the display means 40, the image acquisition means 30 for displaying the image obtained by the (30) Means 50, DGPS measuring means 60, transfer means 20, image distance measuring means 50 and DGPS measuring means for measuring the local coordinates of the bridge inspection vehicle 100 using the satellite 200 ( Convert local coordinates from 60) to global coordinates Image processing means 80 and input means for image processing the global coordinates of the coordinate conversion means 70 corresponding to the image together with the image obtained by the coordinate conversion means 70 and the image acquisition means 30 10), transfer means 20, image acquisition means 30, display means 40, image distance measurement means 50, DGPS measurement means 60, coordinate conversion means 70 and image processing means 80 Control means 90 electrically connected to and controlling the components.

Here, the bridge inspection vehicle 100, as shown in Figure 1, is a conventional bridge inspection truck and the control means 90 for controlling the components for acquiring the image of the lower bridge inside the vehicle is mounted Control room 101.

3A and 3B are exemplary views showing an operating state of the transfer means in the bridge inspection system of FIG. 2, respectively.

The transport means 20, as shown in Figures 1 to 3b, the support end 21 for supporting the bridge inspection vehicle 100, the base frame installed on the upper body frame of the bridge inspection vehicle 100 ( 22), a main post 23 pivotably coupled to an upper portion of the base frame 22, a first end boom 24 pivotally coupled to a tip of the main post 23, and a tip end of the first end boom 24; Pivotally hinged and extendable to the tip of the second end boom 25, pivotally hinged and extendable third end boom 26 and third end boom 26. And possibly a conveying member 27 which is hinged.

Here, the conveying means 20 is driven by the hydraulic pump and the hydraulic control valve operated by the power drawn from the bridge inspection vehicle 100, the hydraulic cylinder and the hydraulic motor of each of the components are driven to input means such as keyboard or joystick Position control is performed so as to correspond to the position data input from the image 10, that is, the image acquisition position, and a plurality of rotary encoders (not shown) are respectively provided on the second end boom 25 and the third end boom 26 of the transfer means 20. ) And a wire encoder (not shown) to generate local coordinates, which are position data corresponding to the motion of the transfer means 20.

In addition, the transfer means 20 is equipped with a plurality of ultrasonic sensors 28 on the outside of the third stage boom 26 to allow the control means 90 to operate the transfer means 20 when the obstacle is found during the bridge inspection work. It is desirable to stop.

As shown in FIGS. 1 to 3A, the image acquiring means 30 is pivotally installed on the upper portion of the conveying member 27 of the conveying means 20 to photograph the lower portion of the bridge. CCD) camera or digital camera 31 and a lamp 32 for illuminating the lower part of the bridge.

Here, the image acquisition means 30, as shown in Figure 3b, the maximum image in one operation within the radius range that the third stage boom 26 of the transfer means 20 is pivoting with respect to the length of the bridge In the transfer member 27 in which the image acquisition means 30 is installed, the vibration of the bridge and the vibration of the transfer means 20 due to irregular environmental elements, that is, the vehicle traveling or passing through the bridge, may be obtained. An air spring 29 that can be prevented is further installed.

The display means 40 monitors the image acquired by the image acquisition means 30, and preferably LCD.

As shown in FIG. 1, the image distance measuring means 50 is fixedly installed at one side of the image acquisition means 30 to measure the distance between the image acquisition position and the image acquisition means 30. In order to measure local coordinates, which are positional data for an image obtained by), it is preferable that the laser beam laser beam is used.

Here, the image distance measuring means 50 may measure the shaking of the image acquisition means 30 according to the distance change and adjust the image acquisition time through auto focusing of the image acquisition means 30.

As shown in FIG. 1, the DGPS measuring unit 60 moves with the mobile receiver 61 installed at a position where the first stage boom 24 and the second stage boom 25 of the transfer unit 20 are hinged. And a reference receiver 62 positioned at a distance from the receiver 61.

The mobile receiver 61 receives its position data from the satellite 200 and transmits it to the reference receiver 62, and the reference receiver 62 calculates a correction value of the position data of the mobile receiver 61, and then again the mobile receiver. By transmitting to 61, the range of the error with respect to the position data can be minimized, so that the accuracy of the local coordinate which is the DGPS position data of the mobile receiver 61 can be improved.

4 is a block control diagram illustrating an operation of coordinate conversion means in the bridge inspection system of FIG. 2.

As shown in FIG. 4, the coordinate transformation means 70 includes position data corresponding to the motion of the transfer means 20, image position data of the image distance measuring means 50, and DGPS position of the DGPS measurement means 60. After receiving the data and calculating the local coordinates to the global coordinates through the location information program to calculate the final position data for the crack element of the image.

Here, the position information program, the algorithm and the image distance measuring means for obtaining the local coordinates of the image acquisition means 30 through the position data for the motion of the transfer means 20 and the DGPS position data of the DGPS measurement means 60 ( An algorithm for obtaining local coordinates for the image obtained by (50), and assuming that the image is a plane and obtaining global coordinates for the four corners of the image to obtain accurate final position data for the image. Obtain through. Therefore, global position information on the actual crack element in the image is obtained through the final position data of the image.

FIG. 5A is a block control diagram illustrating the operation of the image processing means in the bridge inspection system of FIG. 2, and FIG. 5B is a flowchart illustrating the operation of each component in the image processing means of FIG. 5A.

As shown in FIGS. 5A and 5B, the image processing unit 80 automatically recognizes a crack element of the image obtained by the image acquisition unit 30 through an image processing program, and stores and manages it in a database. An image acquisition unit 81, an image analysis unit 82 and an image correction unit 83 is included.

As shown in FIG. 5B, the image acquisition unit 81 removes noise of the image acquired by the image acquisition unit 30 through a low pass filter and uses the vision analysis program to remove the contour of the image. After finding the crack element by comparing the thickness, the length and the ambient brightness value of the contour, and extracting only the sharpest image is stored with the position information of the coordinate conversion means 70 in the database.

As shown in FIG. 5B, the image interpreter 82 broadens the filtering and image brightness areas of the image obtained first to identify the crack element based on the image and the position information obtained by the image acquisition unit 81. Work and the like improve the image of the image, remove the noise, find the contour and remove the components that are not cracking elements.

As illustrated in FIG. 5B, the image corrector 83 may directly modify the user's report to correct, add, and delete the result of the image to correct fine cracking elements of the image of the image interpreter 82. To help.

Here, the image processing program may be configured by considering the degree of the actual cracking element of the image acquired by the image acquiring means 30, the resolution of the image acquiring means 30, and the error degree of the image processing means. Image scaling algorithm that adjusts shooting magnification, definition of crack to analyze the cracking factor of the image For example, to analyze based on the definition of 'crack has a darker value than the surroundings in the form of a long thin line. The image processing algorithm extracts the crack elements by comparing the thickness, the length, and the ambient brightness value of the contour of the image, and determines the pixel size (mm / poxel) of the image acquisition means 30 according to the degree of the crack element to be extracted. To obtain the actual image size (FOV: Field Of View) by the resolution of the image acquisition means 30 to obtain an image of the entire irradiation area based on the values Resolution / precision processing algorithm that calculates the total number of checks to be performed, and the cracking element reacts only to vertical light and reacts to stray lighting to realize an optimal image with only the cracking element appearing in the image and no remaining elements. In other words, because the cracks are dented, it reacts to vertical light, but is less affected by the illumination of the projection light, so the image acquisition environment obtains images by maintaining sufficient brightness to filter out surrounding stains or foreign objects. Contains a processing algorithm. Here, the magnification of the image by the image magnification adjustment algorithm is that the magnification of the image (image processing) rather than the actual crack element (mm) because the size of the image photographed by the image acquisition means 30 is smaller than the size of the crack element of the actual bridge. The error * pixel size (mm / pixel) should be small.

In addition, the image processing means 80, to compensate for the extraction error for the crack element of the image obtained by the image acquisition unit 81 to have a certain time of overlap in the next image acquisition by the wind or vibration image It is preferable to reduce the position error of the acquisition means 30 and the position information error of the image generated thereby.

Hereinafter, an operation of a bridge inspection system capable of recognizing coordinates for an image according to an exemplary embodiment of the present invention will be described.

6 is a flowchart illustrating an operation of a bridge inspection system capable of recognizing coordinates for an image according to an exemplary embodiment of the present invention.

As shown in FIG. 6, first, the transfer means 20 installed on the upper portion of the bridge inspection vehicle 100 is operated to correspond to the input data input by the input means 10 so as to obtain an image under the bridge. Position the acquisition means 30 (S1).

Thereafter, the image acquisition means 30 acquires the image of the lower part of the bridge based on an optimal environment setting value for image acquisition such as magnification, resolution, image size and illumination brightness, which are previously adjusted by the image processing means 80. (S2).

Thereafter, the final position data corresponding to the image obtained in the step is calculated by the coordinate converting means 70 (S3).

Thereafter, the image acquisition unit 81 of the image processing unit 80 compares the thickness, length, and ambient brightness of the contour of the image to be analyzed based on the definition of the crack for analyzing the crack element of the image. Only the sharpest image of the plurality of images is extracted and the final position data is stored in the database together with the image (S4).

Subsequently, the image analysis unit 82 of the image processing unit 80 performs filtering and widening of the image brightness area on the first obtained image to identify cracking elements of the image based on the image and the final position data. Through improving the image of the image and removing the noise to find the contour and remove the components other than the crack element (S5).

Thereafter, the image correction unit 83 of the image processing unit 80 allows the user to correct, add, and delete the image for correction of the minute crack element of the image (S6).

Therefore, according to the present invention as described above, by using the satellite navigation and encoder during the bridge inspection work, receiving the position information of the image acquisition means and receiving the position information of the image obtained by the image acquisition means through the laser light wave means The exact coordinates of the actual position of the image can be recognized.

In addition, by storing and storing the coordinates of the image together with the image obtained by the image acquisition means, it is possible to more easily identify the position of the image through the coordinates in the future defect analysis, thereby improving reliability.

In addition, the vibration control means for preventing the vibration of the image acquisition means and the image acquisition means due to the wind or the shaking of the vehicle moving the bridge to have a certain time overlap in the next image acquisition after one image acquisition Can reduce the position error.

In addition, the transfer means for moving the image acquisition means is provided with a detection means for detecting an obstacle to prevent the collision with the obstacle by stopping the operation of the transfer means when detecting the obstacle during the bridge inspection work.

In the above-described invention, specific embodiments have been described, but various modifications may be made without departing from the scope of the invention. Therefore, the scope of the invention should not be defined by the described embodiments, but should be defined by the claims and their equivalents.

As described above, an object of the present invention is to store the global coordinates corresponding to the image together with the image obtained during the bridge inspection, there is an effect that can systematically and continuously manage the resulting data.

In addition, by preventing the vibration of the image acquisition means for acquiring the image it is possible to obtain a more accurate and accurate image, it is possible to quickly respond to the dangerous situation through the detection means for detecting the risk factor.

Claims (9)

In the bridge inspection system, A transport means fixedly installed on an upper portion of the bridge inspection vehicle, the transfer means for operating on input data input by the input means and generating local coordinates corresponding thereto; Image acquisition means for moving by the transfer means to obtain an image of the lower bridge; An image distance measuring means installed at one side of the image obtaining means for measuring local coordinates of the obtained image; DGPS measuring means for measuring local coordinates of said bridge inspection vehicle using satellites; Coordinate conversion means for converting local coordinates of the transfer means, image distance measurement means, and DGPS measurement means into global coordinates; Image processing means for image processing global coordinates of the coordinate conversion means corresponding to the image together with the image obtained by the image acquisition means; And Coordinate recognition for an image, characterized in that it comprises a control means for controlling the components by being electrically connected to the transfer means, image acquisition means, image distance measurement means, DGPS measurement means, coordinate conversion means and image processing means. Possible bridge inspection system. The method of claim 1, wherein the transfer means, A plurality of hydraulic cylinders and hydraulic motors are driven by a hydraulic pump and a hydraulic control valve operated by the power drawn out from the bridge inspection vehicle to move to the image acquisition position corresponding to the position data of the input means, and the plurality of hydraulic cylinders. And a rotary encoder and a wire encoder for generating local coordinates corresponding to the position data therein. The method of claim 1, wherein the image distance measuring means is fixed to one side of the image acquisition means is a laser light wave for measuring the distance between the image acquisition position and the image acquisition means is possible to recognize the coordinates for the image Bridge Inspection System. According to claim 1, wherein the DGPS measuring means, Includes a mobile receiver and a reference receiver away from the mobile receiver a predetermined distance installed in the conveying means, The mobile receiver receives its position data from the satellite and transmits the position data to the reference receiver, and the reference receiver calculates a correction value of the position data of the mobile receiver and transmits it to the mobile receiver again to determine a range of error for the position data. Bridge inspection system capable of recognizing the coordinates for the image, characterized in that to minimize. The method of claim 1, wherein the coordinate conversion means, Receives the position data corresponding to the motion of the transfer means, the position data of the image obtained by the image distance measuring means and the DGPS position data of the DGPS measuring means to obtain the local coordinates corresponding to each of the position data. A bridge inspection system capable of recognizing coordinates of an image, which is assumed to be a plane and is calculated using global coordinates of four corners of the image. The method of claim 1, wherein the image processing means, An image acquisition unit for extracting the sharpest images of the plurality of images having the same global coordinates obtained by the image acquisition means, and storing the global coordinates corresponding to the images together with the extracted images; An image analysis unit for extracting crack elements of the image and removing non-cracked elements based on the image obtained by the image acquisition unit and the global coordinates; And And an image correction unit for allowing a user to modify, add, and delete the image with respect to the crack element of the image extracted by the image analysis unit. The method of claim 6, wherein each component of the image processing means, An image magnification adjustment algorithm for adjusting the photographing magnification of the image acquisition means in consideration of the degree of the actual cracking element of the image acquired by the image acquisition means, the resolution of the image acquisition means, and the degree of error in image processing; An image processing algorithm for extracting crack elements by comparing thickness, length, and ambient brightness values of contours of the image to be analyzed based on the definition of cracks for analyzing the crack elements of the image; The pixel size (mm / poxel) of the image acquisition means is determined according to the degree of the crack element to be extracted, and the actual image size (FOV: Field Of View) is obtained by the resolution of the image acquisition means, A resolution / precision processing algorithm that calculates a total number of times of check operation to be performed to obtain an image for a; And A bridge inspection system capable of recognizing coordinates for an image, which is controlled by an environment setting algorithm for setting an optimal environment of an image and lighting in order to realize an optimal image in which only a crack element appears in the image and no other elements appear. The bridge inspection system of claim 2, wherein the transfer means includes a sensor for detecting an obstacle during a bridge inspection operation. The method of claim 8, wherein the transfer means is characterized in that the vibration preventing device that can prevent the vibration of the bridge due to the irregular environmental elements and the self-vibration of the transfer means at the location where the image acquisition means is installed. A bridge inspection system capable of recognizing the coordinates of an image.

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