Bridge structure damage detection method and system for bridge engineering

Abstract

The invention relates to the technical field of physical analysis, in particular to a bridge structure damage detection method and system for bridge engineering, and the method comprises the steps: obtaining an infrared detection image of a bridge structure of the bridge engineering through infrared equipment, and determining all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image, according to the potential crack area and the reinforcing steel bar area, a moving path avoiding the reinforcing steel bar area is determined, the potential crack area is scanned along the moving path through ultrasonic equipment, an ultrasonic detection result is obtained, and interference of the reinforcing steel bar area on damage detection and the probability of missing detection are reduced; according to the ultrasonic detection result, the supplementary scanning direction is determined, supplementary scanning is carried out based on the supplementary scanning direction through the ultrasonic equipment to determine the target crack area, the scanning direction of the ultrasonic equipment is more comprehensive through supplementary scanning in the supplementary scanning direction, and therefore the target crack area is obtained according to the target crack area. And a more accurate damage detection result of the bridge structure is determined.

Description

Technical Field

[0001] This invention relates to the field of physical analysis technology, specifically to a method and system for detecting bridge structural damage in bridge engineering. Background Technology

[0002] During bridge engineering, common structural damage includes internal concrete damage, surface damage, and steel structure damage. The most common internal concrete damage is internal cracks. If these cracks cannot be accurately detected, they can lead to bridge collapse or even trigger a chain reaction of failures. Currently, ultrasonic technology is commonly used to detect internal concrete damage. However, the results of ultrasonic testing are affected by the scanning direction (scanning angle) of the ultrasonic equipment. Furthermore, the dense structure of reinforcing steel bars within the concrete can interfere with the detection results, leading to missed or false detections of internal concrete damage and affecting the accuracy of bridge structural damage detection. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a method and system for detecting bridge structural damage in bridge engineering. The specific technical solution adopted is as follows:

[0004] In a first aspect, embodiments of this application provide a method for detecting bridge structural damage in bridge engineering, including:

[0005] Infrared images of the bridge structure are acquired using infrared equipment, and based on these images, all potential crack areas and reinforcing steel areas of the bridge structure are identified.

[0006] Based on the potential crack area and the reinforcing bar area, a movement path is determined to avoid the reinforcing bar area, and an ultrasonic device is used to scan the potential crack area along the movement path to obtain ultrasonic detection results.

[0007] Based on the ultrasonic test results, the supplementary scanning direction is determined, and the ultrasonic equipment is used to perform a supplementary scan based on the supplementary scanning direction to determine the target crack area.

[0008] Based on the target crack area, the damage detection results of the bridge structure are determined.

[0009] In one embodiment, the step of acquiring infrared detection images of the bridge structure using infrared equipment and determining all potential crack areas and reinforcing steel areas of the bridge structure based on the infrared detection images includes:

[0010] Infrared detection images are acquired using infrared devices in directions parallel to and perpendicular to the bridge structure, respectively.

[0011] Edge segmentation and morphological closing operations are performed on the infrared detection images from different directions to determine the outermost closed boundary. Gray-scale analysis is then performed on each closed region inside the closed boundary in each infrared detection image to determine the potential crack region and rebar region contained in each infrared detection image.

[0012] In one embodiment, the step of performing grayscale analysis on each closed region inside the closed boundary in each infrared detection image to determine the potential crack region and rebar region contained in each infrared detection image includes:

[0013] In each of the infrared detection images, the overall grayscale mean value of the entire region inside the closed boundary is determined, and the grayscale difference value between the grayscale mean value of each closed region and the overall grayscale mean value is determined.

[0014] Based on the grayscale difference value, the effective closed region is determined;

[0015] Determine the grayscale range of each effective closed region and the average gradient magnitude of the edge contour points of the effective closed region, and determine the area difference between the area of ​​each effective closed region and the area of ​​the minimum bounding rectangle corresponding to the effective closed region;

[0016] Based on the grayscale difference value, grayscale range, average gradient magnitude, and area difference of each effective closed region, a potential value is determined. Based on the potential value and a preset threshold, a potential defect region in each infrared detection image is determined, and other effective closed regions besides the potential defect regions are designated as reinforcement regions.

[0017] In one embodiment, determining a movement path to avoid the reinforcing steel region based on the potential crack region and the reinforcing steel region includes:

[0018] The potential defect region and the rebar region in different infrared detection images are registered using a registration algorithm. Based on the projection of each potential crack region onto the forward plane of the bridge structure in the registration results, the corresponding projection range is determined.

[0019] In each of the projection ranges, the two farthest pixels are determined as the start and end points of the projection range, and several detection points are evenly set in each of the projection ranges.

[0020] Using the ant colony algorithm, the movement path to avoid the steel reinforcement area corresponding to each potential crack area is determined based on the starting point, ending point and several detection points within each projection range.

[0021] In one embodiment, the step of scanning the potential crack region along the moving path using an ultrasonic device to obtain ultrasonic detection results includes:

[0022] Each of the detection points in each of the potential crack regions is scanned sequentially along the moving path using an ultrasonic device to obtain ultrasonic detection results.

[0023] Each detection point is scanned twice, and the ultrasound detection results include a first ultrasound result where the first scan direction of each detection point is perpendicular to the positive plane, and a second ultrasound result where the second scan direction is perpendicular to the line connecting the starting point and the ending point.

[0024] In one embodiment, determining the supplementary scanning direction based on the ultrasound detection results includes:

[0025] For each of the detection points, the first first wave amplitude decrease index and the first first wave delay index corresponding to the first wave in the first ultrasound result, and the second first wave amplitude decrease index and the second first wave delay index corresponding to the first wave in the second ultrasound result are determined respectively; wherein, the first wave is the first extreme point whose amplitude is greater than the average amplitude of all extreme points.

[0026] Based on the first initial wave amplitude decrease index and the first initial wave delay index, determine whether each detection point in the first scanning direction is marked as a detection point with crack defects, and the first crack direction vector corresponding to the detection point marked as having crack defects. Based on the second initial wave amplitude decrease index and the second initial wave delay index, determine whether each detection point in the second scanning direction is marked as a detection point with crack defects, and the second crack direction vector corresponding to the detection point marked as having crack defects.

[0027] If a detection point is marked as having a crack defect in both scanning directions, the supplementary detection degree value of the detection point is determined. If the supplementary detection degree value is less than or equal to the supplementary degree threshold, the supplementary scanning direction of the detection point is determined to be none. If the supplementary detection degree value is greater than the supplementary degree threshold, the supplementary scanning direction of the detection point is determined to be the direction perpendicular to the sum of the first crack direction vector and the second crack direction vector.

[0028] If a detection point is marked as having a crack defect in the first scanning direction but not in the second scanning direction, the supplementary scanning direction for that detection point is determined to be the direction perpendicular to the sum of the direction vectors of the first crack direction and the second scanning direction.

[0029] If a detection point is not marked as a detection point with a crack defect in the first scanning direction but is marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined to be the direction corresponding to the sum of the direction vector perpendicular to the first scanning direction and the second crack direction vector;

[0030] If the detection point is not marked as a detection point with crack defects in both scanning directions, the supplementary scanning direction for the detection point is determined to be the direction corresponding to the sum of the direction vector perpendicular to the first scanning direction and the direction vector of the second scanning direction.

[0031] In one implementation, determining the supplementary detection level value for the detection point includes:

[0032] The presence degree of the first defect is determined based on the first wave amplitude decrease index and the first wave delay index at the detection point, and the presence degree of the second defect is determined based on the second wave amplitude decrease index and the second wave delay index at the detection point.

[0033] Determine the cosine of the angle between the direction vector of the first scanning direction and the direction vector of the second scanning direction;

[0034] The supplementary detection level value for the detection point is determined based on the first defect presence level value, the second defect presence level value, and the cosine value of the included angle.

[0035] In one embodiment, the step of performing supplementary scanning based on the supplementary scanning direction using the ultrasonic device to determine the target crack region includes:

[0036] Using the ultrasound device, a supplementary scan is performed based on the supplementary scanning direction of each of the detection points to obtain the supplementary scanning result of each of the detection points.

[0037] The supplementary scanning result of each detection point is compared with the first and second ultrasound results corresponding to the detection point for similarity evaluation. If the evaluation result of the supplementary scanning result is similar to the first or second ultrasound result, or if the new supplementary detection degree value corresponding to the supplementary scanning result is less than or equal to the supplementary degree threshold, the supplementary scanning result is determined as the final ultrasound result of the detection point. Otherwise, the supplementary scanning direction is used as the new first scanning direction or the new second scanning direction, and the process of sequentially scanning each detection point in each potential crack region using the ultrasound device along the moving path is repeated until the new supplementary detection degree value is less than or equal to the supplementary degree threshold, and the final ultrasound result of the detection point is determined.

[0038] Based on the final ultrasonic results of each test point, the potential crack area of ​​the test point that is finally marked as having a crack defect is marked as the target crack area.

[0039] In one embodiment, determining the damage detection result of the bridge structure based on the target crack region includes:

[0040] In each target crack region, the total number of all detection points, start points and end points is determined, as well as the target number of detection points that are finally marked as having crack defects in each target crack region, the average degree of the degree of the presence of target defects corresponding to all target detection points, and the average crack depth of crack depth of all target detection points are determined.

[0041] The crack severity index value of each target crack region is determined based on the normalization function, the total number of each target crack region, the target number, the average severity value, and the average crack depth value; wherein, the damage detection result of the bridge structure includes the crack severity index value of each target crack region.

[0042] Secondly, embodiments of this application provide a bridge structural damage detection system for bridge engineering, comprising:

[0043] The acquisition module is used to acquire infrared detection images of the bridge structure of the bridge project through infrared devices, and to determine all potential crack areas and steel reinforcement areas of the bridge structure based on the infrared detection images.

[0044] The scanning module is used to determine a movement path that avoids the reinforcing steel area based on the potential crack area and the reinforcing steel area, and to scan the potential crack area along the movement path using an ultrasonic device to obtain ultrasonic detection results.

[0045] The determination module is used to determine the supplementary scanning direction based on the ultrasonic detection results, and to perform supplementary scanning based on the supplementary scanning direction using the ultrasonic equipment to determine the target crack area;

[0046] The damage module is used to determine the damage detection results of the bridge structure based on the target crack area.

[0047] The present invention has the following beneficial effects:

[0048] Infrared images of the bridge structure are acquired using infrared equipment. Based on these images, all potential crack areas and reinforcing steel areas are identified. A movement path is then determined to avoid these areas, and ultrasonic equipment is used to scan the potential crack areas along this path. This ultrasonic testing reduces interference from the reinforcing steel areas and minimizes the probability of missed detections. Supplementary scanning directions are then determined based on these directions, and the ultrasonic equipment performs additional scans to identify target crack areas. This supplementary scanning makes the ultrasonic equipment's scanning direction more comprehensive, leading to more accurate damage detection results for the bridge structure based on the target crack areas. Attached Figure Description

[0049] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic flowchart illustrating the steps of a bridge structure damage detection method for bridge engineering, provided in one embodiment of the present invention.

[0051] Figure 2 This is a structural block diagram of a bridge structural damage detection system for bridge engineering, provided as an embodiment of the present invention. Detailed Implementation

[0052] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a bridge structure damage detection method and system for bridge engineering proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0054] It should be noted that "exemplary" in the embodiments of this application refers to examples listed for ease of explanation, and other embodiments are not limited to the listed examples.

[0055] The following description, in conjunction with the accompanying drawings, details the specific scheme of a bridge structural damage detection method and system for bridge engineering provided by the present invention.

[0056] Please see Figure 1 The diagram illustrates a flowchart of a bridge structural damage detection method for bridge engineering according to an embodiment of the present invention. This bridge structural damage detection method for bridge engineering may include at least steps S100-S400:

[0057] S100. Obtain infrared detection images of the bridge structure of the bridge project through infrared equipment, and determine all potential crack areas and steel reinforcement areas of the bridge structure based on the infrared detection images.

[0058] S200. Based on the potential crack area and the reinforcing steel area, determine the movement path that avoids the reinforcing steel area, and use ultrasonic equipment to scan the potential crack area along the movement path to obtain the ultrasonic detection results.

[0059] S300. Based on the ultrasonic test results, determine the supplementary scanning direction, and perform supplementary scanning using ultrasonic equipment based on the supplementary scanning direction to determine the target crack area.

[0060] S400. Determine the damage detection results of the bridge structure based on the target crack area.

[0061] The technical solution of this application embodiment acquires infrared detection images of the bridge structure of a bridge project using an infrared device. Based on the infrared detection images, all potential crack areas and rebar areas of the bridge structure are identified. A movement path that avoids the rebar areas is determined based on the potential crack areas and rebar areas. An ultrasonic device is then used to scan the potential crack areas along the movement path to obtain ultrasonic detection results. This helps to reduce the interference of the rebar areas on damage detection and the probability of missed detection. Based on the ultrasonic detection results, a supplementary scanning direction is determined, and a supplementary scan is performed using an ultrasonic device based on the supplementary scanning direction to identify the target crack area. Through the supplementary scanning in the supplementary scanning direction, the scanning direction of the ultrasonic device becomes more comprehensive, thereby determining a more accurate damage detection result for the bridge structure based on the target crack area.

[0062] In one embodiment, step S100 includes steps S101-S102:

[0063] S101. Obtain corresponding infrared detection images in the direction parallel to the bridge structure and in the direction perpendicular to the bridge structure using infrared equipment.

[0064] Optionally, an infrared device (such as a high-resolution infrared thermal imager) is fixed on a tripod, and then infrared detection of the bridge structure (or concrete structure) during the bridge construction process is carried out during a period of low sunlight interference. Specifically, during infrared detection, the infrared device is used to detect the bridge structure in orthogonal directions (directions parallel to the bridge structure and directions perpendicular to the bridge structure), and the scanning distance can be 1 to 3 meters, thereby obtaining infrared detection images corresponding to different directions.

[0065] S102. Perform edge segmentation and morphological closing operations on the infrared detection images in different directions to determine the outermost closed boundary. Then, perform grayscale analysis on each closed region inside the closed boundary in each infrared detection image to determine the potential crack region and rebar region contained in each infrared detection image.

[0066] In some implementations, after acquiring the infrared detection image, preprocessing such as denoising can be performed, and then subsequent processing can be carried out based on the preprocessed infrared detection image.

[0067] In this embodiment, based on the difference in infrared radiation between concrete cracks and concentrated steel reinforcement areas (hereinafter referred to as steel reinforcement areas) in bridge structures, the crack areas and steel reinforcement areas in infrared detection images are distinguished. The specific principle is as follows: the thermal conductivity of steel reinforcement is much higher than that of concrete, and its shape is regular. In infrared detection images, it usually appears as a bright and uniform elongated area. The thermal resistance effect of air or water in the crack hinders heat conduction, which makes the internal temperature distribution may be uneven and significantly different from the temperature distribution of the overall concrete area. The shape of the crack area is more irregular than that of the steel reinforcement area. Therefore, the steel reinforcement area and the crack area are distinguished based on the above differences.

[0068] Therefore, based on the above principles, this application embodiment utilizes the Canny operator to perform edge segmentation on infrared detection images from different directions, and performs morphological closing operations on the edge segmentation results to determine the outermost closed boundary. The interior of the outermost closed boundary is the overall concrete structure region. Within the concrete structure region, there are several closed shapes, and the interior of each closed shape is a closed region. Gray-scale analysis is performed on each closed region within the closed boundary in each infrared detection image to determine the potential crack region and rebar region contained in each infrared detection image. Specifically:

[0069] First, determine the overall grayscale mean of the entire region inside the closed boundary in each infrared detection image. (i.e., the average grayscale value of the entire concrete structure area), and determine the average grayscale value of each closed area separately. (i.e., the first) (mean gray level of each closed region) and the overall mean gray level Grayscale difference value between (No. (Grayscale difference value corresponding to each closed region)

[0070]

[0071] Secondly, the effective closed region is determined based on the grayscale difference value. Optionally, the grayscale difference value... Normalized to the range (0,1), regions with normalization results greater than a grayscale threshold (e.g., 0.5) are marked as valid closed regions. Therefore, each valid closed region can be determined, with the first region being the most significant. It is represented by an effective closed region.

[0072] Then, determine the grayscale range of each effective closed region. (i.e., the first) The gray-level range corresponding to each effective closed region and the average gradient magnitude of the edge contour points of the effective closed region. (i.e., the first) The average gradient magnitude of each effective closed region is calculated, and the difference between the area of ​​each effective closed region and the area of ​​the minimum bounding rectangle corresponding to the effective closed region is determined as the area difference. (i.e., the first) (The area difference corresponding to each effective closed region). Here, the average gradient magnitude of the edge contour points refers to the average gradient magnitude of the edge pixels extracted by edge detection algorithms (such as Sobel, Canny, etc.); the area can be calculated based on existing methods and will not be elaborated further.

[0073] Finally, based on the grayscale difference, grayscale range, average gradient magnitude, and area difference of each effective closed region, potential values ​​are determined. Based on the potential values ​​and preset thresholds, potential defect regions in each infrared detection image are determined, and other effective closed regions other than potential defect regions are designated as reinforcement regions.

[0074] Specifically, potential values (i.e., the first) The formula for calculating the potential values ​​of each effective closed region is:

[0075] in, For the first The degree difference value corresponding to each effective closed region The normalized value, 1 is a hyperparameter to prevent the denominator from being 0.

[0076] It should be noted that when the grayscale difference between a certain effective area and the overall concrete structure area is greater, and its shape is more irregular (the greater the difference in area between it and its smallest bounding rectangle), and its internal grayscale distribution is uneven, and the transition between its edge contour points (all the outermost edge points of the closed shape) and the surrounding concrete structure is not obvious (the gradient amplitude is small), then this area is a potential defect area. Larger. Optionally, the potential values... Normalized to (0,1), the effective closed regions whose normalized results are greater than a possible threshold (e.g., 0.5) are the potential defect regions, and the other effective closed regions besides the potential defect regions are the rebar regions, thereby determining the potential defect regions and rebar regions in the infrared detection images in two directions.

[0077] It should be noted that since the rebar area usually has a large interference with the ultrasonic test results, the ultrasonic probe needs to avoid the rebar area and cover all defect areas when moving. Therefore, a movement path that can avoid the rebar area is required, and the movement path needs to be planned.

[0078] In one implementation, step S200 determines a movement path that avoids the rebar area based on the potential crack area and the rebar area, including steps S201-S203:

[0079] S201. Using a registration algorithm, potential defect areas and steel reinforcement areas in different infrared detection images are registered. Based on the projection of each potential crack area onto the forward plane of the bridge structure in the registration results, the corresponding projection range is determined.

[0080] Optionally, based on ORB (Oriented Fast and Rotated BRIEF), the potential defect regions and the rebar regions of the two infrared detection images with different orientations are registered separately to obtain the three-dimensional relationship between the potential defect regions and the rebar regions. Then, the projection of each potential crack region with a known three-dimensional relationship (known three-dimensional position in the bridge structure) in the registration result onto the positive plane of the bridge structure is used to determine the projection range corresponding to each potential crack region.

[0081] S202. Determine the two farthest pixels in each projection range as the start and end points of the projection range, and uniformly set several detection points in each projection range.

[0082] Optionally, the two farthest pixels within each projection range are determined as the start and end points of the projection range. The line connecting the start and end points within each projection range is the major axis of that projection range, also known as the crack heat conduction direction. Then, several detection points are uniformly set within each projection range, for example, using the minimum default detection range of the current ultrasonic equipment as the distance between two adjacent detection points. Since the thermal resistance in the crack heat conduction direction is greater than that in the perpendicular direction, the imaging range of the crack heat conduction direction in the surface temperature field is usually larger. The ultrasonic equipment can be a phased array ultrasonic flaw detector.

[0083] S203. Using the ant colony algorithm, determine the movement path to avoid the rebar area for each potential crack area based on the starting point, ending point and several detection points within each projection range.

[0084] Optionally, based on the starting point, ending point, and several detection points set within each projection range, an ant colony algorithm is used to determine the movement path that avoids the rebar area for each potential crack area, that is, the movement path that avoids the rebar area can be used when detecting potential crack areas in the future.

[0085] In one embodiment, in step S200, an ultrasonic device is used to scan the potential crack area along the moving path to obtain ultrasonic detection results. Specifically, the ultrasonic device is used to scan each detection point in each potential crack area in sequence along the moving path to obtain ultrasonic detection results.

[0086] Each detection point is scanned twice. The direction of the first scan is perpendicular to the positive plane. The direction of the second scan is perpendicular to the line connecting the start and end points. Therefore, the ultrasound detection results include the first ultrasound result based on the first scan direction and the second ultrasound result based on the second scan direction for each detection point.

[0087] It should be noted that during ultrasonic testing, the reflection of sound waves at the crack surface is strongest and the detection accuracy is highest when the angle between the incident direction of the sound wave and the crack surface is close to 90°. When the sound wave is parallel to the crack direction, it easily bypasses the crack, making it impossible to accurately detect the cracked area. To avoid this situation, the results of the first and second ultrasonic tests are compared. If the two tests are relatively consistent, the detection effectiveness is higher, and there is less need to switch the incident angle of the sound wave for supplementary testing; otherwise, supplementary testing is required.

[0088] In one implementation, step S300, which determines the supplementary scanning direction based on the ultrasound detection results, includes steps S301-S306:

[0089] S301. Determine the first wave amplitude decrease index and the first wave delay index corresponding to the first wave in the first ultrasound result of each detection point, and the second wave amplitude decrease index and the second wave delay index corresponding to the first wave in the second ultrasound result.

[0090] It should be noted that, due to the abrupt change in acoustic impedance caused by the medium when sound waves encounter a crack surface, and the roughness of the crack potentially causing sound waves to scatter in multiple directions, the detected amplitude of the first wave drops sharply. The first wave is the extreme point where the amplitude exceeds the average amplitude of all extreme points. Furthermore, the presence of filling material within the crack reduces the sound velocity, leading to an increase in the travel time of the first wave. Therefore, in this embodiment, the first first wave amplitude reduction index and the first first wave delay index corresponding to the first wave in the first ultrasonic result for each detection point are determined, as well as the second first wave amplitude reduction index and the second first wave delay index corresponding to the first wave in the second ultrasonic result. Specifically, the first wave amplitude reduction index... and the first wave delay index The calculation formula is:

[0091]

[0092]

[0093] In the formula, The amplitude of the first wave, This refers to the moment the first wave appeared; it is understandable that when , The input is the amplitude of the first wave and the time of its occurrence from the first ultrasound result, along with the calculated amplitude decrease index of the first wave. This refers to the first wave amplitude decline index, and the calculated first wave delay index. This refers to the first wave delay index. Substituting the first wave amplitude and the time of first wave occurrence from the second ultrasound result, the corresponding calculated results are the second first wave amplitude decrease index and the second first wave delay index. Among these, As a standard reference for the first wave amplitude, To determine the standard reference first wave, an ultrasonic scan is performed at any location within the concrete structure, excluding potential crack areas and reinforced areas, perpendicular to the positive plane. The first wave in the resulting ultrasonic scan is the standard reference first wave, thus allowing for the determination of... as well as .

[0094] S302. Based on the first wave amplitude decrease index and the first wave delay index, determine whether each detection point in the first scanning direction is marked as a detection point with crack defects, and the first crack direction vector corresponding to the detection point marked as having crack defects. Based on the second wave amplitude decrease index and the second wave delay index, determine whether each detection point in the second scanning direction is marked as a detection point with crack defects, and the second crack direction vector corresponding to the detection point marked as having crack defects.

[0095] Optionally, based on the first wave amplitude decline index and the first wave delay index Calculate the degree of defect presence. :

[0096]

[0097] in, The larger the value, the greater the initial decline index corresponding to the detection point. The larger the value, the later the first wave of defects appears at the detection point, and the greater the degree of defect presence. The larger the value, the greater the degree of defect presence at a certain detection point. If the defect level is greater than the defect severity threshold (e.g., 0.05), the detection point is marked as having a crack defect; otherwise, the detection point is marked as not having a crack defect.

[0098] Understandably, when , When the first wave amplitude decrease index and the first wave delay index correspond to the degree of defect presence, the value is as follows: The defect presence value corresponding to each detection point in the first scanning direction. This is denoted as the first defect presence value. This allows us to determine whether each detection point in the first scanning direction is marked as a detection point with a crack defect; similarly, when , When the corresponding values ​​are the second wave amplitude decrease index and the second wave delay index, the degree of defect presence is as follows: The defect presence value corresponding to each detection point in the second scanning direction. This is denoted as the second defect presence value. This allows us to determine whether each detection point in the second scanning direction is marked as a detection point with a crack defect.

[0099] At the same time, if the initial delay obtained from a certain ultrasound test result is equivalent to The larger the initial wave attenuation (equivalent to...), the greater the likelihood that the crack is perpendicular to the current acoustic scanning direction. The larger the angle, the greater the feasibility of the crack being parallel to the current acoustic path, and the higher the estimated angle between the current crack direction and the current scanning direction. Then, since the scanning direction is known, the angle is estimated. The crack direction and the crack direction vector (i.e., the crack direction vector) can be derived. ), where the included angle estimate The calculation formula is:

[0100]

[0101] Understandably, when , When the first wave amplitude decline index and the first wave delay index are used, the estimated angle calculated at this time is... This is the estimated angle between the first scanning direction and the detection point marked as having a crack defect in the first ultrasonic result, which is the final estimated crack direction vector. This refers to the first crack direction vector corresponding to the detection point marked as having a crack defect in the first scan direction; similarly, when , When the second wave amplitude decline index and the second wave delay index are used, the estimated angle calculated at this time is... This is the estimated angle between the second scanning direction and the detection point marked as having a crack defect in the second ultrasonic result, which is the final estimated crack direction vector. It is the second crack direction vector corresponding to the detection point marked as having a crack defect in the second scanning direction.

[0102] S303. If the detection point is marked as having a crack defect in both scanning directions, determine the supplementary detection degree value of the detection point. If the supplementary detection degree value is less than or equal to the supplementary degree threshold, determine that the supplementary scanning direction of the detection point is none. If the supplementary detection degree value is greater than the supplementary degree threshold, determine that the supplementary scanning direction of the detection point is the direction perpendicular to the sum of the first crack direction vector and the second crack direction vector.

[0103] In one implementation, determining the supplementary detection level value for the detection point includes:

[0104] First, based on the first wave amplitude decrease index and the first wave delay index at the detection point, determine the degree of presence of the first defect. Based on the second initial wave amplitude decrease index and the second initial wave delay index at the detection point, the degree of presence of the second defect is determined. .

[0105] Secondly, the cosine of the angle between the direction vectors of the first and second scanning directions is determined. It should be noted that the direction vectors of the scanning directions are determined using existing methods, and the cosine of the angle between the direction vectors of the first and second scanning directions is determined. .

[0106] Then, based on the degree of presence of the first defect... The degree of existence of the second defect and the cosine of the included angle Determine the supplementary testing level for this testing point. :

[0107]

[0108] in, The first crack depth is obtained by processing the detection points marked as having crack defects in the first scanning direction using the time-of-flight diffraction method. The second crack depth is obtained by processing the detection points marked as having crack defects in the second scanning direction using the diffraction time-difference method.

[0109] In this embodiment, if the supplementary detection degree value is less than or equal to the supplementary degree threshold (e.g., 0.4), it indicates that the difference between the first ultrasound result in the first scanning direction and the second ultrasound result in the second scanning direction is small (corresponding to a small supplementary detection degree value). In this case, it is considered that no supplementary scanning is needed, and therefore the supplementary scanning direction for that detection point is determined. If the supplementary detection level value is greater than the supplementary detection level threshold, it is considered that the difference between the first ultrasound result and the second ultrasound result is large, requiring supplementary scanning, and the direction of supplementary scanning at that detection point is determined. It is the direction corresponding to the sum of the vectors of the first crack direction and the second crack direction.

[0110] It should be noted that the detection accuracy of cracks is highest when the incident direction of the sound wave (i.e., the scanning direction) is perpendicular to the crack direction. Therefore, when performing supplementary ultrasonic scanning, the supplementary scanning direction should be perpendicular to the estimated crack direction.

[0111] S304. If a detection point is marked as a detection point with a crack defect in the first scanning direction but is not marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined to be the direction corresponding to the sum of the direction vectors of the first crack direction vector and the second scanning direction.

[0112] Optionally, if a detection point is marked as having a crack defect in the first scanning direction but not in the second scanning direction, then a supplementary scanning direction for that detection point is determined. The direction is the vector corresponding to the sum of the vectors perpendicular to the first crack direction vector and the second scan direction vector.

[0113] S305. If a detection point is not marked as a detection point with a crack defect in the first scanning direction but is marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined to be the direction corresponding to the sum of the direction vector perpendicular to the first scanning direction and the second crack direction vector.

[0114] Optionally, if a detection point is not marked as having a crack defect in the first scanning direction but is marked as having a crack defect in the second scanning direction, a supplementary scanning direction for that detection point is determined. The direction corresponding to the sum of the direction vector perpendicular to the first scan direction and the second crack direction vector.

[0115] S306. If the detection point is not marked as a detection point with crack defects in both scanning directions, the supplementary scanning direction of the detection point shall be determined as the direction corresponding to the sum of the direction vector perpendicular to the first scanning direction and the direction vector of the second scanning direction.

[0116] Optionally, if a detection point is not marked as having a crack defect in either of the two scanning directions, a supplementary scanning direction for that detection point is determined. The direction corresponding to the sum of the direction vector perpendicular to the first scan direction and the direction vector of the second scan direction.

[0117] In one embodiment, step S300 involves performing a supplementary scan using an ultrasonic device based on the supplementary scanning direction to determine the target crack region, including steps S307-S309:

[0118] S307. Using ultrasonic equipment, perform supplementary scanning based on the supplementary scanning direction of each detection point to obtain the supplementary scanning result of each detection point.

[0119] Optionally, after determining the supplementary scanning direction for each detection point, a supplementary scan is performed using an ultrasonic device based on the supplementary scanning direction for each detection point, thereby obtaining the supplementary scanning result for each detection point.

[0120] S308. The similarity assessment is performed between the supplementary scanning result of each detection point and the first and second ultrasonic results corresponding to the detection point. If the assessment result of the supplementary scanning result is similar to that of the first or second ultrasonic result, or if the new supplementary detection degree value corresponding to the supplementary scanning result is less than or equal to the supplementary degree threshold, the supplementary scanning result is determined as the final ultrasonic result of the detection point. Otherwise, the supplementary scanning direction is used as the new first scanning direction or the new second scanning direction. The process is repeated until the new supplementary detection degree value is less than or equal to the supplementary degree threshold, and the final ultrasonic result of the detection point is determined.

[0121] Optionally, the supplementary scan result of each detection point is compared with the first and second ultrasound results corresponding to the detection point for similarity evaluation. If the supplementary scan result of the detection point is similar to either the first or second ultrasound result corresponding to that detection point (e.g., similarity is evaluated based on existing methods, and if the similarity is greater than a preset threshold, it is considered similar), or a new supplementary detection degree value is calculated based on the supplementary scan result (the new... If the result is less than or equal to the supplementation threshold (e.g., 0.4), the supplementation scan is considered successful, and the supplementation scan result is determined as the final ultrasound result for that detection point.

[0122] However, if the supplementary scan result of the detection point is dissimilar to either the first or second ultrasound result corresponding to that detection point, or if the new supplementary detection degree value (new) If the value exceeds the supplementary threshold, the supplementary scan is considered unsuccessful and requires further supplementary scanning. At this point, the supplementary scan direction is used as the new first scan direction or the new second scan direction. The process returns to the step of sequentially scanning each detection point in each potential crack region along the moving path using the ultrasonic equipment, and then a new (new) scan direction is determined. ), until (new) If the newly added supplementary detection value is less than or equal to the supplementary detection threshold, the final ultrasound result for that detection point is determined. It should be noted that during supplementary scanning, each detection point is still scanned sequentially based on the movement path.

[0123] If a detection point is not marked as a crack point in either of the two scanning directions, and is still not marked as a crack point after supplementary detection, then the point is determined not to be a crack point.

[0124] S309. Based on the final ultrasonic results of each test point, the potential crack area of ​​the test point that is finally marked as having crack defects is marked as the target crack area.

[0125] Optionally, after determining the final ultrasonic results for each detection point, the potential crack area where the detection point that is still marked as having a crack defect in the final ultrasonic results is located is marked as the target crack area.

[0126] In one embodiment, step S400 includes steps S401-S402:

[0127] S401. Determine the total number of all detection points, start points and end points in each target crack region, and determine the target number of detection points that are finally marked as having crack defects in each target crack region, the average degree of the degree of the presence of target defects corresponding to all target detection points, and the average crack depth of crack depth of all target detection points.

[0128] Optionally, the total number of all detection points, starting points, and ending points in each target crack region can be determined separately. And, for each target crack region, determine the target number of target detection points that are ultimately marked as having crack defects. The average degree of the presence of target defects corresponding to all target detection points And the crack depth at all target detection points (the calculation principle of crack depth is as follows) , The average crack depth .

[0129] S402. Determine the crack severity index value for each target crack region based on the normalization function, the total number of targets, the average severity value, and the average crack depth value corresponding to each target crack region; wherein, the damage detection results of the bridge structure include the crack severity index value for each target crack region.

[0130] Optionally, based on the normalization function The total number corresponding to each target crack region Target quantity mean of degree and average crack depth Determine the crack severity index value for each target crack region. The formula is:

[0131]

[0132] The damage detection results for the bridge structure include the crack severity index value for each target crack region, and the crack severity index value for a specific target crack region. The larger the value, the more severe the crack in the target crack region. The larger the value, the more crack points there are in the current target crack area. This is a normalization function with a range of (0,1). Optionally, a mask can be set for the defined target crack region, and the damage detection results can be output using an output device.

[0133] In this embodiment, infrared detection is used to initially distinguish potential crack areas and reinforcing steel areas, thereby determining the movement path and providing initial auxiliary guidance for the scanning path of the ultrasonic equipment. Then, based on the initial ultrasonic detection results after guidance, an evaluation is performed to further determine the supplementary scanning direction that needs to be supplemented, and the scanning direction / angle of the detection points is adjusted to make the final ultrasonic detection results more accurate and have stronger reference value. This provides an important basis for accurately determining the target crack area and the crack severity index value, effectively improving the accuracy of damage detection results for bridge structures.

[0134] Reference Figure 2 This diagram illustrates a structural block diagram of a bridge structural damage detection system for bridge engineering according to an embodiment of this application. The system may include:

[0135] The acquisition module is used to acquire infrared detection images of the bridge structure of the bridge project through infrared equipment, and to determine all potential crack areas and steel reinforcement areas of the bridge structure based on the infrared detection images.

[0136] The scanning module is used to determine a movement path that avoids the rebar area based on the potential crack area and the rebar area, and to use ultrasonic equipment to scan the potential crack area along the movement path to obtain ultrasonic detection results.

[0137] The determination module is used to determine the supplementary scanning direction based on the ultrasonic test results, and to perform supplementary scanning based on the supplementary scanning direction using ultrasonic equipment to determine the target crack area;

[0138] The damage module is used to determine the damage detection results of the bridge structure based on the target crack area.

[0139] In this embodiment of the application, the functions of each module in the system can be found in the corresponding descriptions in the above methods, and will not be repeated here.

[0140] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0141] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A method for detecting bridge structural damage in bridge engineering, characterized in that, The method includes: Infrared images of the bridge structure are acquired using infrared equipment, and based on these images, all potential crack areas and reinforcing steel areas of the bridge structure are identified. Based on the potential crack area and the reinforcing bar area, a movement path is determined to avoid the reinforcing bar area, and an ultrasonic device is used to scan the potential crack area along the movement path to obtain ultrasonic detection results. Based on the ultrasonic test results, the supplementary scanning direction is determined, and the ultrasonic equipment is used to perform a supplementary scan based on the supplementary scanning direction to determine the target crack area. Based on the target crack area, the damage detection results of the bridge structure are determined.

2. The bridge structural damage detection method for bridge engineering according to claim 1, characterized in that: The process of acquiring infrared images of the bridge structure using infrared equipment and determining all potential crack areas and reinforcing steel areas of the bridge structure based on these images includes: Infrared detection images are acquired using infrared devices in directions parallel to and perpendicular to the bridge structure, respectively. Edge segmentation and morphological closing operations are performed on the infrared detection images from different directions to determine the outermost closed boundary. Gray-scale analysis is then performed on each closed region inside the closed boundary in each infrared detection image to determine the potential crack region and rebar region contained in each infrared detection image.

3. The bridge structural damage detection method for bridge engineering according to claim 2, characterized in that: The step of performing grayscale analysis on each closed region within the closed boundary in each infrared detection image to determine the potential crack region and rebar region contained in each infrared detection image includes: In each of the infrared detection images, the overall grayscale mean value of the entire region inside the closed boundary is determined, and the grayscale difference value between the grayscale mean value of each closed region and the overall grayscale mean value is determined. Based on the grayscale difference value, the effective closed region is determined; Determine the grayscale range of each effective closed region and the average gradient magnitude of the edge contour points of the effective closed region, and determine the area difference between the area of ​​each effective closed region and the area of ​​the minimum bounding rectangle corresponding to the effective closed region; Based on the grayscale difference value, grayscale range, average gradient magnitude, and area difference of each effective closed region, a potential value is determined. Based on the potential value and a preset threshold, a potential defect region in each infrared detection image is determined, and other effective closed regions besides the potential defect regions are designated as reinforcement regions.

4. The bridge structural damage detection method for bridge engineering according to claim 3, characterized in that: Determining a movement path to avoid the reinforcing steel area based on the potential crack area and the reinforcing steel area includes: The potential defect region and the rebar region in different infrared detection images are registered using a registration algorithm. Based on the projection of each potential crack region onto the forward plane of the bridge structure in the registration results, the corresponding projection range is determined. In each of the projection ranges, the two farthest pixels are determined as the start and end points of the projection range, and several detection points are evenly set in each of the projection ranges. Using the ant colony algorithm, the movement path to avoid the steel reinforcement area corresponding to each potential crack area is determined based on the starting point, ending point and several detection points within each projection range.

5. The bridge structural damage detection method for bridge engineering according to claim 4, characterized in that: The step of using an ultrasonic device to scan the potential crack region along the moving path to obtain ultrasonic detection results includes: Each of the detection points in each of the potential crack regions is scanned sequentially along the moving path using an ultrasonic device to obtain ultrasonic detection results. Each detection point is scanned twice, and the ultrasound detection results include a first ultrasound result where the first scan direction of each detection point is perpendicular to the positive plane, and a second ultrasound result where the second scan direction is perpendicular to the line connecting the starting point and the ending point.

6. The bridge structural damage detection method for bridge engineering according to claim 5, characterized in that: The process of determining the supplementary scanning direction based on the ultrasound detection results includes: For each of the detection points, the first first wave amplitude decrease index and the first first wave delay index corresponding to the first wave in the first ultrasound result, and the second first wave amplitude decrease index and the second first wave delay index corresponding to the first wave in the second ultrasound result are determined respectively; wherein, the first wave is the first extreme point whose amplitude is greater than the average amplitude of all extreme points. Based on the first initial wave amplitude decrease index and the first initial wave delay index, determine whether each detection point in the first scanning direction is marked as a detection point with crack defects, and the first crack direction vector corresponding to the detection point marked as having crack defects. Based on the second initial wave amplitude decrease index and the second initial wave delay index, determine whether each detection point in the second scanning direction is marked as a detection point with crack defects, and the second crack direction vector corresponding to the detection point marked as having crack defects. If a detection point is marked as having a crack defect in both scanning directions, the supplementary detection degree value of the detection point is determined. If the supplementary detection degree value is less than or equal to the supplementary degree threshold, the supplementary scanning direction of the detection point is determined to be none. If the supplementary detection degree value is greater than the supplementary degree threshold, the supplementary scanning direction of the detection point is determined to be the direction perpendicular to the sum of the first crack direction vector and the second crack direction vector. If a detection point is marked as having a crack defect in the first scanning direction but not in the second scanning direction, the supplementary scanning direction for that detection point is determined to be the direction perpendicular to the sum of the direction vectors of the first crack direction and the second scanning direction. If a detection point is not marked as a detection point with a crack defect in the first scanning direction but is marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined to be the direction corresponding to the sum of the direction vector perpendicular to the first scanning direction and the second crack direction vector; If the detection point is not marked as a detection point with crack defects in both scanning directions, the supplementary scanning direction for the detection point is determined to be the direction corresponding to the sum of the direction vector perpendicular to the first scanning direction and the direction vector of the second scanning direction.

7. The bridge structural damage detection method for bridge engineering according to claim 6, characterized in that: The determination of the supplementary detection level for this detection point includes: The presence degree of the first defect is determined based on the first wave amplitude decrease index and the first wave delay index at the detection point, and the presence degree of the second defect is determined based on the second wave amplitude decrease index and the second wave delay index at the detection point. Determine the cosine of the angle between the direction vector of the first scanning direction and the direction vector of the second scanning direction; The supplementary detection level value for the detection point is determined based on the first defect presence level value, the second defect presence level value, and the cosine value of the included angle.

8. The bridge structural damage detection method for bridge engineering according to claim 6, characterized in that: The step of performing supplementary scanning based on the supplementary scanning direction using the ultrasonic equipment to determine the target crack region includes: Using the ultrasound device, a supplementary scan is performed based on the supplementary scanning direction of each of the detection points to obtain the supplementary scanning result of each of the detection points. The supplementary scanning result of each detection point is compared with the first and second ultrasound results corresponding to the detection point for similarity evaluation. If the evaluation result of the supplementary scanning result is similar to the first or second ultrasound result, or if the new supplementary detection degree value corresponding to the supplementary scanning result is less than or equal to the supplementary degree threshold, the supplementary scanning result is determined as the final ultrasound result of the detection point. Otherwise, the supplementary scanning direction is used as the new first scanning direction or the new second scanning direction, and the process of sequentially scanning each detection point in each potential crack region using the ultrasound device along the moving path is repeated until the new supplementary detection degree value is less than or equal to the supplementary degree threshold, and the final ultrasound result of the detection point is determined. Based on the final ultrasonic results of each test point, the potential crack area of ​​the test point that is finally marked as having a crack defect is marked as the target crack area.

9. The bridge structural damage detection method for bridge engineering according to claim 7, characterized in that: The step of determining the damage detection result of the bridge structure based on the target crack region includes: In each target crack region, the total number of all detection points, start points and end points is determined, as well as the target number of detection points that are finally marked as having crack defects in each target crack region, the average degree of the degree of the presence of target defects corresponding to all target detection points, and the average crack depth of crack depth of all target detection points are determined. The crack severity index value of each target crack region is determined based on the normalization function, the total number of each target crack region, the target number, the average severity value, and the average crack depth value; wherein, the damage detection result of the bridge structure includes the crack severity index value of each target crack region.

10. A bridge structural damage detection system for bridge engineering, characterized in that, include: The acquisition module is used to acquire infrared detection images of the bridge structure of the bridge project through infrared devices, and to determine all potential crack areas and steel reinforcement areas of the bridge structure based on the infrared detection images. The scanning module is used to determine a movement path that avoids the reinforcing steel area based on the potential crack area and the reinforcing steel area, and to scan the potential crack area along the movement path using an ultrasonic device to obtain ultrasonic detection results. The determination module is used to determine the supplementary scanning direction based on the ultrasonic detection results, and to perform supplementary scanning based on the supplementary scanning direction using the ultrasonic equipment to determine the target crack area; The damage module is used to determine the damage detection results of the bridge structure based on the target crack area.

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