A method, system and related device for three-dimensional visual display of health evaluation of a concrete structure contact joint

Abstract

This invention discloses a three-dimensional visualization display method, system, and related equipment for health evaluation of concrete structure contact joints. This solution is based on the spatial positioning information of the detection equipment and simultaneously displays the detection results with labels. Furthermore, it is integrated with the engineering model to achieve three-dimensional visualization for health evaluation of concrete structure contact joints, thereby effectively overcoming the problems existing in the prior art.

Description

Technical Field

[0001] This invention relates to building and infrastructure inspection technology, specifically to a display scheme for inspection data. Background Technology

[0002] Elastic wave nondestructive testing is a common method for detecting internal defects and contact joints in concrete structures in infrastructure and buildings. Elastic wave data is obtained by tapping, the signal is picked up using a stethoscope, and then the frequency, amplitude, and time domain information in the sound wave are processed and analyzed to obtain effective test data.

[0003] The wall-climbing robot relies on negative pressure adsorption to act on the inner wall of the tunnel, and uses electromagnetic vibrating hammers and sensors to replace manual vibration and data collection for remote detection. At the same time, depending on the detection equipment mounted on the front end, the wall-climbing robot can be used to detect concrete pouring thickness, void quality defects, concrete strength, contact joint health, etc., and has a wide range of applications.

[0004] As tunnel mileage increases, tunnel defects (such as water seepage and cracking of tunnel lining, misalignment and detachment of lining, etc.) also increase significantly. Therefore, existing highway tunnel structures need to be inspected regularly to understand their basic condition, assess their functional status, and develop maintenance plans.

[0005] However, existing inspection methods, when conducting long-term, high-frequency tunnel inspections, cannot integrate the detected locations and results with the 3D model of the operating tunnel, resulting in low visualization of the inspection results. Experienced personnel are often required to analyze the data and assess the health of the inspection results according to regulations. Furthermore, after inspecting high-rise buildings and concrete columns, the inspection data cannot be accurately correlated with the structural parts. Inspection locations are often found step-by-step using 2D plan drawings. Moreover, because the inspection results are not visually displayed, it is difficult to identify structural problems quickly. Summary of the Invention

[0006] To address the problems of existing wall-climbing inspection robots that generate inspection results based on two-dimensional displays, the present invention aims to provide a three-dimensional visualization display method for evaluating the health of contact joints in concrete structures. This method utilizes the spatial positioning information on the wall-climbing robot, displays inspection results with labels, and integrates them with the engineering model, effectively overcoming the problems of existing technologies. Furthermore, the present invention provides a three-dimensional visualization display system for implementing this three-dimensional visualization display method, as well as corresponding related equipment.

[0007] To achieve the above objectives, the present invention provides a three-dimensional visualization method for health evaluation of concrete structure contact joints, comprising:

[0008] (1) Obtain the spatial coordinates (X, Y, Z) of each detection point;

[0009] (2) Calculate and analyze the test results of each test point to obtain the corresponding concrete structure defect results, and classify and organize all concrete structure defect results to establish the correspondence between different test result types and color labels.

[0010] (3) Import the building model into the 3D running platform, fuse the detection results containing spatial coordinate information with the data of the building model, and construct the system coordinate system;

[0011] (4) Set up a twin layer in the building model that corresponds to the inspection surface on the concrete structure, and transform the spatial coordinates of each inspection point to establish a mapping between the inspection point and the twin layer.

[0012] (5) Display and browsing of the fused model and detection information.

[0013] In some embodiments of the present invention, the method performs detection in a calibration area and a detection area respectively. By acquiring elastic wave data at the contact joint location in the concrete structure, and by analyzing the amplitude, frequency, time domain, energy attenuation, etc. of the elastic waves, the detection results in the detection area are compared and analyzed with the detection results in the calibration area to obtain the health indicators of the detection area.

[0014] In some embodiments of the present invention, the method constructs a system coordinate system by setting the origin (0,0,0) in the building model and constructing a three-dimensional coordinate system centered on the origin.

[0015] In some embodiments of the present invention, for structures with planar surfaces, the outer surface of the concrete structure is a twin layer.

[0016] In some embodiments of the present invention, for structures with curved surfaces, the twin layer is unfolded into a plane by setting the vertex coordinates of the twin layer, and the spatial coordinates of the detection results are converted into the planar coordinates of the twin layer and the results are displayed.

[0017] To achieve the above objectives, the present invention provides a three-dimensional visualization display system for health evaluation of concrete structure contact joints, comprising:

[0018] The positioning module is capable of acquiring the spatial coordinates (X, Y, Z) of each detection point.

[0019] The quality evaluation module calculates and analyzes the corresponding concrete structure defect results based on the detection results of each detection point, and classifies and organizes all concrete structure defect results to establish a correspondence between different detection result types and color labels.

[0020] The import module imports the building model into the 3D running platform and fuses the detection results containing spatial coordinate information with the building model data.

[0021] A coordinate system construction module, which constructs the system coordinate system;

[0022] The twin layer setting module sets up twin layers in the building model that correspond to the detection work surface on the concrete structure, and transforms the spatial coordinates of each detection point to establish a mapping between the detection point and the twin layer.

[0023] The display module is used to display and browse the fused model and detection information.

[0024] To achieve the above objectives, the present invention also provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the above-described three-dimensional visualization display method.

[0025] To achieve the above objectives, the present invention also provides a processor for running a program, wherein the program executes the steps of the above-described three-dimensional visualization display method during operation.

[0026] To achieve the above objectives, the present invention also provides a terminal device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program code is loaded and executed by the processor to implement the steps of the above-described three-dimensional visualization display method.

[0027] To achieve the above objectives, the present invention also provides a computer program product that, when executed on a data processing device, is adapted to perform the steps of the above-described three-dimensional visualization display method.

[0028] The three-dimensional visualization solution for health evaluation of concrete structure contact joints provided by this invention is based on the spatial positioning information of the detection equipment and simultaneously displays the detection results with labels. On this basis, it is further integrated with the engineering model, thereby realizing the three-dimensional visualization of health evaluation of concrete structure contact joints. It converts spatial coordinates into planar coordinates, which facilitates the mapping of detection results. In addition, the three-dimensional visualization of the detection results effectively integrates the detection results with the spatial model, thus overcoming the problems existing in the prior art. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Figure 1 This is a schematic diagram of the wall-climbing robot structure involved in the embodiments of the present invention;

[0031] Figure 2This is a schematic diagram of the coordinate setting of the tunnel twin layer in an example of the present invention;

[0032] Figure 3 This is a schematic diagram of the coordinate transformation of a typical cross-section of a tunnel twin layer in an example of the present invention;

[0033] Figure 4 This is a three-dimensional visualization example of tunnel crack detection results in an embodiment of the present invention. Detailed Implementation

[0034] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0035] To address the issue that existing concrete structure quality inspection technologies rely on two-dimensional displays, this invention provides a three-dimensional visualization solution for evaluating the health of concrete structure contact joints. This solution is based on the spatial positioning information of the inspection equipment and simultaneously displays the inspection results with labels. Furthermore, it integrates with the engineering model to achieve three-dimensional visualization for evaluating the health of concrete structure contact joints.

[0036] Specifically, the three-dimensional visualization method for health evaluation of concrete structure contact joints provided in this invention is mainly achieved through the following steps:

[0037] (1) Obtain the spatial coordinates (X, Y, Z) of each detection point;

[0038] (2) Calculate and analyze the test results of each test point to obtain the corresponding concrete structure defect results, and classify and organize all concrete structure defect results to establish the correspondence between different test result types and color labels.

[0039] (3) Import the building model and construct the system coordinate system;

[0040] (4) Set up a twin layer in the building model that corresponds to the inspection surface on the concrete structure, and transform the spatial coordinates of each inspection point to establish a mapping between the inspection point and the twin layer;

[0041] (5) Display and browsing of the fused model and detection information.

[0042] In some embodiments of the present invention, step (1) of this method is specifically implemented by installing a corresponding positioning system on the corresponding detection equipment, thereby obtaining the spatial coordinates (X, Y, Z) of each detection point.

[0043] In some examples of the present invention, step (2) of this method is specifically implemented by conducting tests on the concrete structure in the calibration area and the test area respectively, obtaining elastic wave data at the contact joint position through the detector (dual probe sensor and tapping device) at the front end of the wall, and comparing and analyzing the amplitude, frequency, time domain, energy attenuation, etc. of the elastic wave, to obtain the health index of the test area.

[0044] Based on this, a corresponding quality evaluation module is constructed, and the results of concrete structure defects are calculated and analyzed based on the test results of the testing instruments. The results are then classified and organized, and the relationship between different test result types and color labels is established.

[0045] As an example, the evaluation of contact joints here is based on the integrity index, which ranges from 0 to 1. When the integrity index is 0 to 0.5, there is obvious cold joint, which is marked in red and is unqualified. When the value is 0.5 to 0.7, there is slight cold joint, which is marked in yellow and is suspected to be of poor quality. When the value is 0.7 to 1, there is no cold joint, which is marked in green and is qualified.

[0046] In some instances of this invention, step (3) of this method is implemented by importing the building model corresponding to the concrete structure into the Unity platform, performing data fusion processing of the detection results containing spatial coordinate information and the building model, and constructing the corresponding system coordinate system.

[0047] Here, when constructing the system coordinate system, the origin (0,0,0) is set in the building model, and a three-dimensional coordinate system is constructed with the origin as the center.

[0048] In some embodiments of the present invention, step (4) of this method is for the architectural model of the three-dimensional structural layer. A corresponding twin layer is set in the architectural model corresponding to the area of ​​the detection operation surface of the detection robot on the concrete structure, so as to set the texture layer for the detection results marked with different colors. This avoids the problem that the deviation of the spatial information position of the detection point will not be displayed on the structural surface of the architectural model of the three-dimensional structural layer.

[0049] This method involves setting a twin layer, specifically for structures with planar surfaces, where the outer surface of the concrete structure is the twin layer.

[0050] For structures with curved surfaces, the twin layer is unfolded into a plane by setting the vertex coordinates of the twin layer. In addition, the spatial coordinates of the detection results are converted into the planar coordinates of the twin layer and the results are displayed.

[0051] Based on this, we will use the inner arc surface of the tunnel as an example to illustrate the mapping relationship between the detection points and the twin layer. When converting the spatial coordinates (X, Y, Z) of any detection point on the inner arc surface of the tunnel into the planar two-dimensional coordinates (n, Y) of the twin layer, along the tunnel cross-section, where n represents the arc length from the left bottom of the tunnel to the detection point and Y represents the length along the radial direction of the tunnel, the color of the health indicator label corresponding to the spatial coordinates (X, Y, Z) of the detection point is mapped to the corresponding (n, Y) two-dimensional coordinate system in the twin layer to achieve the coordinate transformation from three-dimensional to two-dimensional.

[0052] The 3D visualization solution for the health evaluation of concrete structure contact joints presented in this example can be developed into a corresponding software program to form a 3D visualization display system for the health evaluation of concrete structure contact joints. When running, this software program will execute the aforementioned 3D visualization display method for the health evaluation of concrete structure contact joints and store the results in a suitable storage medium for the processor to retrieve and execute.

[0053] The resulting 3D visualization display system for health evaluation of concrete structure contact joints mainly includes the following modules: positioning module, quality evaluation module, import module, coordinate system construction module, twin layer setting module, and display module.

[0054] The positioning module is able to obtain the spatial coordinates (X, Y, Z) of each detection point;

[0055] The quality evaluation module calculates and analyzes the corresponding concrete structure defect results based on the test results of each test point, and classifies and organizes all concrete structure defect results, establishing a correspondence between different test result types and color labels.

[0056] When the quality evaluation module here is running, it can implement the specific solution of step 2 above.

[0057] The import module imports the building model into the 3D runtime platform and fuses the detection results containing spatial coordinate information with the building model data.

[0058] The coordinate system construction module is used to construct the corresponding system coordinate system.

[0059] The import module here works in conjunction with the coordinate system construction module to achieve the specific solution in step 3 above.

[0060] The twin layer setting module is used to set up twin layers in the building model that correspond to the inspection work surface on the concrete structure, and to transform the spatial coordinates of each inspection point to establish a mapping between the inspection point and the twin layer.

[0061] The twin layer setting module here can implement the specific solution of step 3 above when it is running.

[0062] The display module is used to show and browse the fused model and detection information.

[0063] The implementation process of the three-dimensional visualization solution for health evaluation of concrete structure contact joints provided in this invention is illustrated below through specific application examples.

[0064] In this example, a concrete quality defect detection robot is used to detect the quality of contact joints in concrete structures, and a health assessment is performed based on this assessment, with the results displayed in three dimensions.

[0065] See Figure 1 The diagram shows an example of the structure of the concrete quality defect detection robot involved in this example.

[0066] As shown in the figure, the concrete quality defect detection robot mainly consists of a wall-climbing chassis robot 1, a detection device 2, a control and data transmission device 3, a remote controller 4, a display 5, and a camera system 6.

[0067] Meanwhile, the wall-climbing concrete quality defect detection robot, which is composed of the above-mentioned components working together, can be remotely controlled by the operator. During detection, the sensor group automatically attaches to the wall, and the vibrator automatically taps the wall surface to complete the detection work; when detection is not required, the sensors automatically move away from the wall surface to prevent friction between the sensor group and the wall surface.

[0068] Meanwhile, based on the aforementioned scheme, a corresponding three-dimensional visualization display system for the health evaluation of concrete structure contact joints was constructed, and a positioning module was deployed and operated on a wall-climbing concrete quality defect detection robot (hereinafter referred to as the wall-climbing robot). In this way, by cooperating with the three-dimensional visualization display system for the health evaluation of concrete structure contact joints, three-dimensional visualization of the health evaluation of concrete structure contact joints can be achieved, and the specific process is as follows:

[0069] P1: Install a positioning system on the wall-climbing robot to obtain the spatial coordinates (X, Y, Z) of the detection points.

[0070] Specifically, in this step, a spatial positioning device is installed on the wall-climbing robot. Outdoor positioning can use GNSS positioning, and indoor positioning can use UWB to obtain the robot's spatial coordinates (X, Y, Z).

[0071] P2: After the wall-climbing robot reaches the corresponding detection point, the detection instrument set on the wall-climbing robot works. The quality evaluation module in the system calculates and analyzes the concrete structure defect results based on the detection results of the detection instrument, classifies and organizes them, and establishes the relationship between different detection result types and color labels.

[0072] Specifically, in this step, the dual-probe sensor mounted on the wall-climbing robot is used for joint detection. Based on the empirical relationship between concrete modulus and strength, the compressive strength of the concrete in the healthy part and the joint part is detected respectively, and the equivalent strength rate η is calculated. str Equivalent strength rate η str The strength index, which reflects the strength of the concrete material at the joint, is calculated using the following formula:

[0073]

[0074] Among them, f cu0 : Compressive strength of the intact concrete section; f cu : Concrete strength obtained by testing at the contact joint area.

[0075] Meanwhile, based on the amplitude ratio of the signals received by the dual-channel sensors and the relationship between the surface wave wavelengths in the test area, the extent of the weak layer on the contact surface can be assessed. The specific formula is as follows:

[0076]

[0077] Where Dc represents the length of the weak layer; λ represents the signal wavelength during detection; V out V represents the energy of the remote sensor when struck. in This indicates the energy of the near-end sensor when struck.

[0078] Further based on the equivalent shear strength η she This reflects the shear resistance at the joint, and the specific formula is as follows:

[0079]

[0080] Among them, D c λ: The size of the weak point obtained from the test; λ: The wavelength of the R-wave used in the test.

[0081] Based on this, further according to η se and η str The integrity index η of the joint is obtained. c The specific formula is as follows:

[0082]

[0083] η c A value close to 1 indicates that the joint has a small impact on the structure, while a value close to 0 indicates a large impact.

[0084] As an example, in this instance, the quality index is graded as follows: (0,0.5] obvious cold seam, set to red, unqualified; (0.5,0.7] slight cold seam, set to yellow, suspected poor quality; (0.7,1] no cold seam, set to green, qualified.

[0085] P3: Import the building model and construct the system coordinate system;

[0086] This step involves importing the building information model (such as a BIM model) into Unity software and setting the zero point coordinates of the model (0, 0, 0).

[0087] P4: Set up a twin layer and transform the spatial coordinates of the detection points to establish a mapping between the detection points and the twin layer;

[0088] In this step, when setting up the twin layer, if the structure is planar, it is not necessary to set it separately, and the outer surface of the concrete structure is used as the twin layer; if the surface of the structure is curved, it is necessary to set it separately.

[0089] Here, we take an arc-shaped tunnel as an example to illustrate the specific steps for setting up a twin layer for structures with curved surfaces:

[0090] See Figure 2 First, the two side lengths of the twin layer need to be set (which can be denoted as L and H); at the same time, for the arc surface of the arc tunnel, the arc of the tunnel cross section is set to remain unchanged, and the coordinates of the four vertices of the twin layer are set to (0, 0)(L, 0)(0, H)(L, H).

[0091] Based on this, on the same cross section, the coordinates of point (X, Y, Z) can be represented by the tunnel depth length a and the arc length n (i.e., the arc length from the left horizontal position to point (X, Y, Z) in a clockwise direction).

[0092] A twin display layer is defined on the model, and two of the three axes X, Y, and Z are selected as the system coordinate system. The entire twin layer is placed within the X and Y coordinate system. On the same cross-section, the position of the Z axis is related to the tunnel arc radius r and the starting angle θ. The coordinates of the projection point (b, 0, Z) onto the chord M are set as (0, b).

[0093] like Figure 3 As shown, step 1: the length of chord M is L, L=2*r*θ(5);

[0094] Where r is the tunnel radius, θ is the angle between the coordinates of point (0, 0) and the center of the tunnel in the clockwise direction;

[0095]

[0096] Where c is the distance from the midpoint of chord M to the projection point of point (b, 0, Z) on chord M;

[0097] Step 3: When b≤L / 2, then α=cos -1 (c / r) (7);

[0098] When b > L / 2, then α = cos -1 (c / r)+90 (8);

[0099] Step 4: The arc length n corresponding to point (b, 0, Z) is calculated using Formula 8:

[0100] n=π*r*α / 180 (9);

[0101] Where r is the tunnel radius and α is the value calculated in Step 3.

[0102] P5: Display and browsing of the fused model and detection information, such as Figure 4 .

[0103] Based on the above-mentioned three-dimensional visualization display scheme for health evaluation of concrete structure contact joints, this embodiment of the invention also provides a computer-readable storage medium storing a program thereon, which, when executed by a processor, implements the steps of the above-mentioned three-dimensional visualization display method for health evaluation of concrete structure contact joints.

[0104] This invention also provides a processor for running a program, wherein the program executes the steps of the above-described method for three-dimensional visualization of health evaluation of concrete structure contact joints.

[0105] This invention also provides a terminal device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. The program code is loaded and executed by the processor to implement the steps of the above-described three-dimensional visualization display method for health evaluation of concrete structure contact joints.

[0106] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for performing the steps of the above-described three-dimensional visualization display method for health evaluation of concrete structure contact joints.

[0107] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0108] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0109] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0112] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0113] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0114] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0115] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0116] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0117] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0118] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional visualization method for health evaluation of contact joints in concrete structures, characterized in that, The method is based on the spatial positioning information of the detection equipment and simultaneously displays the detection results as labels. It is further integrated with an engineering model and consists of the following steps in sequence: (1) Obtain the spatial coordinates (X, Y, Z) of each detection point; (2) Calculate and analyze the test results of each test point to obtain the corresponding concrete structure defect results, and classify and organize all concrete structure defect results to establish the correspondence between different test result types and color labels; (3) Import the building model into the 3D running platform, fuse the detection results containing spatial coordinate information with the data of the building model, and construct the system coordinate system; (4) Set up a twin layer in the building model that corresponds to the inspection surface on the concrete structure, so as to set the texture layer for the inspection results marked with different colors, and transform the spatial coordinates of each inspection point to establish the mapping between the inspection point and the twin layer. (5) Display and browsing of the fused model and detection information.

2. The three-dimensional visualization display method for health evaluation of concrete structure contact joints according to claim 1, characterized in that, The method involves conducting tests in both the calibration and testing areas. By acquiring elastic wave data at the contact joint locations in the concrete structure, and analyzing the amplitude, frequency, time domain, and energy attenuation of the elastic waves, the test results in the testing area are compared and analyzed with those in the calibration area to obtain the health indicators of the testing area.

3. The three-dimensional visualization display method for health evaluation of concrete structure contact joints according to claim 1, characterized in that, The method constructs the system coordinate system by setting the origin (0,0,0) in the building model and constructing a three-dimensional coordinate system centered on the origin.

4. The three-dimensional visualization display method for health evaluation of concrete structure contact joints according to claim 1, characterized in that, For structures with planar surfaces, the outer surface of the concrete structure is a twin layer.

5. The three-dimensional visualization display method for health evaluation of concrete structure contact joints according to claim 1, characterized in that, For structures with curved surfaces, the twin layer is unfolded into a plane by setting the vertex coordinates of the twin layer. In addition, the spatial coordinates of the detection results are converted into the planar coordinates of the twin layer and the results are displayed.

6. A three-dimensional visualization display system for health evaluation of concrete structure contact joints, characterized in that, include: The positioning module is capable of acquiring the spatial coordinates (X, Y, Z) of each detection point. The quality evaluation module calculates and analyzes the corresponding concrete structure defect results based on the detection results of each detection point, and classifies and organizes all concrete structure defect results to establish a correspondence between different detection result types and color labels. The import module imports the building model into the 3D running platform and fuses the detection results containing spatial coordinate information with the building model data. A coordinate system construction module, which constructs the system coordinate system; The twin layer setting module sets up a twin layer in the building model that corresponds to the inspection surface on the concrete structure. This is used to set the texture layer for the inspection results marked with different colors, and to transform the spatial coordinates of each inspection point to establish a mapping between the inspection point and the twin layer. The display module is used to display and browse the fused model and detection information.

7. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the three-dimensional visualization display method for health evaluation of concrete structure contact joints as described in any one of claims 1-5.

8. A processor for running a program, characterized in that, When the program is run, it executes the steps of the three-dimensional visualization display method for health evaluation of concrete structure contact joints as described in any one of claims 1-5.

9. A terminal device, comprising a processor, a memory, and a program stored in the memory and executable on the processor, characterized in that, The program code is loaded and executed by the processor to implement the steps of the three-dimensional visualization display method for health evaluation of concrete structure contact joints as described in any one of claims 1-5.

10. A computer program product, characterized in that, When executed on a data processing device, it is suitable for performing the steps of the three-dimensional visualization display method for health evaluation of concrete structure contact joints as described in any one of claims 1-5.

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