Supplementary light adjusting system of box girder inspection robot

Abstract

The invention discloses a light supplement adjusting system of a box girder inspection robot, which comprises an inspection robot main body, an image acquisition device for performing inspection shooting on a box girder is arranged on the inspection robot main body, an annular lamp holder is arranged on the periphery of the image acquisition device, and a plurality of independent light supplement lamps and illumination sensors are uniformly distributed on the annular lamp holder; all the light supplementing lamps and the illumination sensor are connected with the control system; the number of the illumination sensors is consistent with that of the light supplementing lamps, an illumination area formed by the N light supplementing lamps is divided into N small areas, and the N illumination sensors detect the illumination intensity of the corresponding small areas; and the control system adjusts the brightness and the irradiation angle of the independent corresponding light supplementing lamp based on the illumination intensity detected by each illumination sensor. According to the invention, the brightness and the irradiation angle of the light supplement lamp can be automatically adjusted based on the illumination intensity and the position of the imaging area, the light uniformity of image shooting is ensured, and the imaging effect of the image acquisition device can be further improved.

Description

Technical Field

[0001] The invention relates to the technical field of box girder inspection, and in particular to a fill light adjustment system of a box girder inspection robot. Background Art

[0002] At present, the inspection of the interior of the continuous box girder belongs to the inspection of the hidden parts of the bridge structure. The inspection work inside the box girder faces problems such as high-altitude work, limited power and network, crossing mountains and water, and short window operation time, which brings certain safety hazards to manual work. At the same time, due to the wide distribution of bridges and the large geographical space span, there are many items that need to be inspected in the box girder, including water seepage, cracks, hollows, etc., which makes the manual work task heavy, high-intensity and time-consuming.

[0003] The lighting conditions inside the box girder are poor, the surface materials are diverse, and the space sizes vary greatly. Currently, there are two main methods for detecting internal defects of box girders: manual and inspection robots.

[0004] The manual method is to use a camera to perform a long-distance rough scan to determine the location of the fatigue crack; not only is the labor intensity high, but the test results are biased. At the same time, the internal structure of the box girder is inconvenient to walk, and some are not equipped with lighting, especially the top plate cannot be observed at close range, and it is not convenient to mark and record. Manual detection is interfered by many objective conditions and is also greatly affected by human subjectivity.

[0005] The inspection robot method uses the image acquisition device carried by the inspection robot to scan the inside of the box girder. However, it often faces poor lighting conditions inside the box girder, diverse surface materials, and large differences in spatial size, which causes the captured pictures to be blurred and have low contrast, making it difficult to accurately identify cracks and other defects.

[0006] The existing fill lights have fixed brightness and angle, which cannot guarantee stable and clear imaging effects. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a fill light adjustment system for a box girder inspection robot.

[0008] The present invention discloses a fill light adjustment system for a box girder inspection robot, comprising: an inspection robot body, an image acquisition device for inspecting and photographing the box girder is arranged on the inspection robot body, an annular light frame is arranged on the periphery of the image acquisition device, the annular light frame is connected to the inspection robot body, a plurality of independent fill lights and light sensors are evenly distributed on the annular light frame, the fill lights can be independently adjusted in brightness and angle, and all the fill lights and light sensors are connected to a control system;

[0009] The number of the light sensors is the same as that of the fill lights, and the light area formed by the N fill lights is divided into N small areas, and the N light sensors detect the light intensity of the corresponding small areas;

[0010] The control system adjusts the brightness and illumination angle of the corresponding fill light based on the light intensity detected by each light sensor.

[0011] As a further improvement of the present invention, the light sensor is installed at the front end of the corresponding fill light.

[0012] As a further improvement of the present invention, the control system adjusts the brightness and illumination angle of the corresponding fill light based on the light intensity detected by each light sensor; comprising:

[0013] Calculate the light intensity difference between the light intensity detected by each light sensor and its reference light intensity value, and compare the light intensity difference with the light intensity threshold. If it is greater than the light intensity threshold, calculate the driving current value corresponding to the fill light that needs to be adjusted, and send a dimming instruction to the control system, and the control system controls the corresponding fill light to adjust the brightness; wherein the reference light intensity value is: the average light intensity value of this area corresponding to the clearest image collected by the image acquisition device under laboratory environment testing;

[0014] The image acquisition device acquires an image of the inner wall of the box girder, calibrates the relationship between the image coordinates and the actual coordinates of the inner wall of the box girder, and draws a corresponding fill light area in the image coordinate area; according to a computer image processing algorithm, the color image acquired by the image acquisition device is converted into a grayscale image, and each divided small image area is divided into a plurality of small color blocks; the average pixel value of each small color block, that is, the brightness value, is calculated; the average value of the brightness value of each small color block that divides the small image area is taken as the brightness average value of the small image area; the brightness value of each small color block is compared with the brightness average value of the small image area, if the brightness values ​​of M consecutive small color blocks are all less than the brightness average value, then the center point of the central color block among the M color blocks is taken as a reference, and according to the relationship between the image coordinates and the actual coordinates of the inner wall of the box girder, the rotation angle of the fill light is calculated, and the angle of the fill light is adjusted through the control system to perform fill light processing on the small image area.

[0015] As a further improvement of the present invention, the image acquisition device is a camera, and the fill light is an LED light, a xenon lamp or a laser light.

[0016] As a further improvement of the present invention, the annular light stand is a U-shaped stand with its opening facing downward and its two ends are detachably connected to the inspection robot body through quick-release structures. A reinforcement stand is installed in the middle of the annular light stand, and the top of the reinforcement stand is screwed to the cross bar of the annular light stand, and the bottom end is detachably connected to the inspection robot body through a quick-release structure. The quick-release structure includes one of a snap-on structure and a plug and slot matching structure.

[0017] As a further improvement of the present invention, the control system of the inspection robot body is connected to the controller of each fill light to achieve brightness adjustment of each fill light.

[0018] As a further improvement of the present invention, the fill light is installed on an electric pan-tilt platform, the electric pan-tilt platform is installed on the annular light stand, and the control system of the inspection robot body is connected to the controller of each electric pan-tilt platform to achieve angle adjustment of each fill light.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention arranges an annular light frame on the periphery of the image acquisition device, and a plurality of fill lights are arranged on the annular light frame. The annular multi-fill light fill light structure arranged on the periphery of the image acquisition device can provide sufficient lighting for the inspection robot in a low-light or no-light environment, thereby ensuring that the image acquisition device and other sensors carried by the robot can capture clear, high-quality images and data.

[0021] The annular light stand of the present invention is installed on the inspection robot body by using a quick-disassembly structure, which facilitates the disassembly of the annular light stand and the inspection robot body, so that both can conveniently enter the box beam from the manhole at the bottom of the box beam;

[0022] The brightness and irradiation angle of each fill light of the present invention can be automatically adjusted based on the light intensity and position of the imaging area, thereby ensuring the light uniformity of the image shooting and further improving the imaging effect of the image acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the fill light adjustment system of the box girder inspection robot disclosed in the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the middle ring light stand;

[0025] Figure 3 for Figure 1 Installation diagram of the fill light.

[0026] In the figure:

[0027] 1. Inspection robot body; 2. Image acquisition device; 3. Ring light stand; 4. Fill light; 5. Electric pan / tilt; 6. Light sensor; 7. Control system. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0030] like Figure 1-3 As shown, the present invention provides a fill light adjustment system for a box girder inspection robot, which improves the fill light structure of the existing box girder inspection robot; the existing box girder inspection robot includes a walking component (chassis, wheel set, etc.), a control system and a carrying component (image acquisition device, sensor, etc.); the box girder inspection robot body 1 uses a lightweight, miniaturized wheeled or tracked mobile robot motion chassis, which is convenient for the inspection robot to migrate from the manhole at the bottom of the box girder to the inside of the box girder; a mechanical device that can be quickly disassembled (such as a bayonet structure, a slot and a plug-matching buckle structure, etc., which are existing conventional quick-release structures) is arranged around the motion chassis; the present invention is provided with an annular light stand 3 on the periphery of the image acquisition device, and the annular light stand 3 is connected to the inspection robot body 1 through the above-mentioned quick-release structure, and a plurality of independent fill lights 4 and light sensors 6 are evenly distributed on the annular light stand 3. Specifically: the image acquisition device 2 is a camera, the fill light 4 is an LED light, a xenon lamp or a laser light, the light sensor 6 is a photodiode, a phototransistor or a photoresistor, etc. The light sensor 6 can measure the light intensity in the current environment and convert the light intensity into an electrical signal. These sensors usually have high sensitivity and a wide dynamic range, and can accurately sense various lighting conditions from dark to bright. The annular light frame 3 is preferably a door-shaped frame (U-shaped frame), a circular frame or a C-shaped frame with the opening facing downward, so as to form an annular lighting area around the image acquisition device 2; the material of the annular light frame 3 is selected according to actual needs to meet the use requirements of the inspection robot; the image acquisition device 2 is located at the center of the annular light frame 3, such as Figure 2The center position shown. Furthermore, when the annular light stand is a U-shaped stand with the opening facing downward, its two ends are detachably connected to the inspection robot body through a quick-release structure, and a reinforcement bracket is installed in the middle of the annular light stand. The top of the reinforcement bracket is screwed to the cross bar of the annular light stand, and the bottom is detachably connected to the inspection robot body through a quick-release structure. The quick-release device of the present invention can use a socket quick-release device similar to a seat belt, install a lock buckle at a preset position of the box girder inspection robot body, and install a plug at the tail end of the annular light stand 3. When the plug is inserted into the lock buckle, the annular light stand 3 can be stably installed on the box girder inspection robot body.

[0031] The fill light 4 of the present invention is installed on the annular light frame 3 through the electric pan-tilt 5. Specifically, the fill light 4 is installed on the movable end of the electric pan-tilt 5, and the fixed end of the electric pan-tilt 5 is fixedly installed on the annular light frame 3; the angle adjustment of the fill light in the horizontal and vertical directions can be achieved through the electric pan-tilt 5. The electric pan-tilt involved in the present invention is an existing conventional structure, so it will not be elaborated on here; for example, a household camera is a combination of a commonly used camera + an electric pan-tilt. Further, the control system of the inspection robot body of the present invention is connected to the controller of each electric pan-tilt to achieve angle adjustment of each fill light. Each fill light of the present invention can achieve independent control of brightness and angle to adapt to the environment and target detection objects at different positions inside the box girder, and avoid overexposure of the image due to excessive brightness or loss of image details due to excessive darkness.

[0032] The fill light of the present invention is evenly distributed in different parts of the robot, and can provide multi-angle lighting, so as to provide the best lighting effect in different detection scenes. The fill light system is powered by the internal battery of the robot and is centrally managed by the control system of the robot. The fill light system has a quick-release function, which is convenient for rapid deployment and recovery, and is also convenient for migration from the outside of the box beam to the inside of the box beam through the manhole at the bottom of the box beam.

[0033] The number of light sensors 6 of the present invention is consistent with that of the fill-in lights 4, and the illumination area formed by the N fill-in lights is divided into N small areas. The N light sensors detect the light intensity of the corresponding small areas. The light sensor 6 is installed at the front end of the corresponding fill-in light 4, and can be installed on the lampshade of the fill-in light 4 or on the movable end of the electric pan-tilt platform of the fill-in light. The control system 7 of the inspection robot body 1 is connected to the controller of each fill-in light 4 (which controls the brightness of the fill-in light and the movement of the electric pan-tilt platform) and each light sensor 6, so as to adjust the brightness and illumination angle of the corresponding fill-in light based on the light intensity detected by each light sensor. Figure 2 For example, the control system of the inspection robot body 1 of the present invention connects the controllers of all the fill lights in parallel through wires, and the controller can realize the switching and brightness adjustment of the fill lights, and then the switching and brightness adjustment of each fill light can be realized through the control system of the inspection robot body 1.

[0034] The control system 7 adjusts the brightness and illumination angle of the corresponding fill light based on the light intensity detected by each light sensor, specifically including:

[0035] S1. Divide the area illuminated by the fill light into N small areas equal to the number of fill lights. The center of each small area is the illumination center of the fill light. The fill lights and the partitioned small areas are numbered one by one. Install a light sensor in the small area where the fill light is located to detect the light intensity of the nearby area.

[0036] S2. Test in a laboratory environment, adjust the fill light on the electric pan / tilt to the reference position (the central axis of the fill light is parallel to the normal of the measured area), adjust the brightness of the fill light, make the image acquired by the camera of the box girder robot to the clearest state, and record the brightness value of the light sensor in each small area, and take the average brightness value of each light sensor as the reference value for brightness adjustment.

[0037] S3. In the actual detection environment, the light sensor detects the light intensity of the small area where it is located and obtains the light intensity value of the small area; calculates the light intensity difference between the light intensity detected by each light sensor and its reference light intensity value, and compares the light intensity difference (absolute value) with the light intensity threshold. If it is greater than the light intensity threshold, the driving current value corresponding to the fill light that needs to be adjusted is calculated, and a dimming instruction is issued to the control system, and the control system controls the corresponding fill light to adjust the brightness; further, according to the different light intensities, multiple thresholds can be set to distinguish different lighting conditions, such as "bright", "medium", "dim", "dark" and other levels can be defined, and the adjustment strategy of the light source is judged by the IF-THEN rule. For example, if the light intensity difference (absolute value) is greater than the threshold X, the light source brightness is increased by Y%. At the same time, a closed-loop control system of a PID controller is used to continuously adjust the light source brightness through a light source compensation device according to the data fed back by the light sensor, and automatically turn on or adjust the brightness of the fill light according to the data fed back by the light sensor, while keeping the image quality within an ideal range.

[0038] S4, the image acquisition device acquires the image of the inner wall of the box girder, calibrates the relationship between the image coordinates and the actual box girder inner wall coordinates, and draws the corresponding fill light area in the image coordinate area; according to the computer image processing algorithm, the color image acquired by the image acquisition device is converted into a grayscale image, and each divided image small area is divided into a number of small color blocks of appropriate size; the average pixel value of each small color block, that is, the brightness value, is calculated; the average value of the brightness value of each small color block that divides the image small area is taken as the brightness average value of the small image area; the brightness value of each small color block is compared with the brightness average value of the small image area, if the brightness values ​​of M consecutive small color blocks are all less than the brightness average value, then the center point of the central color block among the M color blocks is taken as the reference (for example, if the brightness values ​​of 5 consecutive small color blocks are all less than the brightness average value, then the center point of the third color block among the 5 color blocks is taken as the reference), according to the relationship between the image coordinates and the actual box girder inner wall coordinates, the rotation angle of the fill light is calculated, and the angle of the fill light is adjusted by the control system to perform fill light processing on the small image area.

[0039] The advantages of the present invention are:

[0040] The present invention arranges an annular light frame on the periphery of the image acquisition device, and a plurality of fill lights are arranged on the annular light frame. The annular multi-fill light fill light structure arranged on the periphery of the image acquisition device can provide sufficient lighting for the inspection robot in a low-light or no-light environment, thereby ensuring that the image acquisition device and other sensors carried by the robot can capture clear, high-quality images and data.

[0041] The annular light stand of the present invention is installed on the inspection robot body by using a quick-disassembly structure, which facilitates the disassembly of the annular light stand and the inspection robot body, so that both can conveniently enter the box beam from the manhole at the bottom of the box beam;

[0042] The brightness and irradiation angle of each fill light of the present invention can be automatically adjusted based on the light intensity and position of the imaging area, thereby ensuring the light uniformity of the image shooting and further improving the imaging effect of the image acquisition device.

[0043] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fill light adjustment system for a box girder inspection robot, comprising: The inspection robot body is provided with an image acquisition device for inspecting and photographing the box girder, wherein the image acquisition device is provided with an annular light frame on the periphery thereof, the annular light frame is connected to the inspection robot body, a plurality of independent fill lights and light sensors are evenly distributed on the annular light frame, the fill lights can be independently adjusted in brightness and angle, and all the fill lights and light sensors are connected to a control system; The number of the light sensors is the same as that of the fill lights, and the light area formed by the N fill lights is divided into N small areas, and the N light sensors detect the light intensity of the corresponding small areas; The control system adjusts the brightness and illumination angle of the corresponding fill light based on the light intensity detected by each light sensor.

2. The fill light adjustment system for the box girder inspection robot according to claim 1, characterized in that: The light sensor is installed at the front end of the corresponding fill light.

3. The fill light adjustment system for the box girder inspection robot according to claim 1, characterized in that: The control system adjusts the brightness and illumination angle of the corresponding fill light based on the light intensity detected by each light sensor; including: Calculate the light intensity difference between the light intensity detected by each light sensor and its reference light intensity value, and compare the light intensity difference with the light intensity threshold. If it is greater than the light intensity threshold, calculate the driving current value corresponding to the fill light that needs to be adjusted, and send a dimming instruction to the control system, and the control system controls the corresponding fill light to adjust the brightness; wherein the reference light intensity value is: the average light intensity value of this area corresponding to the clearest image collected by the image acquisition device under laboratory environment testing; The image acquisition device acquires an image of the inner wall of the box girder, calibrates the relationship between the image coordinates and the actual coordinates of the inner wall of the box girder, and draws a corresponding fill light area in the image coordinate area; according to a computer image processing algorithm, the color image acquired by the image acquisition device is converted into a grayscale image, and each divided small image area is divided into a plurality of small color blocks; the average pixel value of each small color block, that is, the brightness value, is calculated; the average value of the brightness value of each small color block that divides the small image area is taken as the brightness average value of the small image area; the brightness value of each small color block is compared with the brightness average value of the small image area, if the brightness values ​​of M consecutive small color blocks are all less than the brightness average value, then the center point of the central color block among the M color blocks is taken as a reference, and according to the relationship between the image coordinates and the actual coordinates of the inner wall of the box girder, the rotation angle of the fill light is calculated, and the angle of the fill light is adjusted through the control system to perform fill light processing on the small image area.

4. The fill light adjustment system for the box girder inspection robot according to any one of claims 1 to 3, characterized in that: The image acquisition device is a camera, and the fill light is an LED light, a xenon lamp or a laser lamp.

5. The fill light adjustment system for the box girder inspection robot according to any one of claims 1 to 3, characterized in that: The annular light stand is a U-shaped stand with its opening facing downward and its two ends are detachably connected to the inspection robot body through quick-release structures. A reinforcement stand is installed in the middle of the annular light stand. The top of the reinforcement stand is screwed to the cross bar of the annular light stand, and the bottom end is detachably connected to the inspection robot body through a quick-release structure. The quick-release structure includes one of a snap-on structure and a plug and slot matching structure.

6. The fill light adjustment system for the box girder inspection robot according to any one of claims 1 to 3, characterized in that: The control system of the inspection robot body is connected to the controller of each fill light to adjust the brightness of each fill light.

7. The fill light adjustment system for a box girder inspection robot according to any one of claims 1 to 3, characterized in that: The fill light is mounted on an electric pan-tilt platform, which is mounted on the annular light stand. The control system of the inspection robot body is connected to the controller of each electric pan-tilt platform to achieve angle adjustment of each fill light.

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