Bridge pier deformation degree detection method

Abstract

The invention discloses a bridge pier deformation degree detection method comprising the following steps: 1, collecting bridge pier information, and processing the bridge pier information to obtain a bridge pier classification; 2, setting a detection mode according to the classification of the piers; 3, after a detection mode is set, bridge pier detection data are collected; and 4, analyzing the bridge pier information, and generating detection warning information. According to accurate classification of piers, detection modes are customized for short piers, middle piers and high piers, and accurate and personalized detection is achieved; an unmanned aerial vehicle is used for collecting images in all directions, averaging in multiple directions to calculate the height, and an abnormal re-collection mechanism is combined to guarantee that data is comprehensive and accurate; various technologies are integrated, and the bridge pier is monitored internally and externally; and warning information or re-collection prompts are generated according to different conditions through intelligent data analysis, so that hidden dangers can be found in time to guarantee the safety of the bridge, the detection process can be optimized, resources can be reasonably configured, and the stability of the bridge pier and the bridge can be comprehensively protected.

Description

Technical Field

[0001] The present invention relates to the field of detection methods, and in particular to a method for detecting deformation of a bridge pier. Background Art

[0002] As an important supporting structure of a bridge, the deformation of the pier is directly related to the overall stability and safety of the bridge. By testing the deformation of the pier, it is possible to timely discover the deformation problems such as displacement, tilt, and settlement of the pier during construction and operation, so as to take corresponding maintenance and reinforcement measures to ensure the normal use of the bridge and avoid serious consequences such as damage to the bridge structure and traffic safety accidents caused by excessive deformation of the pier. Therefore, it is necessary to conduct deformation detection of bridge piers regularly to determine whether there is any pier deformation. During the detection process, the pier deformation degree detection method will be used.

[0003] The existing detection methods have a single detection type, which leads to low reliability of the detection results and has a certain impact on the use of the detection methods. Therefore, a detection method for pier deformation is proposed. Summary of the invention

[0004] The technical problem to be solved by the present invention is: how to solve the problem that some detection methods have a single detection type, resulting in low reliability of detection results, and provide a method for detecting deformation of bridge piers.

[0005] The present invention solves the above technical problems through the following technical solutions, and the present invention comprises the following steps: Step 1: Collect and process bridge pier information to obtain bridge pier classification; Step 2: Set the detection method according to the classification of bridge piers; Step 3: After setting the detection method, collect bridge pier detection data; Step 4: Analyze the bridge pier information and generate detection warning information.

[0006] The specific process of collecting the bridge pier information is as follows: The image of the bridge pier is collected by using drone equipment, and the drone equipment is set to collect images of the bridge pier from four directions: east, south, west and north; The eastward and westward UAV images are collected from top to bottom, and the eastward and westward images are marked as F1 and F2; The drone images in the south and north directions are collected from bottom to top, and the images collected in the south and north directions are marked as F3 and F4; Processing the images F1 and F2 to obtain the bridge pier height U1 in F1 and the bridge pier height U2 in F2; Processing the images F3 and F4, obtaining the bridge pier height U3 in F3 and the bridge pier height U4 in F4; Analyze U1 and U2. If there are any abnormalities in U1 and U2, re-collect them. Analyze U3 and U4. If there are any abnormalities in U3 and U4, re-collect them. When there is no abnormality in U1 and U2, and no abnormality in U3 and U4, the pier height Uu, that is, the pier information, is obtained through the formula [(U1+U2) / 2+(U3+U4) / 2] / 2=Uu.

[0007] Furthermore, the abnormality determination process of U1 and U2 is as follows: when the absolute value of the difference between U1 and U2 is greater than a preset value, it indicates that there is an abnormality in U1 and U2; The abnormality determination process of U3 and U4 is the same as that of U1 and U2.

[0008] Furthermore, the specific process of processing the bridge pier information and obtaining the bridge pier classification is as follows: When the height of the bridge pier is less than or equal to the preset value a1, it is classified as a short pier; When the pier height is between the preset values ​​a1 and a2, it is classified as a medium pier; When the pier height is greater than or equal to the preset value a2, it is classified as a high pier.

[0009] Furthermore, the specific process of setting the detection method according to the classification of the bridge piers is as follows: When the bridge pier is classified as a short pier, the first detection method is selected for detection; When the bridge pier is classified as a medium pier, the second detection method is selected for detection; When the bridge pier is classified as a high pier, the third detection method is selected for detection.

[0010] Furthermore, after the drone collects the bridge pier image, it first analyzes whether the bridge pier is a regular pier. Regular piers include cylindrical and cubic shapes. When the bridge pier is cylindrical or cubic, the pier image is also analyzed in real time. When an abnormality is found in the bridge pier image, a preliminary detection warning message is generated. The abnormality determination process in the bridge pier image is as follows: Extract the bridge pier images, i.e. the image information in four directions: east, south, west and north; Perform contour processing on the east-facing bridge pier image to obtain the east-facing bridge pier outline; Perform contour processing on the south-facing bridge pier image to obtain the south-facing bridge pier outline; Perform contour processing on the west-facing bridge pier image to obtain the west-facing bridge pier outline; Perform contour processing on the north-facing bridge pier image to obtain the north-facing bridge pier outline; Compare the east-facing pier outline with the west-facing pier outline. When the comparison between the east-facing pier outline and the west-facing pier outline is abnormal, it means that there is an abnormality in the pier image; Compare the south-facing pier outline with the north-facing pier outline. When the comparison between the south-facing pier outline and the north-facing pier outline is abnormal, it means that there is an abnormality in the pier image. The specific process of comparing the east-facing bridge pier profile with the west-facing bridge pier profile is as follows: firstly, the profile similarity of the east-facing bridge pier profile and the west-facing bridge pier profile is compared to obtain the first analysis parameter; Then the east-facing bridge pier contour and the west-facing bridge pier contour are processed to obtain the east-facing contour area and the west-facing contour area; Label the east-facing contour area as K1 and the west-facing contour area as K2; The second analysis parameter is obtained through the formula |(K1-K2)*α|=Kk, where α is the correction value, 0.99≤α≤1.01, and α is inversely proportional to K1+K2. The larger K1+K2 is, the smaller α is, and vice versa. When the first analysis parameter is greater than the preset value, but the second analysis parameter is less than the preset value, it means that the data is abnormal and needs to be re-collected; When the first analysis parameter is greater than the preset value and the second analysis parameter is also greater than the preset value, it means that the comparison between the eastward pier profile and the westward pier profile is abnormal; The comparison process of the southward pier profile with the northward pier profile is the same as the comparison process of the eastward pier profile with the westward pier profile; When the bridge pier is an irregular pier, it is imported into a preset database, and the collection method of the bridge pier of the corresponding shape is retrieved from the preset database to collect the bridge pier detection data.

[0011] Furthermore, the specific process of the bridge pier detection by the first detection method is as follows: First, set benchmark points around the bridge piers, use a total station to measure the three-dimensional coordinates of the top and bottom of the piers, repeat the measurements regularly, compare the data from different periods, calculate the displacement and tilt angle, and obtain the total station measurement data; Use ultrasonic testing to inspect bridge piers and detect defects inside the piers, such as cracks and cavities; That is, measuring points are arranged on the surface of the pier, and ultrasonic detectors are used to transmit and receive ultrasonic signals. By analyzing the propagation time, wave velocity and amplitude changes of the sound waves, the location and degree of internal defects are determined, and ultrasonic testing data is obtained; The total station measurement data and ultrasonic detection data constitute the bridge pier detection data.

[0012] Furthermore, the specific process of the bridge pier detection by the second detection method is as follows: firstly, the bridge pier is omni-directionally scanned using a three-dimensional laser scanner to generate a three-dimensional model; By comparing the 3D models obtained by scanning at different times, the deformation of the bridge piers was analyzed and the scanning data was obtained; Use millimeter-wave radar to monitor the dynamic deformation of bridge piers in real time and obtain radar detection results; The scanning data and radar detection results constitute the bridge pier detection data.

[0013] Furthermore, the specific process of the third detection method for bridge pier detection is as follows: Use GPS and total station to jointly monitor bridge piers; Install GPS receivers and total station observation points on the bridge piers, obtain horizontal displacement data of the bridge piers through GPS, and use the total station to obtain measurement data; The horizontal displacement data and the measurement data constitute joint data; Use the structural health monitoring system to monitor bridge piers and monitor the pier health data in real time; The pier health data and joint data constitute the pier inspection data.

[0014] Furthermore, the specific process of analyzing the bridge pier information and generating the test results is as follows: When the pier type is a short pier, the total station measurement data and ultrasonic detection data are extracted from the pier information; Compare and analyze the total station measurement data and the ultrasonic detection data. When the total station measurement data shows deformation or the ultrasonic detection data shows internal defects, a detection warning message is generated. When the pier type is a medium pier, the scanning data and radar detection results are extracted from the pier information; Analyze the scanned data. When the scanned data determines that the bridge pier is deformed and the radar detection result analysis also determines that the bridge pier is deformed, a detection warning message is generated. When the scan data shows that the bridge pier is deformed, but the radar detection result shows that the bridge pier is not deformed, or when the scan data shows that the bridge pier is not deformed, but the radar detection result shows that the bridge pier is deformed, the bridge pier detection data collection is performed again; When the pier type is a high pier, the pier health data and joint data are extracted from the pier information; Analyze the pier health data and joint data to obtain health data analysis results and joint data analysis results; When both the health data analysis results and the joint data analysis results indicate that the bridge pier is deformed, a detection warning message is generated; When the health data analysis results are inconsistent with the joint data analysis results, the pier inspection data collection is repeated; Furthermore, when the bridge pier is classified as a short pier, the detection method for the bridge pier also includes an image analysis method; The specific process of image analysis is as follows: Vertical and horizontal marking lines are drawn on the bridge piers, and the vertical and horizontal marking lines are perpendicular to each other; After drawing the marking vertical line and the marking horizontal line, an image acquisition is performed, that is, the reference vertical line image and the reference horizontal line image are obtained; Afterwards, the image information of the bridge pier is collected once at a preset time interval, and a real-time vertical line image and a real-time horizontal line image are extracted from the image information of the bridge pier; Compare the real-time vertical line image with the reference vertical line image for similarity, and obtain a first similarity; Comparing the real-time horizontal line image with the reference horizontal line image for similarity to obtain a second similarity; When either the first similarity or the second similarity is less than a preset value, generating detection warning information; After the pier information is collected by using the drone equipment and it is determined that the pier is a short pier, the first similarity and the second similarity are collected directly using the image collected by the drone equipment.

[0015] Compared with the prior art, the present invention has the following advantages: the method for detecting the deformation of bridge piers can accurately classify bridge piers into short piers, medium piers and high piers by collecting and processing the information of bridge pier heights, and set corresponding detection methods according to the classification, so as to ensure that the most suitable detection means can be used for each type of bridge pier, avoid the inefficiency and inaccuracy caused by single detection, adapt to the characteristics of different bridge piers to the greatest extent, and improve the detection pertinence. The image of the bridge pier is collected from multiple directions to fully cover all sides of the bridge pier, so as to ensure that the acquired bridge pier height data is more accurate and reliable. The multi-directional image information can provide rich materials for subsequent analysis, reduce the data deviation caused by single-view acquisition, and improve the accuracy of the overall state judgment of the bridge pier. In the image data analysis stage, a strict abnormal judgment process is established to effectively screen out abnormal data that may be caused by acquisition errors, environmental interference and other factors, ensure the data quality input into the subsequent analysis process, and lay a solid foundation for accurate detection. According to the different types of bridge piers, the corresponding detection data can be intelligently extracted and deeply compared and analyzed. Once abnormal signs such as deformation and defects are found, detection warning information will be quickly generated to buy precious time for timely maintenance, reinforcement and other measures, effectively prevent safety accidents caused by bridge pier deformation, and ensure the safe operation of transportation infrastructure. The detection process can also be flexibly adjusted according to the real-time status of the bridge piers, and its changing trends can be continuously tracked to ensure that the detection results always reflect the current true situation of the bridge piers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the overall flow chart of the present invention. DETAILED DESCRIPTION

[0017] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0018] like Figure 1 As shown, this embodiment provides a technical solution: a method for detecting deformation of a bridge pier, comprising the following steps: Step 1: Collect and process bridge pier information to obtain bridge pier classification; Step 2: Set the detection method according to the classification of bridge piers; Step 3: After setting the detection method, collect bridge pier detection data; Step 4: Analyze the bridge pier information and generate detection warning information.

[0019] The specific process of collecting the bridge pier information is as follows: The image of the bridge pier is collected by using drone equipment, and the drone equipment is set to collect images of the bridge pier from four directions: east, south, west and north; The eastward and westward UAV images are collected from top to bottom, and the eastward and westward images are marked as F1 and F2; The drone images in the south and north directions are collected from bottom to top, and the images collected in the south and north directions are marked as F3 and F4; Processing the images F1 and F2 to obtain the bridge pier height U1 in F1 and the bridge pier height U2 in F2; Processing the images F3 and F4, obtaining the bridge pier height U3 in F3 and the bridge pier height U4 in F4; Analyze U1 and U2. If there are any abnormalities in U1 and U2, re-collect them. Analyze U3 and U4. If there are any abnormalities in U3 and U4, re-collect them. When there is no abnormality in U1 and U2, and no abnormality in U3 and U4, the pier height Uu, that is, the pier information, is obtained through the formula [(U1+U2) / 2+(U3+U4) / 2] / 2=Uu.

[0020] The abnormality determination process of U1 and U2 is as follows: when the absolute value of the difference between U1 and U2 is greater than a preset value, it indicates that there is an abnormality in U1 and U2; The abnormality determination process of U3 and U4 is the same as that of U1 and U2; By setting up drones to collect images of the bridge piers from four directions: east, south, west, and north, and using a top-down approach in each direction, it is possible to obtain comprehensive and complete image information of all sides of the bridge piers. This avoids the problem of missing certain key features of the bridge piers due to collection from a single direction or limited viewing angle, ensuring that the collected data can fully reflect the actual situation of the bridge piers, laying a solid foundation for accurately calculating the height of the bridge piers.

[0021] The bridge pier heights (U1, U2, U3, U4) corresponding to the images in four directions are obtained respectively, and the final bridge pier height Uu is calculated by the formula [(U1+U2) / 2+(U3+U4) / 2] / 2. This method of taking the average value of the measurement results in multiple directions can effectively reduce the measurement error caused by environmental factors (such as light, occlusion, etc.) during the acquisition process in a certain direction, making the final bridge pier height data more accurate and reliable.

[0022] Abnormal judgment is performed on U1 and U2, U3 and U4 respectively, and data is collected again when the absolute value of the difference is greater than the preset value. This mechanism can timely discover and eliminate erroneous data caused by various unexpected situations during the collection process (such as unstable flight posture of the drone, image processing algorithm error, etc.), ensuring that each set of data used to calculate the height of the bridge pier is accurate and valid, further improving the accuracy of the final data; The specific process of processing the bridge pier information and obtaining the bridge pier classification is as follows: When the height of the bridge pier is less than or equal to the preset value a1, it is classified as a short pier; When the pier height is between the preset values ​​a1 and a2, it is classified as a medium pier; When the pier height is greater than or equal to the preset value a2, it is classified as a high pier.

[0023] The specific process of setting the detection method according to the classification of bridge piers is as follows: When the bridge pier is classified as a short pier, the first detection method is selected for detection; When the bridge pier is classified as a medium pier, the second detection method is selected for detection; When the bridge pier is classified as a high pier, the third detection method is selected for detection; Bridge piers of different heights differ in terms of structural characteristics, stress conditions, and possible problems. By classifying bridge piers into short piers, medium piers, and high piers according to their heights, and setting up corresponding detection methods, accurate detection can be performed based on the characteristics of different types of piers. For example, short piers are relatively short and may be more susceptible to environmental factors (such as ground subsidence). The first detection method (combination of total station measurement and ultrasonic detection) can better detect their displacement, tilt, and internal defects; the height of the medium pier is moderate, and the second detection method of three-dimensional laser scanning and millimeter wave radar monitoring can more comprehensively capture its deformation; the high pier is high in height and has complex structural stress. The third detection method of joint monitoring of GPS and total station and structural health monitoring system can more accurately grasp its horizontal displacement and overall health status. This targeted detection method can improve the accuracy and effectiveness of detection.

[0024] Using different detection methods according to different classifications of bridge piers can reasonably allocate detection resources and avoid waste of resources. For short piers, the use of total stations and ultrasonic detection equipment is relatively low-cost and relatively simple to operate, which can meet their detection needs; for medium and high piers, although the detection equipment and technology used are relatively complex and costly, they are necessary for accurately evaluating their structural status. In this way, the detection method can be reasonably selected according to the actual situation of the bridge piers, which can maximize the optimization of resource allocation and reduce detection costs while ensuring the detection effect.

[0025] Different detection methods are suitable for different types of bridge piers, which can improve the efficiency of detection. For example, total station measurement and ultrasonic detection are used for short piers. These two detection methods are relatively mature and have relatively fixed operation procedures, and can quickly obtain detection data; three-dimensional laser scanning is used for medium piers to quickly generate three-dimensional models, and millimeter-wave radar can monitor dynamic deformation in real time, greatly shortening the detection time; the GPS and total station joint monitoring and structural health monitoring system used for high piers, although the technology is complex, can achieve long-term, real-time monitoring of bridge piers and timely discover potential problems. By reasonably selecting the detection method, the time waste caused by inappropriate detection methods is avoided, and the efficiency of the entire detection work is improved.

[0026] After the drone collects the bridge pier image, it first analyzes whether the bridge pier is a regular pier. Regular piers include cylindrical and cubic shapes. When the bridge pier is cylindrical or cubic, the drone also performs real-time image analysis on the bridge pier image. When an abnormality is found in the bridge pier image, a preliminary detection warning message is generated. The abnormality determination process in the bridge pier image is as follows: Extract the bridge pier images, i.e. the image information in four directions: east, south, west and north; Perform contour processing on the east-facing bridge pier image to obtain the east-facing bridge pier outline; Perform contour processing on the south-facing bridge pier image to obtain the south-facing bridge pier outline; Perform contour processing on the west-facing bridge pier image to obtain the west-facing bridge pier outline; Perform contour processing on the north-facing bridge pier image to obtain the north-facing bridge pier outline; Compare the east-facing pier outline with the west-facing pier outline. When the comparison between the east-facing pier outline and the west-facing pier outline is abnormal, it means that there is an abnormality in the pier image; Compare the south-facing pier outline with the north-facing pier outline. When the comparison between the south-facing pier outline and the north-facing pier outline is abnormal, it means that there is an abnormality in the pier image. The specific process of comparing the east-facing bridge pier profile with the west-facing bridge pier profile is as follows: firstly, the profile similarity of the east-facing bridge pier profile and the west-facing bridge pier profile is compared to obtain the first analysis parameter; Then the east-facing bridge pier contour and the west-facing bridge pier contour are processed to obtain the east-facing contour area and the west-facing contour area; Label the east-facing contour area as K1 and the west-facing contour area as K2; The second analysis parameter is obtained through the formula |(K1-K2)*α|=Kk, where α is the correction value, 0.99≤α≤1.01, and α is inversely proportional to K1+K2. The larger K1+K2 is, the smaller α is, and vice versa. When the first analysis parameter is greater than the preset value, but the second analysis parameter is less than the preset value, it means that the data is abnormal and needs to be re-collected; When the first analysis parameter is greater than the preset value and the second analysis parameter is also greater than the preset value, it means that the comparison between the eastward pier profile and the westward pier profile is abnormal; The comparison process of the southward pier profile with the northward pier profile is the same as the comparison process of the eastward pier profile with the westward pier profile; When the bridge pier is an irregular shaped bridge pier, it is imported into the preset database, and the collection method of the bridge pier of the corresponding shape is retrieved from the preset database to collect the bridge pier detection data. The preset database stores the bridge pier detection data collection process of various irregular shaped bridge piers; The above process can improve accuracy. By analyzing the bridge pier images in two dimensions, contour similarity comparison and contour area analysis, it can more comprehensively determine whether there are abnormalities in the bridge piers. Relying solely on contour similarity may not fully reflect the true state of the bridge piers, but combining contour area analysis can further verify abnormalities, reduce misjudgments, and improve the accuracy of detection results; In order to adapt to different situations, a correction value α is introduced when calculating the second analysis parameter, and the size of α is dynamically adjusted according to the sum of the contour areas, making the analysis process more flexible and adaptable. The contour areas of piers of different sizes have different effects on the analysis results. The correction value can better balance this difference and improve the reliability of the analysis; The preset values ​​of the first and second analysis parameters, as well as their judgment criteria in different situations, are clarified, so that the entire abnormality judgment process has a clear operating basis. The staff can quickly judge whether there are abnormalities in the bridge pier image based on these criteria without relying on too much subjective experience, which improves the detection efficiency and consistency; Timely detection of potential problems After the drone collects the image of the bridge pier, it will immediately perform image analysis and generate preliminary detection warning information when an abnormality is found. It can timely detect possible problems with the bridge pier, buy time for subsequent detailed inspection and maintenance work, and help ensure the safe operation of the bridge.

[0027] Data anomaly processing mechanism to ensure data quality When the first analysis parameter is greater than the preset value, but the second analysis parameter is less than the preset value, it is judged as data anomaly and needs to be re-collected. This mechanism can effectively avoid misjudgment caused by errors or interference that may occur during data collection, ensure that the collected data has a certain quality and reliability, and provide a more accurate basis for subsequent analysis and decision-making.

[0028] The specific process of bridge pier detection using the first detection method is as follows: First, set benchmark points around the bridge piers, use a total station to measure the three-dimensional coordinates of the top and bottom of the piers, repeat the measurements regularly, compare the data from different periods, calculate the displacement and tilt angle, and obtain the total station measurement data; Use ultrasonic testing to inspect bridge piers and detect defects inside the piers (such as cracks and cavities); That is, measuring points are arranged on the surface of the pier, and ultrasonic detectors are used to transmit and receive ultrasonic signals. By analyzing the propagation time, wave velocity and amplitude changes of the sound waves, the location and degree of internal defects are determined, and ultrasonic testing data is obtained; The total station measurement data and ultrasonic detection data constitute the bridge pier detection data; By measuring the three-dimensional coordinates of the top and bottom of the pier with a total station, the precise position information of the pier in space can be obtained. By regularly repeating the measurement and comparing the data of different periods, calculating the displacement and inclination angle, the deformation of the pier in the horizontal and vertical directions can be monitored in real time, and the changes in the external morphology of the pier can be fully understood. At the same time, ultrasonic detection of internal defects of the pier is carried out. The measurement points are arranged on the surface of the pier. The location and degree of the internal defects are determined by analyzing the propagation time, wave velocity and amplitude changes of the ultrasonic signal, and the integrity of the internal structure of the pier can be deeply detected. These two detection methods cooperate with each other to comprehensively detect the status of the pier from the external morphology to the internal structure, avoiding problems that may be missed by focusing only on the external or internal aspects. Regularly repeating the measurement of the three-dimensional coordinates of the pier and comparing the data of different periods can clearly understand the deformation trend of the pier. By analyzing the displacement and inclination angle, it can be determined whether the deformation of the pier is within the normal range, and whether there are abnormal conditions such as accelerated deformation. This data comparison and analysis helps to discover potential problems of the pier in advance, take timely measures to deal with them, and avoid the expansion of the problem.

[0029] The specific process of the bridge pier detection by the second detection method is as follows: firstly, the bridge pier is scanned in all directions using a three-dimensional laser scanner to generate a three-dimensional model; By comparing the 3D models obtained by scanning at different times, the deformation of the bridge piers was analyzed and the scanning data was obtained; Use millimeter-wave radar to monitor the dynamic deformation of bridge piers in real time and obtain radar detection results; The scanning data and radar detection results constitute the bridge pier detection data; Using a 3D laser scanner to scan the bridge piers in all directions and generate a 3D model can completely and accurately restore the geometric shape, size, surface features and other information of the bridge piers. This all-round scanning method can capture the details of each part of the bridge pier. No matter how complex the shape of the bridge pier is, a high-precision 3D model can be constructed, providing a comprehensive and accurate data basis for subsequent analysis.

[0030] By comparing the 3D models scanned at different times to analyze the deformation of the bridge piers, the changes in the morphology of the bridge piers over a period of time can be observed intuitively. It is possible to clearly find out whether the bridge piers have local deformation, overall displacement and other problems, and to quantify the degree and trend of deformation. This monitoring method based on 3D model comparison is more intuitive and accurate than traditional measurement methods, and helps to promptly discover potential problems of bridge piers.

[0031] Millimeter-wave radar monitors the dynamic deformation of bridge piers in real time, making up for the deficiency of 3D laser scanning that can only obtain static data. Millimeter-wave radar can capture the dynamic response of bridge piers under various working conditions (such as vehicle traffic, wind force, etc.) in real time, and promptly detect the deformation of bridge piers in an instant or within a short period of time. For structures such as middle piers that are at a certain height and may be subject to various dynamic loads, real-time dynamic monitoring can provide a more comprehensive understanding of their actual working status and provide a more reliable basis for evaluating the safety of bridge piers.

[0032] The scanning data and radar test results constitute the bridge pier test data, and the two types of data complement each other. The scanning data focuses on the static geometry and long-term deformation of the bridge pier, while the radar test results focus on the dynamic response and real-time deformation of the bridge pier. Combining the two, we can fully understand the status of the bridge pier from both static and dynamic dimensions, making the test results more accurate and reliable, and improving the comprehensiveness and scientificity of the bridge pier safety assessment.

[0033] Both 3D laser scanning and millimeter wave radar detection are non-contact detection methods that do not require direct contact with the bridge piers, thus avoiding additional damage or impact on the bridge pier structure. For structures such as the middle pier that have already been put into use, non-contact detection can be carried out without affecting their normal use, reducing the interference of the detection work on traffic and bridge operations, and also reducing the safety risks during the detection process.

[0034] 3D laser scanning can quickly acquire a large amount of point cloud data and generate 3D models at a relatively fast speed; millimeter wave radar can monitor in real time and quickly output the test results. The detection efficiency of these two detection methods is relatively high, and the detection of bridge piers can be completed in a relatively short time, which greatly improves the timeliness of detection, saves time and cost for the maintenance and management of bridge piers, and facilitates timely adoption of corresponding measures to ensure the safety of bridge piers.

[0035] The specific process of bridge pier inspection using the third inspection method is as follows: Use GPS and total station to jointly monitor bridge piers; Install GPS receivers and total station observation points on the bridge piers, obtain horizontal displacement data of the bridge piers through GPS, and use the total station to obtain measurement data; The horizontal displacement data and the measurement data constitute joint data; Use the structural health monitoring system to monitor bridge piers and monitor the pier health data in real time; The pier health data and joint data constitute the pier inspection data; GPS receivers can be used to obtain the horizontal displacement data of bridge piers in real time and with high precision. For high piers, due to their high height, the horizontal displacement changes under the influence of external factors (such as wind and water flow) may have a significant impact on the safety of the structure. GPS technology can provide accurate coordinate information, capture the horizontal displacement of bridge piers in a timely manner, and provide key data for evaluating the stability of bridge piers.

[0036] In addition to measuring the horizontal displacement of bridge piers, total stations can also measure a variety of data such as vertical displacement and inclination angle. When used in conjunction with GPS, the data from the two complement each other and can more comprehensively reflect the spatial position changes and deformation of bridge piers. Through the measurement of total stations, more detailed local deformation information can be obtained, which makes up for the deficiencies of GPS data in some aspects and improves the accuracy and reliability of bridge pier deformation monitoring.

[0037] The structural health monitoring system can monitor the health data of bridge piers in real time, such as stress, strain, vibration, etc. These data directly reflect the working status of the internal structure of the bridge pier. By analyzing these data, possible damage or potential problems inside the bridge pier can be discovered in time. For high piers, which have complex structures and changeable stress conditions, real-time health monitoring can detect subtle structural changes at an early stage, provide a basis for timely maintenance measures, and avoid problems from developing into serious safety hazards.

[0038] The joint data obtained by GPS and total station are combined with the pier health data obtained by the structural health monitoring system to form comprehensive pier information. This comprehensive data method can evaluate the status of the pier from multiple angles, taking into account not only the external deformation of the pier, but also the health of the internal structure. Through the comprehensive analysis of these data, the safety and reliability of the pier can be judged more accurately, providing a more scientific basis for the maintenance, management and decision-making of the pier.

[0039] The specific process of analyzing the pier information and generating the test results is as follows: When the pier type is a short pier, the total station measurement data and ultrasonic detection data are extracted from the pier information; Compare and analyze the total station measurement data and the ultrasonic detection data. When the total station measurement data shows deformation or the ultrasonic detection data shows internal defects, a detection warning message is generated. When the pier type is a medium pier, the scanning data and radar detection results are extracted from the pier information; Analyze the scanned data. When the scanned data determines that the bridge pier is deformed and the radar detection result analysis also determines that the bridge pier is deformed, a detection warning message is generated. When the scan data shows that the bridge pier is deformed, but the radar detection result shows that the bridge pier is not deformed, or when the scan data shows that the bridge pier is not deformed, but the radar detection result shows that the bridge pier is deformed, the bridge pier detection data collection is performed again; When the pier type is a high pier, the pier health data and joint data are extracted from the pier information; Analyze the pier health data and joint data to obtain health data analysis results and joint data analysis results; When both the health data analysis results and the joint data analysis results indicate that the bridge pier is deformed, a detection warning message is generated; When the health data analysis results are inconsistent with the joint data analysis results, the pier inspection data collection is repeated; For different types of bridge piers (short piers, medium piers, and high piers), the most representative test data corresponding to them are extracted and analyzed. For short piers, the deformation is judged by combining the total station measurement data and the ultrasonic test data to judge the internal defects; the deformation is judged by the comprehensive scanning data and radar test results of the medium pier; the deformation is judged by analyzing the pier health data and the combined data of the high pier. This categorized and targeted analysis method can give full play to the advantages of different detection methods, avoid misjudgment caused by single data or inappropriate data combination, and improve the accuracy and reliability of the judgment of the bridge pier status.

[0040] Discover potential problems in time to ensure bridge safety: When specific abnormal conditions are met (such as deformation or internal defects of short piers, deformation of both test results of medium piers, and deformation of both analysis results of high piers), detection warning information is generated in time. This enables maintenance personnel to quickly understand the potential problems of bridge piers and take corresponding maintenance and reinforcement measures in time, effectively preventing bridge safety accidents caused by bridge pier problems and ensuring the normal use of bridges and safe and smooth traffic.

[0041] Avoid misjudgment and missed judgment: For middle and high piers, when different test data or analysis results are inconsistent (the scanning data of the middle pier and the radar test results are inconsistent, and the health data analysis results of the high pier are inconsistent with the joint data analysis results), measures are taken to re-collect the pier test data. This mechanism avoids misjudgment or missed judgment caused by data conflict or uncertainty, ensures a more accurate and comprehensive understanding of the pier status before drawing conclusions, and further improves the credibility of the test results; When the bridge pier is classified as a short pier, the inspection method for the bridge pier also includes an image analysis method; The specific process of image analysis is as follows: Vertical and horizontal marking lines are drawn on the bridge piers, and the vertical and horizontal marking lines are perpendicular to each other; After drawing the marking vertical line and the marking horizontal line, an image acquisition is performed, that is, the reference vertical line image and the reference horizontal line image are obtained; Afterwards, the image information of the bridge pier is collected once at a preset time interval, and a real-time vertical line image and a real-time horizontal line image are extracted from the image information of the bridge pier; Compare the real-time vertical line image with the reference vertical line image for similarity, and obtain a first similarity; Comparing the real-time horizontal line image with the reference horizontal line image for similarity to obtain a second similarity; When either the first similarity or the second similarity is less than a preset value, generating detection warning information; After the pier information is collected by using the drone equipment and it is determined that the pier is a short pier, the first similarity and the second similarity are collected directly using the image collected by the drone equipment; Through the above process, a variety of different methods are realized to detect the bridge piers classified as short piers, and the images during the bridge pier classification can be used for detection, realizing more comprehensive and rapid bridge pier deformation detection.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for detecting deformation of a bridge pier, characterized in that: The following steps are involved: Step 1: Collect and process bridge pier information to obtain bridge pier classification; Step 2: Set the detection method according to the classification of bridge piers; Step 3: After setting the detection method, collect bridge pier detection data; Step 4: Analyze the bridge pier information and generate detection warning information.

2. A method for detecting deformation of a bridge pier according to claim 1, characterized in that: The specific process of collecting the bridge pier information is as follows: The image of the bridge pier is collected by using drone equipment, and the drone equipment is set to collect images of the bridge pier from four directions: east, south, west and north; The eastward and westward UAV images are collected from top to bottom, and the eastward and westward images are marked as F1 and F2; The drone images in the south and north directions are collected from bottom to top, and the images collected in the south and north directions are marked as F3 and F4; Processing the images F1 and F2 to obtain the bridge pier height U1 in F1 and the bridge pier height U2 in F2; Processing the images F3 and F4, obtaining the bridge pier height U3 in F3 and the bridge pier height U4 in F4; Analyze U1 and U2. If there are any abnormalities in U1 and U2, re-collect them. Analyze U3 and U4. If there are any abnormalities in U3 and U4, re-collect them. When there is no abnormality in U1 and U2, and no abnormality in U3 and U4, the pier height Uu, that is, the pier information, is obtained through the formula [(U1+U2) / 2+(U3+U4) / 2] / 2=Uu.

3. A method for detecting deformation of a bridge pier according to claim 2, characterized in that: The abnormality determination process of U1 and U2 is as follows: when the absolute value of the difference between U1 and U2 is greater than a preset value, it indicates that there is an abnormality in U1 and U2; The abnormality determination process of U3 and U4 is the same as that of U1 and U2.

4. The method for detecting deformation of a bridge pier according to claim 2, characterized in that: The specific process of processing the pier information and obtaining the pier classification is as follows: When the height of the bridge pier is less than or equal to the preset value a1, it is classified as a short pier; When the pier height is between the preset values ​​a1 and a2, it is classified as a medium pier; When the pier height is greater than or equal to the preset value a2, it is classified as a high pier.

5. The method for detecting deformation of a bridge pier according to claim 2, characterized in that: After the drone collects the bridge pier image, it first analyzes whether the bridge pier is a regular pier. Regular piers include cylindrical and cubic shapes. When the bridge pier is cylindrical or cubic, the drone also performs real-time image analysis on the bridge pier image. When an abnormality is found in the bridge pier image, a preliminary detection warning message is generated. The abnormality determination process in the bridge pier image is as follows: Extract the bridge pier images, i.e. the image information in four directions: east, south, west and north; Perform contour processing on the east-facing bridge pier image to obtain the east-facing bridge pier outline; Perform contour processing on the south-facing bridge pier image to obtain the south-facing bridge pier outline; Perform contour processing on the west-facing bridge pier image to obtain the west-facing bridge pier outline; Perform contour processing on the north-facing bridge pier image to obtain the north-facing bridge pier outline; Compare the east-facing pier outline with the west-facing pier outline. When the comparison between the east-facing pier outline and the west-facing pier outline is abnormal, it means that there is an abnormality in the pier image; Compare the south-facing pier outline with the north-facing pier outline. When the comparison between the south-facing pier outline and the north-facing pier outline is abnormal, it means that there is an abnormality in the pier image. The specific process of comparing the east-facing bridge pier profile with the west-facing bridge pier profile is as follows: firstly, the profile similarity of the east-facing bridge pier profile and the west-facing bridge pier profile is compared to obtain the first analysis parameter; Then the east-facing bridge pier contour and the west-facing bridge pier contour are processed to obtain the east-facing contour area and the west-facing contour area; Label the east-facing contour area as K1 and the west-facing contour area as K2; The second analysis parameter is obtained through the formula |(K1-K2)*α|=Kk, where α is the correction value, 0.99≤α≤1.01, and α is inversely proportional to K1+K2. The larger K1+K2 is, the smaller α is, and vice versa. When the first analysis parameter is greater than the preset value, but the second analysis parameter is less than the preset value, it means that the data is abnormal and needs to be re-collected; When the first analysis parameter is greater than the preset value and the second analysis parameter is also greater than the preset value, it means that the comparison between the eastward pier profile and the westward pier profile is abnormal; The comparison process of the southward pier profile with the northward pier profile is the same as the comparison process of the eastward pier profile with the westward pier profile; When the bridge pier is an irregular pier, it is imported into a preset database, and the collection method of the bridge pier of the corresponding shape is retrieved from the preset database to collect the bridge pier detection data.

6. A method for detecting deformation of a bridge pier according to claim 4, characterized in that: The specific process of setting the detection method according to the classification of bridge piers is as follows: When the bridge pier is classified as a short pier, the first detection method is selected for detection; When the bridge pier is classified as a medium pier, the second detection method is selected for detection; When the bridge pier is classified as a high pier, the third detection method is selected for detection.

7. A method for detecting deformation of a bridge pier according to claim 6, characterized in that: The specific process of bridge pier detection using the first detection method is as follows: First, set benchmark points around the bridge piers, use a total station to measure the three-dimensional coordinates of the top and bottom of the piers, repeat the measurements regularly, compare the data from different periods, calculate the displacement and tilt angle, and obtain the total station measurement data; Use ultrasonic testing to inspect bridge piers and detect defects inside the piers; That is, measuring points are arranged on the surface of the pier, and ultrasonic detectors are used to transmit and receive ultrasonic signals. By analyzing the propagation time, wave velocity and amplitude changes of the sound waves, the location and degree of internal defects are determined, and ultrasonic testing data is obtained; The total station measurement data and ultrasonic detection data constitute the bridge pier detection data.

8. The method for detecting deformation of a bridge pier according to claim 6, characterized in that: The specific process of the second detection method for bridge pier detection is as follows: first, use a three-dimensional laser scanner to perform an all-round scan of the bridge pier to generate a three-dimensional model; By comparing the 3D models obtained by scanning at different times, the deformation of the bridge piers was analyzed and the scanning data was obtained; Use millimeter-wave radar to monitor the dynamic deformation of bridge piers in real time and obtain radar detection results; The scanning data and radar detection results constitute the bridge pier detection data.

9. The method for detecting deformation of a bridge pier according to claim 6, characterized in that: The specific process of bridge pier inspection using the third inspection method is as follows: Use GPS and total station to jointly monitor bridge piers; Install GPS receivers and total station observation points on the bridge piers, obtain horizontal displacement data of the bridge piers through GPS, and use the total station to obtain measurement data; The horizontal displacement data and the measurement data constitute joint data; Use the structural health monitoring system to monitor bridge piers and monitor the pier health data in real time; The pier health data and joint data constitute the pier inspection data.

10. A method for detecting deformation of a bridge pier according to any one of claims 6 to 9, characterized in that: The specific process of analyzing the pier information and generating the test results is as follows: When the pier type is a short pier, the total station measurement data and ultrasonic detection data are extracted from the pier information; Compare and analyze the total station measurement data and the ultrasonic detection data. When the total station measurement data shows deformation or the ultrasonic detection data shows internal defects, a detection warning message is generated. When the pier type is a medium pier, the scanning data and radar detection results are extracted from the pier information; Analyze the scanned data. When the scanned data determines that the bridge pier is deformed and the radar detection result analysis also determines that the bridge pier is deformed, a detection warning message is generated. When the scan data shows that the bridge pier is deformed, but the radar detection result shows that the bridge pier is not deformed; or when the scan data shows that the bridge pier is not deformed, but the radar detection result shows that the bridge pier is deformed, the bridge pier detection data collection is performed again; When the pier type is a high pier, the pier health data and joint data are extracted from the pier information; Analyze the pier health data and joint data to obtain health data analysis results and joint data analysis results; When both the health data analysis results and the joint data analysis results indicate that the bridge pier is deformed, a detection warning message is generated; When the health data analysis results are inconsistent with the joint data analysis results, the pier inspection data collection is carried out again.

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