A method for detecting the deformation degree of a bridge pier

Abstract

The present invention discloses a method for detecting the deformation degree of bridge piers, which includes the following steps: Step 1: Collect bridge pier information, process the bridge pier information, and obtain the classification of bridge piers; Step 2: Set the detection method according to the classification of bridge piers; Step 3: After setting the detection method, collect the detection data of bridge piers; Step 4: Analyze the bridge pier information to generate detection warning information. The present invention can accurately classify bridge piers, customize detection methods for short piers, medium piers, and high piers, and achieve accurate and personalized detection; use drones to collect images comprehensively, calculate the height by taking the average value in multiple directions, and combine with the abnormal re-sampling mechanism to ensure comprehensive and accurate data; integrate a variety of technologies to monitor bridge piers both internally and externally; also generate warning information or re-sampling prompts according to different situations by intelligently analyzing data, which can not only timely discover potential hazards to ensure the safety of bridges, but also optimize the detection process, rationally allocate resources, and comprehensively protect the stability of bridge piers and bridges.

Description

Technical Field

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

[0002] As an important supporting structure of a bridge, the deformation of a bridge pier is directly related to the overall stability and safety of the bridge. By detecting the deformation of the bridge pier, deformation problems such as displacement, inclination, and settlement that occur during the construction and operation of the bridge pier can be discovered in a timely manner, so as to take corresponding maintenance and reinforcement measures to ensure the normal use of the bridge and avoid serious consequences such as bridge structure damage and traffic safety accidents caused by excessive deformation of the bridge pier;

[0003] Therefore, it is necessary to regularly detect the deformation of the bridge pier to determine whether there is deformation of the bridge pier. During the detection process, a method for detecting the deformation degree of the bridge pier will be used.

[0004] The existing detection methods have a single detection type, resulting in low reliability of the detection results, which has a certain impact on the use of the detection methods. Therefore, a method for detecting the deformation degree of a bridge pier is proposed. Summary of the Invention

[0005] 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 the detection results, and provides a method for detecting the deformation degree of a bridge pier.

[0006] The present invention solves the above technical problems through the following technical solutions. The present invention includes the following steps:

[0007] Step 1: Collect bridge pier information, process the bridge pier information, and obtain the bridge pier classification;

[0008] Step 2: Set the detection method according to the classification of the bridge pier;

[0009] Step 3: After setting the detection method, collect the bridge pier detection data;

[0010] Step 4: Analyze the bridge pier information and generate a detection warning message.

[0011] The specific process of collecting the bridge pier information is as follows:

[0012] Collect the images of the bridge pier through a drone device, and set the drone device to collect the images of the bridge pier from four directions: east, south, west, and north;

[0013] Among them, the drone image collection in the east and west directions is collected from top to bottom, and the images collected in the east and west directions are marked as F1 and F2;

[0014] The southward and northward UAV image acquisitions are from bottom to top, and the images acquired southward and northward are marked as F3 and F4;

[0015] Process the images F1 and F2 to obtain the pier height U1 in F1 and the pier height U2 in F2;

[0016] Process the images F3 and F4 to obtain the pier height U3 in F3 and the pier height U4 in F4;

[0017] Analyze U1 and U2. When U1 and U2 are abnormal, re-acquire;

[0018] Analyze U3 and U4. When U3 and U4 are abnormal, re-acquire;

[0019] When U1 and U2 are normal and U3 and U4 are normal, obtain the pier height Uu through the formula [(U1 + U2) / 2 + (U3 + U4) / 2] / 2 = Uu, which is the pier information.

[0020] Furthermore, the abnormal determination process of U1 and U2 is as follows: When the absolute value of the difference between U1 and U2 is greater than the preset value, it means that U1 and U2 are abnormal;

[0021] The abnormal determination process of U3 and U4 is the same as that of U1 and U2.

[0022] Furthermore, the specific process of processing the pier information to obtain the pier classification is as follows:

[0023] When the pier height is less than or equal to the preset value a1, classify it as a short pier;

[0024] When the pier height is between the preset values a1 and a2, classify it as a medium pier;

[0025] When the pier height is greater than or equal to the preset value a2, classify it as a tall pier.

[0026] Furthermore, the specific process of setting the detection method according to the pier classification is as follows:

[0027] When the pier classification is a short pier, select the first detection method for detection;

[0028] When the pier classification is a medium pier, select the second detection method for detection;

[0029] When the pier classification is a tall pier, select the third detection method for detection.

[0030] Furthermore, after the UAV captures the images of the bridge pier, it first analyzes whether the bridge pier is a regular-shaped one. Regular-shaped bridge piers include cylindrical and cubic shapes. When the bridge pier belongs to a cylindrical or cubic shape, it also conducts an immediate image analysis on the bridge pier images. When abnormalities are found in the bridge pier images, preliminary detection warning information is generated.

[0031] The process of determining abnormalities in the bridge pier images is as follows:

[0032] Extract the bridge pier images, that is, the image information in the east, south, west, and north directions;

[0033] Perform contour processing on the east-facing bridge pier image to obtain the east-facing bridge pier contour;

[0034] Perform contour processing on the south-facing bridge pier image to obtain the south-facing bridge pier contour;

[0035] Perform contour processing on the west-facing bridge pier image to obtain the west-facing bridge pier contour;

[0036] Perform contour processing on the north-facing bridge pier image to obtain the north-facing bridge pier contour;

[0037] Compare the east-facing bridge pier contour with the west-facing bridge pier contour. When there are abnormalities in the comparison between the east-facing bridge pier contour and the west-facing bridge pier contour, it indicates that there are abnormalities in the bridge pier images;

[0038] Compare the south-facing bridge pier contour with the north-facing bridge pier contour. When there are abnormalities in the comparison between the south-facing bridge pier contour and the north-facing bridge pier contour, it indicates that there are abnormalities in the bridge pier images;

[0039] The specific process of comparing the east-facing bridge pier contour with the west-facing bridge pier contour is as follows: First, perform a contour similarity comparison between the east-facing bridge pier contour and the west-facing bridge pier contour to obtain the first analysis parameter;

[0040] Then process the east-facing bridge pier contour and the west-facing bridge pier contour to obtain the east-facing contour area and the west-facing contour area;

[0041] Mark the east-facing contour area as K1 and the west-facing contour area as K2;

[0042] Through the formula |(K1 - K2) * α| = Kk, the second analysis parameter is obtained. α is a correction value, 0.99 ≤ α ≤ 1.01, α is inversely proportional to K1 + K2. The larger K1 + K2 is, the smaller α is, and vice versa;

[0043] When the first analysis parameter is greater than the preset value, but the second analysis parameter is less than the preset value, it indicates that the data is abnormal and needs to be re-collected;

[0044] When the first analysis parameter is greater than the preset value and the second analysis parameter is also greater than the preset value, it indicates that there is an abnormality in the comparison between the eastward pier contour and the westward pier contour;

[0045] The comparison process between the southward pier contour and the northward pier contour is the same as that between the eastward pier contour and the westward pier contour;

[0046] When the pier is an irregular-shaped pier, it is imported into the preset database, and the acquisition method of the pier with the corresponding shape is retrieved from the preset database to collect the pier detection data.

[0047] Furthermore, the specific process of using the first detection method for pier detection is as follows:

[0048] First, set reference points around the pier, use a total station to measure the three-dimensional coordinates of the top and bottom of the pier, repeat the measurement regularly, compare the data of different periods, calculate the displacement and tilt angle, and obtain the total station measurement data;

[0049] Use ultrasonic detection for pier detection to detect defects inside the pier, such as cracks and cavities;

[0050] That is, arrange measuring points on the pier surface, use an ultrasonic detector to emit and receive ultrasonic signals, and judge the position and degree of internal defects by analyzing the propagation time, wave velocity and amplitude change of the sound wave, and obtain the ultrasonic detection data;

[0051] The total station measurement data and the ultrasonic detection data constitute the pier detection data.

[0052] Furthermore, the specific process of using the second detection method for pier detection is as follows: First, use a three-dimensional laser scanner to perform a full-range scan of the pier to generate a three-dimensional model;

[0053] By comparing the three-dimensional models obtained by scanning in different periods, analyze the deformation of the pier and obtain the scan data;

[0054] Use a millimeter-wave radar to monitor the dynamic deformation of the pier in real time and obtain the radar detection result;

[0055] The scan data and the radar detection result constitute the pier detection data.

[0056] Furthermore, the specific process of using the third detection method for pier detection is as follows:

[0057] Use GPS and a total station for joint monitoring of the pier;

[0058] Install a GPS receiver and a total station observation point on the pier, obtain the horizontal displacement data of the pier through GPS, and at the same time use the total station for measurement to obtain the measurement data;

[0059] The horizontal displacement data and the measurement data form combined data;

[0060] Use a structural health monitoring system to monitor the bridge pier, and real-time monitor the health data of the bridge pier;

[0061] The health data of the bridge pier and the combined data form the bridge pier detection data.

[0062] Furthermore, the specific process of analyzing the bridge pier information to generate a detection result is as follows:

[0063] When the bridge pier type is a short pier, extract the total station measurement data and ultrasonic detection data from the bridge pier information;

[0064] Compare and analyze the total station measurement data and the ultrasonic detection data. When the content of the total station measurement data is that there is deformation or the internal defect data of the ultrasonic detection data is that there is a defect, a detection warning message is generated;

[0065] When the bridge pier type is a medium pier, extract the scan data and the radar detection result from the bridge pier information;

[0066] Analyze the scan data. When the scan 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;

[0067] When the scan data is that the bridge pier is deformed and the radar detection result analysis is that the bridge pier is not deformed, or when the scan data is that the bridge pier is not deformed and the radar detection result analysis is that the bridge pier is deformed, re-collect the bridge pier detection data;

[0068] When the bridge pier type is a high pier, extract the health data of the bridge pier and the combined data from the bridge pier information;

[0069] Analyze the health data of the bridge pier and the combined data to obtain the health data analysis result and the combined data analysis result;

[0070] When both the health data analysis result and the combined data analysis result are that the bridge pier is deformed, a detection warning message is generated;

[0071] When the health data analysis result and the combined data analysis result are inconsistent, re-collect the bridge pier detection data;

[0072] Furthermore, when the bridge pier is classified as a short pier, the detection method for the bridge pier also includes an image analysis method;

[0073] The specific process of the image analysis method is as follows:

[0074] Draw a marking vertical line and a marking horizontal line on the bridge pier, and the marking vertical line and the marking horizontal line are perpendicular to each other;

[0075] After drawing the vertical and horizontal identification lines, an image acquisition is performed once, that is, the reference vertical line image and the reference horizontal line image are obtained;

[0076] After that, the image information of the pier is collected every preset time interval, and the real-time vertical line image and the real-time horizontal line image are extracted from the image information of the pier;

[0077] The real-time vertical line image is compared with the reference vertical line image for similarity to obtain the first similarity;

[0078] The real-time horizontal line image is compared with the reference horizontal line image for similarity to obtain the second similarity;

[0079] When any one of the first similarity or the second similarity is less than the preset value, a detection warning message is generated;

[0080] After using the drone equipment to collect pier information and determining that the pier is a low pier, the images collected by the drone equipment are directly used for the collection of the first similarity and the second similarity.

[0081] The present invention has the following advantages compared with the prior art: The detection method of the pier deformation degree classifies the piers accurately into low piers, medium piers and high piers by collecting and processing the pier height information, and sets corresponding detection methods according to the classification, ensuring that each type of pier can adopt the most suitable detection means, avoiding the inefficiency and inaccuracy problems brought by single detection methods, adapting to different pier characteristics to the greatest extent, and improving the detection pertinence. The pier is imaged from multiple directions, covering all sides of the pier comprehensively, ensuring that the obtained pier height data is more accurate and reliable. The multi-faceted image information can provide rich materials for subsequent analysis, reduce data deviation caused by single-viewpoint acquisition, and improve the accuracy of the overall state judgment of the pier. In the stage of image data analysis, 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 different pier types, the corresponding detection data is intelligently extracted and deeply compared and analyzed. Once abnormal signs such as deformation and defects are found, a detection warning message is generated quickly, which can save valuable time for taking maintenance, reinforcement and other measures in time, effectively prevent safety accidents caused by pier deformation, ensure the safe operation of traffic infrastructure, and can also flexibly adjust the detection process according to the real-time state of the pier, continuously track its change trend, and ensure that the detection results always reflect the current true situation of the pier. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 is the overall flowchart of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0083] The following is a detailed description of the embodiments of the present invention. These embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments.

[0084] As Figure 1 shown, this embodiment provides a technical solution: a method for detecting the deformation degree of a bridge pier, including the following steps:

[0085] Step 1: Collect bridge pier information, process the bridge pier information, and obtain the bridge pier classification;

[0086] Step 2: Set the detection method according to the classification of the bridge pier;

[0087] Step 3: After setting the detection method, collect the bridge pier detection data;

[0088] Step 4: Analyze the bridge pier information to generate a detection warning message.

[0089] The specific process of collecting the bridge pier information is as follows:

[0090] Collect the images of the bridge pier through a drone device, and set the drone device to collect the images of the bridge pier from four directions: east, south, west, and north;

[0091] Among them, the drone image collection in the east and west directions is collected from top to bottom, and the images collected in the east and west directions are marked as F1 and F2;

[0092] The drone image collection in the south and north directions is collected from bottom to top, and the images collected in the south and north directions are marked as F3 and F4;

[0093] Process the images F1 and F2 to obtain the bridge pier height U1 in F1 and the bridge pier height U2 in F2;

[0094] Process the images F3 and F4 to obtain the bridge pier height U3 in F3 and the bridge pier height U4 in F4;

[0095] Analyze U1 and U2. When U1 and U2 are abnormal, re-collect;

[0096] Analyze U3 and U4. When U3 and U4 are abnormal, re-collect;

[0097] When U1 and U2 are normal and U3 and U4 are normal, obtain the bridge pier height Uu, that is, the bridge pier information, through the formula [(U1 + U2) / 2 + (U3 + U4) / 2] / 2 = Uu.

[0098] The abnormal determination process of U1 and U2 is as follows: When the absolute value of the difference between U1 and U2 is greater than the preset value, it indicates that U1 and U2 are abnormal;

[0099] The abnormal determination process of U3 and U4 is the same as that of U1 and U2;

[0100] By setting the drone to collect images of the bridge pier from four directions: east, south, west, and north, and in a top-down manner for each direction, it is possible to comprehensively and without dead angles obtain the image information of all sides of the bridge pier. This avoids the problem of missing the characteristics of some key parts of the bridge pier that may occur due to single-direction or limited-angle collection, ensuring that the collected data can fully reflect the actual situation of the bridge pier and laying a solid foundation for accurately calculating the height of the bridge pier.

[0101] Respectively obtain the bridge pier heights (U1, U2, U3, U4) corresponding to the images in the four directions, and calculate the final bridge pier height Uu through the formula [(U1 + U2) / 2 + (U3 + U4) / 2] / 2. This method of taking the average of the measurement results in multiple directions can effectively reduce the measurement errors caused by interference from environmental factors (such as light, occlusion, etc.) during the collection process in a certain direction, making the finally obtained bridge pier height data more accurate and reliable.

[0102] Perform abnormal determination on U1 and U2, U3 and U4 respectively. When the absolute value of the difference is greater than the preset value, re-collect the data. This mechanism can timely detect and eliminate the incorrect data caused by various unexpected situations (such as unstable drone flight attitude, image processing algorithm errors, etc.) during the collection process, ensuring that each set of data used to calculate the bridge pier height is accurate and effective, and further improving the accuracy of the final data;

[0103] The specific process of processing the bridge pier information to obtain the classification of the bridge pier is as follows:

[0104] When the height of the bridge pier is less than or equal to the preset value a1, it is classified as a short pier;

[0105] When the height of the bridge pier is between the preset values a1 and a2, it is classified as a medium pier;

[0106] When the height of the bridge pier is greater than or equal to the preset value a2, it is classified as a tall pier.

[0107] The specific process of setting the detection method according to the classification of the bridge pier is as follows:

[0108] When the classification of the bridge pier is a short pier, select the first detection method for detection;

[0109] When the classification of the bridge pier is a medium pier, select the second detection method for detection;

[0110] When the bridge pier is classified as a high pier, the third detection method is selected for detection;

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] The abnormality determination process in the bridge pier image is as follows:

[0116] Extract the pier images, i.e., the image information in the east, south, west, and north directions;

[0117] Perform contouring on the pier images in the east direction to obtain the east-direction pier contour;

[0118] Perform contouring on the pier images in the south direction to obtain the south-direction pier contour;

[0119] Perform contouring on the pier images in the west direction to obtain the west-direction pier contour;

[0120] Perform contouring on the pier images in the north direction to obtain the north-direction pier contour;

[0121] Compare the east-direction pier contour with the west-direction pier contour. When the comparison between the east-direction pier contour and the west-direction pier contour is abnormal, it indicates that there is an abnormality in the pier image;

[0122] Compare the south-direction pier contour with the north-direction pier contour. When the comparison between the south-direction pier contour and the north-direction pier contour is abnormal, it indicates that there is an abnormality in the pier image;

[0123] The specific process of comparing the east-direction pier contour with the west-direction pier contour is as follows: First, perform a contour similarity comparison between the east-direction pier contour and the west-direction pier contour to obtain the first analysis parameter;

[0124] Then, process the east-direction pier contour and the west-direction pier contour to obtain the east-direction contour area and the west-direction contour area;

[0125] Mark the east-direction contour area as K1 and the west-direction contour area as K2;

[0126] Through the formula |(K1 - K2) * α| = Kk, the second analysis parameter is obtained. α is a correction value, 0.99 ≤ α ≤ 1.01, α is inversely proportional to K1 + K2, the larger K1 + K2 is, the smaller α is, and vice versa;

[0127] When the first analysis parameter is greater than the preset value, but the second analysis parameter is less than the preset value, it indicates that the data is abnormal and needs to be recollected;

[0128] When the first analysis parameter is greater than the preset value and the second analysis parameter is also greater than the preset value, it indicates that there is an abnormality in the comparison between the east-direction pier contour and the west-direction pier contour;

[0129] The comparison process between the south-direction pier contour and the north-direction pier contour is the same as the comparison process between the east-direction pier contour and the west-direction pier contour;

[0130] When the bridge pier is an irregular - shaped bridge pier, import it into the preset database, and retrieve the acquisition method of the bridge pier with the corresponding shape from the preset database to collect bridge - pier detection data. The preset database stores the bridge - pier detection data acquisition processes of various irregular - shaped bridge piers;

[0131] The above - mentioned process can improve accuracy. By analyzing the bridge - pier image from two dimensions of contour similarity comparison and contour - area analysis, it is possible to more comprehensively judge whether there are abnormalities in the bridge pier. Relying solely on contour similarity may not fully reflect the true state of the bridge pier, while combining contour - area analysis can further verify abnormal situations, reduce misjudgment, and improve the accuracy of the detection results;

[0132] 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 contour areas, making the analysis process more flexible and adaptable. The contour areas of bridge piers of different sizes have different influences on the analysis results. Through the correction value, this difference can be better balanced, and the reliability of the analysis can be improved;

[0133] The preset values of the first analysis parameter and the second analysis parameter, as well as their judgment criteria in different situations, are clarified, making the entire abnormal - judgment process have a clear operation basis. Staff can quickly judge whether there are abnormalities in the bridge - pier image according to these criteria, without relying too much on subjective experience, improving the detection efficiency and consistency;

[0134] Discover potential problems in a timely manner. After the UAV captures the bridge - pier image, immediately conduct image analysis, and generate preliminary detection warning information when abnormalities are found, which can timely discover potential problems with the bridge pier, gain time for subsequent detailed detection and maintenance work, and contribute to ensuring the safe operation of the bridge.

[0135] The data - anomaly processing mechanism ensures 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 determined that the data is abnormal and needs to be recollected. This mechanism can effectively avoid misjudgment caused by possible errors or interferences in the data - acquisition process, ensure that the collected data has a certain quality and reliability, and provide a more accurate basis for subsequent analysis and decision - making.

[0136] The specific process of using the first detection method for bridge - pier detection is as follows:

[0137] First, set reference points around the bridge pier, use a total - station to measure the three - dimensional coordinates of the top and bottom of the bridge pier, repeat the measurement regularly, compare the data of different periods, calculate the displacement and tilt angle, and obtain the total - station measurement data;

[0138] Use ultrasonic detection for bridge - pier detection to detect internal defects (such as cracks and cavities) of the bridge pier;

[0139] That is, measuring points are arranged on the surface of the pier, and an ultrasonic detector is 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 judged, and ultrasonic detection data is obtained;

[0140] The total station measurement data and the ultrasonic detection data form the pier detection data;

[0141] 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. Regularly repeating the measurement and comparing the data of different periods, calculating the displacement and tilt angle, the deformation of the pier in the horizontal and vertical directions can be monitored in real time, and the external shape changes of the pier can be comprehensively understood. At the same time, the internal defects of the pier are detected by ultrasonic waves. Measuring points are arranged on the surface of the pier, and the location and degree of internal defects are judged by analyzing the propagation time, wave velocity, and amplitude changes of the ultrasonic signals, which can deeply detect the integrity of the internal structure of the pier. These two detection methods cooperate with each other, comprehensively detecting the state of the pier from the external shape to the internal structure, avoiding the problems that may be missed by only focusing on a single aspect of the external or internal. 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 tilt angle, it can be judged whether the deformation of the pier is within the normal range and whether there are abnormal situations such as accelerated deformation. This data comparison and analysis helps to discover potential problems of the pier in advance, take measures in time for treatment, and avoid the expansion of problems.

[0142] The specific process of detecting the pier by the second detection method is as follows: First, use a three-dimensional laser scanner to scan the pier comprehensively to generate a three-dimensional model;

[0143] By comparing the three-dimensional models obtained by scanning in different periods, the deformation of the pier is analyzed, and scanning data is obtained;

[0144] Use a millimeter-wave radar to monitor the dynamic deformation of the pier in real time to obtain radar detection results;

[0145] The scanning data and the radar detection results form the pier detection data;

[0146] Using a three-dimensional laser scanner to scan the pier comprehensively and generate a three-dimensional model can completely and accurately restore information such as the geometric shape, size, and surface characteristics of the pier. This comprehensive scanning method can capture the details of each part of the pier. No matter how complex the shape of the pier is, a high-precision three-dimensional model can be constructed, providing a comprehensive and accurate data basis for subsequent analysis.

[0147] By comparing the 3D models scanned at different times to analyze the deformation of the bridge pier, the morphological changes of the bridge pier over a period of time can be visually observed. It is possible to clearly identify whether there are problems such as local deformation and overall displacement of the bridge pier, and the degree and trend of deformation can be quantified. This monitoring method based on 3D model comparison is more intuitive and accurate than traditional measurement methods, which helps to detect potential problems of the bridge pier in a timely manner.

[0148] The millimeter-wave radar monitors the dynamic deformation of the bridge pier in real time, making up for the deficiency that 3D laser scanning can only obtain static data. The millimeter-wave radar can capture the dynamic response of the bridge pier under various working conditions (such as vehicle passing, wind action, etc.) in real time, and promptly detect the deformation of the bridge pier in an instant or within a short period of time. For a middle pier such a structure at a certain height and possibly subjected to various dynamic loads, real-time dynamic monitoring can provide a more comprehensive understanding of its actual working state and provide a more reliable basis for evaluating the safety of the bridge pier.

[0149] The scanned data and the radar detection results form the bridge pier detection data, and the two types of data complement each other. The scanned data focuses on the static geometric shape and long-term deformation of the bridge pier, while the radar detection results focus on the dynamic response and real-time deformation of the bridge pier. Combining the two can comprehensively understand the state of the bridge pier from both static and dynamic dimensions, making the detection results more accurate and reliable, and improving the comprehensiveness and scientific nature of the safety assessment of the bridge pier.

[0150] Both 3D laser scanning and millimeter-wave radar detection belong to non-contact detection methods, which do not require direct contact with the bridge pier, avoiding additional damage or influence on the bridge pier structure. For a middle pier such a structure that has been put into use, non-contact detection can be carried out without affecting its normal use, reducing the interference of the detection work on traffic and bridge operation, and at the same time reducing the safety risks during the detection process.

[0151] 3D laser scanning can quickly obtain a large amount of point cloud data and generate 3D models relatively fast; the millimeter-wave radar can monitor in real time and quickly output detection results. The detection efficiency of these two detection methods is relatively high, and the detection work of the bridge pier can be completed in a relatively short time, greatly improving the timeliness of detection, saving time costs for the maintenance and management of the bridge pier, and facilitating the timely adoption of corresponding measures to ensure the safety of the bridge pier.

[0152] The specific process of detecting the bridge pier by the third detection method is as follows:

[0153] Use GPS and total station to jointly monitor the bridge pier;

[0154] Install GPS receivers and total station observation points on the bridge pier, obtain the horizontal displacement data of the bridge pier through GPS, and at the same time use the total station for measurement to obtain measurement data;

[0155] The horizontal displacement data and the measurement data form combined data;

[0156] Use a structural health monitoring system to monitor the bridge pier, and real-time monitor the health data of the bridge pier;

[0157] The health data of the bridge pier and the combined data form the bridge pier detection data;

[0158] A GPS receiver can be used to obtain the horizontal displacement data of the bridge pier in real time and with high precision. For high piers, due to their high height, under the action of external factors (such as wind force, water flow, etc.), the displacement change in the horizontal direction may have an important impact on the structural safety. GPS technology can provide accurate coordinate information, timely capture the horizontal displacement of the bridge pier, and provide key data for evaluating the stability of the bridge pier.

[0159] In addition to measuring the horizontal displacement of the bridge pier, a total station can also measure various data such as its vertical displacement and tilt angle. When used in combination with GPS, the data of the two complement each other, and can more comprehensively reflect the spatial position change and deformation of the bridge pier. Through the measurement of the total station, more detailed local deformation information can be obtained, making up for the deficiencies of GPS data in some aspects, and improving the accuracy and reliability of the bridge pier deformation monitoring.

[0160] The structural health monitoring system can real-time monitor the health data of the bridge pier, such as stress, strain, vibration, etc. These data directly reflect the working state of the internal structure of the bridge pier. By analyzing these data, possible damages or potential problems inside the bridge pier can be discovered in a timely manner. For high piers with complex structures and variable stress conditions, real-time health monitoring can detect subtle structural changes at an early stage, provide a basis for taking maintenance measures in a timely manner, and avoid problems developing into serious safety hazards.

[0161] Combine the combined data obtained by GPS and the total station with the health data of the bridge pier obtained by the structural health monitoring system to form comprehensive bridge pier information. This way of comprehensive data can evaluate the state of the bridge pier from multiple angles, not only considering the external deformation of the bridge pier, but also taking into account the health status of the internal structure. Through the comprehensive analysis of these data, the safety and reliability of the bridge pier can be judged more accurately, providing a more scientific basis for the maintenance, management and decision-making of the bridge pier.

[0162] The specific process of analyzing the bridge pier information to generate the detection result is as follows:

[0163] When the bridge pier type is a low pier, extract the total station measurement data and ultrasonic detection data from the bridge pier information;

[0164] Compare and analyze the total station measurement data and ultrasonic detection data. When the content of the total station measurement data indicates deformation or the internal defect data of the ultrasonic detection data indicates a defect, a detection warning message is generated.

[0165] When the pier type is a middle pier, extract the scanning data and radar detection results from the pier information.

[0166] Analyze the scanning data. When the scanning data determines that the pier is deformed and the radar detection result analysis also determines that the pier is deformed, a detection warning message is generated.

[0167] When the scanning data indicates that the pier is deformed and the radar detection result analysis indicates that the pier is not deformed, or when the scanning data indicates that the pier is not deformed and the radar detection result analysis indicates that the pier is deformed, re-collect the pier detection data.

[0168] When the pier type is a high pier, extract the pier health data and combined data from the pier information.

[0169] Analyze the pier health data and combined data to obtain the health data analysis result and combined data analysis result.

[0170] When both the health data analysis result and the combined data analysis result indicate that the pier is deformed, a detection warning message is generated.

[0171] When the health data analysis result and the combined data analysis result are inconsistent, re-collect the pier detection data.

[0172] For different types of piers (low piers, middle piers, high piers), extract the most representative detection data corresponding to each and analyze them. For low piers, combine the total station measurement data to judge deformation and ultrasonic detection data to judge internal defects; for middle piers, comprehensively judge deformation based on scanning data and radar detection results; for high piers, analyze the pier health data and combined data to judge the deformation situation. This classified and targeted analysis method can give full play to the advantages of different detection methods, avoid misjudgment caused by single data or inappropriate data combinations, and improve the accuracy and reliability of pier status judgment.

[0173] Discover potential problems in a timely manner and ensure bridge safety: When specific abnormal conditions are met (such as deformation or internal defects of low piers, both detection results of middle piers showing deformation, both analysis results of high piers showing deformation), generate a detection warning message in a timely manner. This enables maintenance personnel to quickly understand the potential problems existing in the piers and take corresponding maintenance, reinforcement and other measures in a timely manner, effectively preventing bridge safety accidents caused by pier problems and ensuring the normal use of the bridge and the safe and unobstructed traffic.

[0174] Avoid misjudgment and missed judgment: For middle piers and high piers, when different detection data or analysis results are inconsistent (the scanning data of the middle pier conflicts with the radar detection results, the health data analysis results of the high pier are inconsistent with the combined data analysis results), measures are taken to re-collect the pier detection data. This mechanism avoids misjudgment or missed judgment caused by data conflicts or uncertainties, ensures a more accurate and comprehensive understanding of the pier state before drawing conclusions, and further improves the credibility of the detection results;

[0175] When the pier is classified as a low pier, the detection methods for the pier also include the image analysis method;

[0176] The specific process of the image analysis method is as follows:

[0177] Vertical identification lines and horizontal identification lines are drawn on the pier, and the vertical identification lines and the horizontal identification lines are perpendicular to each other;

[0178] After drawing the vertical identification lines and the horizontal identification lines, one image collection is performed, that is, the reference vertical line image and the reference horizontal line image are obtained;

[0179] After that, the image information of the pier is collected every preset time interval, and the real-time vertical line image and the real-time horizontal line image are extracted from the image information of the pier;

[0180] The real-time vertical line image is compared with the reference vertical line image for similarity to obtain the first similarity;

[0181] The real-time horizontal line image is compared with the reference horizontal line image for similarity to obtain the second similarity;

[0182] When any one of the first similarity or the second similarity is less than the preset value, a detection warning message is generated;

[0183] After using the drone equipment to collect the pier information and determining that the pier is a low pier, the images collected by the drone equipment are directly used for the collection of the first similarity and the second similarity;

[0184] Through the above process, the detection of piers classified as low piers is realized in a variety of different ways, and the images obtained during the pier classification can be used for detection, realizing a more comprehensive and rapid detection of pier deformation.

[0185] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0186] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection 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, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0187] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for detecting the deformation degree of a pier, characterized in that, It includes the following steps: Step 1: Collect pier information, process the pier information, and obtain pier classification; Step 2: Set the detection method according to the pier classification; Step 3: After setting the detection method, collect pier detection data; Step 4: Analyze the pier information to generate detection warning information; The specific process of collecting the pier information is as follows: Collect images of the pier through a drone device, and set the drone device to collect images of the pier from four directions: east, south, west, and north; Among them, the drone image collection in the east and west directions is from top to bottom, and the images collected in the east and west directions are marked as F1 and F2; The drone image collection in the south and north directions is from bottom to top, and the images collected in the south and north directions are marked as F3 and F4; Process images F1 and F2 to obtain the pier height U1 in F1 and the pier height U2 in F2; Process images F3 and F4 to obtain the pier height U3 in F3 and the pier height U4 in F4; Analyze U1 and U2, and when U1 and U2 are abnormal, re-collect; Analyze U3 and U4, and when U3 and U4 are abnormal, re-collect; When U1 and U2 are normal and U3 and U4 are normal, obtain the pier height Uu, that is, the pier information, through the formula [(U1 + U2) / 2 + (U3 + U4) / 2] / 2 = Uu; The abnormal determination process of U1 and U2 is as follows: When the absolute value of the difference between U1 and U2 is greater than the preset value, it means that U1 and U2 are abnormal; The abnormal determination process of U3 and U4 is the same as that of U1 and U2; The specific process of processing the pier information to obtain the pier classification is as follows: When the pier height 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 tall pier.

2. The detection method of the deformation degree of a pier according to claim 1, characterized in that: After the drone collects the pier images, first analyze whether the pier is a regular-shaped pier. Regular-shaped piers include cylindrical and cubic shapes. When the pier belongs to a cylindrical or cubic shape, real-time image analysis is also performed on the pier images. When abnormalities are found in the pier images, preliminary detection warning information is generated; The abnormal determination process in the pier images is as follows: Extract the pier images, that is, the image information in the four directions of east, south, west, and north; Perform contour processing on the east-direction pier image to obtain the east-direction pier contour; Perform contour processing on the south-direction pier image to obtain the south-direction pier contour; Perform contour processing on the west-direction pier image to obtain the west-direction pier contour; Perform contour processing on the north-direction pier image to obtain the north-direction pier contour; Compare the east-direction pier contour with the west-direction pier contour. When the comparison between the east-direction pier contour and the west-direction pier contour is abnormal, it means that the pier image is abnormal; Compare the south-direction pier contour with the north-direction pier contour. When the comparison between the south-direction pier contour and the north-direction pier contour is abnormal, it means that the pier image is abnormal; The specific process of comparing the eastward pier contour with the westward pier contour is as follows: First, compare the contour similarity between the eastward pier contour and the westward pier contour to obtain the first analysis parameter; Then process the eastward pier contour and the westward pier contour to obtain the eastward contour area and the westward contour area; Mark the eastward contour area as K1 and the westward contour area as K2; Through the formula |(K1 - K2) * α| = Kk, the second analysis parameter is obtained. Here, α is a 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 indicates that the data is abnormal and needs to be collected again; When the first analysis parameter is greater than the preset value and the second analysis parameter is also greater than the preset value, it indicates that there is an abnormality in the comparison between the eastward pier contour and the westward pier contour; The comparison process between the southward pier contour and the northward pier contour is the same as that between the eastward pier contour and the westward pier contour; When the pier is an irregular pier, import it into the preset database, and retrieve the acquisition method of the pier with the corresponding shape from the preset database to collect the pier detection data.

3. The detection method of the deformation degree of a bridge pier according to claim 2, characterized in that: The specific process of setting the detection method according to the classification of the pier is as follows: When the classification of the pier is a short pier, select the first detection method for detection; When the classification of the pier is a medium pier, select the second detection method for detection; When the classification of the pier is a tall pier, select the third detection method for detection.

4. The detection method for the deformation degree of a pier according to claim 3, wherein: The specific process of using the first detection method for pier detection is as follows: First, set reference points around the pier, use a total station to measure the three-dimensional coordinates of the top and bottom of the pier, repeat the measurement regularly, compare the data of different periods, calculate the displacement and tilt angle, and obtain the total station measurement data; Use ultrasonic detection for pier detection to detect the internal defects of the pier; That is, arrange measuring points on the surface of the pier, use an ultrasonic detector to emit and receive ultrasonic signals, and judge the position and degree of internal defects by analyzing the propagation time, wave velocity and amplitude change of the sound wave, and obtain the ultrasonic detection data; The total station measurement data and the ultrasonic detection data form the pier detection data.

5. The detection method of the deformation degree of a bridge pier according to claim 3, characterized in that: The specific process of using the second detection method for pier detection is as follows: First, use a three-dimensional laser scanner to scan the pier comprehensively to generate a three-dimensional model; By comparing the three-dimensional models obtained by scanning at different times, analyze the deformation of the pier to obtain the scanning data; Use a millimeter-wave radar to monitor the dynamic deformation of the pier in real time to obtain the radar detection result; The scanning data and the radar detection result form the pier detection data.

6. The detection method of the deformation degree of a bridge pier according to claim 3, wherein: The specific process of using the third detection method for pier detection is as follows: Use GPS and a total station for joint monitoring of the pier; Install a GPS receiver and a total station observation point on the pier, obtain the horizontal displacement data of the pier through GPS, and at the same time use the total station to measure to obtain the measurement data; The horizontal displacement data and the measurement data form the joint data; Use a structural health monitoring system to monitor the pier and monitor the health data of the pier in real time; The pier health data and the joint data form the pier detection data.

7. A method for detecting the deformation degree of a pier according to any one of claims 3-6, characterized in that: The specific process of analyzing pier information to generate inspection results is as follows: When the pier type is a low pier, total station measurement data and ultrasonic inspection data are extracted from the pier information; The total station measurement data and ultrasonic inspection data are compared and analyzed. When the content of the total station measurement data indicates deformation or the internal defect data of the ultrasonic inspection data indicates a defect, an inspection warning message is generated; When the pier type is a medium pier, scan data and radar inspection results are extracted from the pier information; The scan data is analyzed. When the scan data determines that the pier is deformed and the radar inspection results analysis also determines that the pier is deformed, an inspection warning message is generated; When the scan data indicates that the pier is deformed and the radar inspection results analysis indicates that the pier is not deformed; or when the scan data indicates that the pier is not deformed and the radar inspection results analysis indicates that the pier is deformed, the pier inspection data collection is restarted; When the pier type is a high pier, pier health data and combined data are extracted from the pier information; The pier health data and combined data are analyzed to obtain health data analysis results and combined data analysis results; When both the health data analysis results and the combined data analysis results indicate that the pier is deformed, an inspection warning message is generated; When the health data analysis results and the combined data analysis results are inconsistent, the pier inspection data collection is restarted.

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