Bridge structure damage detection method and system for bridge engineering

Abstract

The present application relates to the technical field of physical analysis, in particular to a bridge structure damage detection method and system for bridge engineering, an infrared detection image of a bridge structure of the bridge engineering is acquired through an infrared device, and according to the infrared detection image, all potential crack areas and steel bar areas of the bridge structure are determined, a moving path avoiding the steel bar areas is determined according to the potential crack areas and the steel bar areas, and the potential crack areas are scanned along the moving path by using an ultrasonic device to obtain an ultrasonic detection result, which is beneficial to reducing the interference of the steel bar areas on damage detection and the probability of missed detection; according to the ultrasonic detection result, a supplementary scanning direction is determined, and supplementary scanning is performed based on the supplementary scanning direction by using the ultrasonic device to determine a target crack area, and through the supplementary scanning of the supplementary scanning direction, the scanning direction of the ultrasonic device is more comprehensive, so that a more accurate damage detection result of the bridge structure is determined according to the target crack area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of physical analysis, in particular to a bridge structure damage detection method and system for bridge engineering. BACKGROUND

[0002] In the process of bridge engineering, common bridge structure damages include internal concrete damage, surface damage, steel structure damage, etc., and the most common internal concrete structure damage is internal cracks of the concrete structure. If the cracks cannot be accurately detected, it may lead to bridge structure collapse or even induce chain damage. At present, for the detection of internal concrete structure damage, ultrasonic technology is usually used. However, the detection results of the ultrasonic technology are affected by the scanning direction (scanning angle) of the ultrasonic equipment on the one hand, and on the other hand, the dense structures such as steel bars in the concrete interior will interfere with the detection results. Therefore, it is easy to miss or misjudge the internal damage of the concrete, which affects the detection accuracy of the bridge structure damage. SUMMARY

[0003] In order to solve the above technical problems, the purpose of the present application is to provide a bridge structure damage detection method and system for bridge engineering, and the technical solution adopted is as follows:

[0004] In a first aspect, the present application provides a bridge structure damage detection method for bridge engineering, comprising:

[0005] acquiring an infrared detection image of a bridge structure of a bridge engineering by an infrared device, and determining all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image;

[0006] determining a moving path avoiding the steel bar regions according to the potential crack regions and the steel bar regions, and scanning the potential crack regions along the moving path by an ultrasonic device to obtain an ultrasonic detection result;

[0007] determining a supplementary scanning direction according to the ultrasonic detection result, and performing supplementary scanning based on the supplementary scanning direction by the ultrasonic device to determine a target crack region;

[0008] determining a damage detection result of the bridge structure according to the target crack region.

[0009] In an embodiment, the acquiring an infrared detection image of a bridge structure of a bridge engineering by an infrared device, and determining all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image comprises:

[0010] acquiring corresponding infrared detection images in a direction parallel to the bridge structure and a direction perpendicular to the bridge structure by an infrared device, respectively;

[0011] respectively, and performing gray scale analysis on each of the closed regions inside the closed boundary in each of the infrared detection images to determine the potential crack region and the reinforcing bar region contained in each of the infrared detection images.

[0012] In one embodiment, the performing gray scale analysis on each of the closed regions inside the closed boundary in each of the infrared detection images to determine the potential crack region and the reinforcing bar region contained in each of the infrared detection images comprises:

[0013] determining the overall gray scale mean value of the entire region inside the closed boundary in each of the infrared detection images, and determining the gray scale difference value between the gray scale mean value of each of the closed regions and the overall gray scale mean value;

[0014] determining the effective closed region according to the gray scale difference value;

[0015] determining the gray scale range of each of the effective closed regions and the gradient amplitude mean value of the edge contour points of the effective closed region, and determining the area difference between the area of each of the effective closed regions and the area of the minimum circumscribed rectangle corresponding to the effective closed region;

[0016] determining the potential possibility value according to the gray scale difference value, the gray scale range, the gradient amplitude mean value and the area difference of each of the effective closed regions, determining the potential defect region in each of the infrared detection images according to the potential possibility value and a preset threshold, and taking other effective closed regions except the potential defect region as the reinforcing bar region.

[0017] In one embodiment, the determining the moving path avoiding the reinforcing bar region according to the potential crack region and the reinforcing bar region comprises:

[0018] performing registration on the potential defect region and the reinforcing bar region of different infrared detection images through a registration algorithm, determining the corresponding projection range according to the projection of each of the potential crack regions on the forward plane of the bridge structure in the registration result;

[0019] determining the two pixel points farthest apart in each of the projection ranges as the starting point and the ending point of the projection range, and uniformly setting a plurality of detection points in each of the projection ranges;

[0020] The ant colony algorithm is used to determine a moving path of each potential crack region corresponding to the steel bar region according to a starting point, an ending point and a plurality of detection points in each projection range.

[0021] In an embodiment, the scanning of the potential crack region along the moving path by the ultrasonic device to obtain an ultrasonic detection result comprises:

[0022] The ultrasonic device is used to sequentially scan each detection point in each potential crack region along the moving path to obtain an ultrasonic detection result.

[0023] Each detection point is scanned twice, and the ultrasonic detection result comprises a first ultrasonic result of a first scanning direction of each detection point being perpendicular to the normal plane and a second ultrasonic result of a second scanning direction of each detection point being perpendicular to a line between the starting point and the ending point.

[0024] In an embodiment, the determining of a supplementary scanning direction according to the ultrasonic detection result comprises:

[0025] A first first-wave amplitude drop index and a first first-wave delay index of a first wave corresponding to the first ultrasonic result of each detection point and a second first-wave amplitude drop index and a second first-wave delay index of a first wave corresponding to the second ultrasonic result of each detection point are determined, wherein the first wave is a first extreme point with an amplitude greater than an average of amplitudes of all extreme points.

[0026] Whether each detection point is marked as a detection point with a crack defect in the first scanning direction, a first crack direction vector corresponding to the detection point marked as the detection point with the crack defect, and whether each detection point is marked as a detection point with a crack defect in the second scanning direction and a second crack direction vector corresponding to the detection point marked as the detection point with the crack defect are determined according to the first first-wave amplitude drop index and the first first-wave delay index and according to the second first-wave amplitude drop index and the second first-wave delay index.

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

[0028] if the detection point is a detection point marked as having a crack defect in the first scanning direction and is a detection point not marked as having a crack defect in the second scanning direction, determining the supplementary scanning direction of the detection point as a direction corresponding to a resultant vector of a direction vector of the first scanning direction and a second crack direction vector;

[0029] if the detection point is a detection point not marked as having a crack defect in the first scanning direction and is a detection point marked as having a crack defect in the second scanning direction, determining the supplementary scanning direction of the detection point as a direction corresponding to a resultant vector of a direction vector of the first scanning direction and a second crack direction vector;

[0030] if the detection point is a detection point not marked as having a crack defect in the first scanning direction and is a detection point marked as having a crack defect in the second scanning direction, determining the supplementary scanning direction of the detection point as a direction corresponding to a resultant vector of a direction vector of the first scanning direction and a second crack direction vector.

[0031] In an embodiment, the determining the supplementary detection degree value of the detection point comprises:

[0032] determining a first defect existence degree value according to the first first-wave amplitude drop index and the first first-wave delay index of the detection point, and determining a second defect existence degree value according to the second first-wave amplitude drop index and the second first-wave delay index of the detection point;

[0033] determining a cosine value of an included angle between a direction vector of the first scanning direction and a direction vector of the second scanning direction;

[0034] determining the supplementary detection degree value of the detection point according to the first defect existence degree value, the second defect existence degree value and the cosine value of the included angle.

[0035] In an embodiment, the performing supplementary scanning by the ultrasonic device based on the supplementary scanning direction to determine a target crack region comprises:

[0036] performing supplementary scanning by the ultrasonic device based on the supplementary scanning direction of each detection point to obtain a supplementary scanning result of each detection point;

[0037] The supplementary scanning result of each detection point is evaluated for similarity with the first ultrasonic result and the second ultrasonic result corresponding to the detection point, and if the evaluation result of the supplementary scanning result and the first ultrasonic result or the second ultrasonic result is similar or if a new supplementary detection degree value corresponding to the supplementary scanning result is less than or equal to a supplementary degree threshold value, the supplementary scanning result is determined as the final ultrasonic result of the detection point, otherwise, the supplementary scanning direction is taken as a new first scanning direction or a new second scanning direction, and the step of sequentially scanning each detection point in each potential crack region in the moving path by using an ultrasonic device is returned until a new supplementary detection degree value is less than or equal to a supplementary degree threshold value, and the final ultrasonic result of the detection point is determined.

[0038] According to the final ultrasonic result of each detection point, a potential crack region in which a detection point finally marked as having a crack defect is marked as a target crack region.

[0039] In an embodiment, the determining of the damage detection result of the bridge structure according to the target crack region comprises:

[0040] The total number of all detection points, starting points and ending points in each target crack region is determined respectively, and the target number of target detection points in which a detection point is finally marked as having a crack defect, the degree mean of target defect existence degree values corresponding to all target detection points, and the crack depth average of crack depths of all target detection points in each target crack region are determined respectively;

[0041] According to a normalization function, the total number, the target number, the degree mean and the crack depth average corresponding to each target crack region, a crack severity index value of each target crack region is determined, and the damage detection result of the bridge structure comprises the crack severity index value of each target crack region.

[0042] In a second aspect, the embodiments of the present application provide a bridge structure damage detection system for bridge engineering, comprising:

[0043] An acquisition module is configured to acquire an infrared detection image of a bridge structure of bridge engineering by using an infrared device, and determine all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image.

[0044] A scanning module is configured to determine a moving path avoiding the steel bar regions according to the potential crack regions and the steel bar regions, and scan the potential crack regions along the moving path by using an ultrasonic device to obtain an ultrasonic detection result.

[0045] The determining module is configured to determine a supplementary scanning direction according to the ultrasonic detection result, and perform supplementary scanning on the target crack region by the ultrasonic device based on the supplementary scanning direction.

[0046] The damage module is configured to determine a damage detection result of the bridge structure according to the target crack region.

[0047] The present application has the following advantages:

[0048] The infrared detection image of the bridge structure of the bridge engineering is acquired by the infrared device, and all potential crack regions and steel bar regions of the bridge structure are determined according to the infrared detection image. The moving path avoiding the steel bar regions is determined according to the potential crack regions and the steel bar regions, and the ultrasonic device is used to scan the potential crack regions along the moving path to obtain the ultrasonic detection result, which is beneficial to reduce the interference of the steel bar regions on the damage detection and the probability of missed detection. The supplementary scanning direction is determined according to the ultrasonic detection result, and the ultrasonic device performs supplementary scanning based on the supplementary scanning direction to determine the target crack region. The scanning direction of the ultrasonic device is more comprehensive through the supplementary scanning of the supplementary scanning direction, so that a more accurate damage detection result of the bridge structure is determined according to the target crack region. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, and the advantages thereof, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0050] Figure 1 A step flowchart of a bridge structure damage detection method for bridge engineering provided by an embodiment of the present application;

[0051] Figure 2 A structural block diagram of a bridge structure damage detection system for bridge engineering provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following describes a bridge structure damage detection method and system according to the present application in combination with the drawings and preferred embodiments, the specific implementation, structure, features and effects thereof are described in detail as follows. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

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

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

[0055] The specific scheme of the bridge structure damage detection method and system for bridge engineering provided by the present application will be described in detail below with reference to the drawings.

[0056] Please refer to Figure 1 , which shows the flowchart of the bridge structure damage detection method for bridge engineering provided by an embodiment of the present application. The bridge structure damage detection method for bridge engineering can at least include steps S100-S400:

[0057] S100, obtaining an infrared detection image of the bridge structure of the bridge engineering by an infrared device, and determining all potential crack areas and steel bar areas of the bridge structure according to the infrared detection image.

[0058] S200, determining a moving path avoiding the steel bar areas according to the potential crack areas and the steel bar areas, and scanning the potential crack areas along the moving path by an ultrasonic device to obtain an ultrasonic detection result.

[0059] S300, determining a supplementary scanning direction according to the ultrasonic detection result, and performing supplementary scanning by the ultrasonic device based on the supplementary scanning direction to determine a target crack area.

[0060] S400, determining a damage detection result of the bridge structure according to the target crack area.

[0061] The technical scheme of the embodiments of the present application obtains the infrared detection image of the bridge structure of the bridge engineering by the infrared device, and determines all potential crack areas and steel bar areas of the bridge structure according to the infrared detection image. The moving path avoiding the steel bar areas is determined according to the potential crack areas and the steel bar areas, and the potential crack areas are scanned along the moving path by the ultrasonic device to obtain the ultrasonic detection result, which is beneficial to reduce the interference of the steel bar areas on the damage detection and the probability of missed detection. The supplementary scanning direction is determined according to the ultrasonic detection result, and the supplementary scanning is performed by the ultrasonic device based on the supplementary scanning direction to determine the target crack area. The scanning direction of the ultrasonic device is more comprehensive through the supplementary scanning of the supplementary scanning direction, so that a more accurate damage detection result of the bridge structure is determined according to the target crack area.

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

[0063] S101, acquire infrared detection images corresponding to directions parallel to the bridge structure and directions vertical to the bridge structure through infrared equipment.

[0064] Optionally, the infrared equipment (such as a high-resolution infrared thermal imager) is fixed by a tripod, and then the bridge structure (or concrete structure) in the bridge construction process is detected by infrared in a period with little sunlight interference; specifically, the infrared detection is performed by the infrared equipment on the bridge structure in orthogonal directions (directions parallel to the bridge structure and directions vertical to the bridge structure), and the scanning distance can be 1-3 m, so that infrared detection images corresponding to different directions are acquired.

[0065] S102, perform edge segmentation and morphological closing operation on the infrared detection images in different directions respectively, determine the outermost closed boundary, and perform gray scale analysis on each closed region inside the closed boundary in each infrared detection image to determine the potential crack region and the steel bar region contained in each infrared detection image.

[0066] In some embodiments, after the infrared detection images are acquired, preprocessing such as denoising can be performed, and then subsequent processing is performed based on the preprocessed infrared detection images.

[0067] In the embodiments of the present application, the crack region and the steel bar region in the infrared detection images are distinguished based on the infrared radiation difference between the cracks and the steel bar concentrated region (referred to as steel bar region) in the bridge structure, and the specific principle is as follows: the thermal conductivity of the steel bar is much higher than that of the concrete, and the shape of the steel bar is regular, which usually appears as a high-brightness and uniform long strip region in the infrared detection image, while the thermal resistance effect of air or water in the crack hinders heat conduction, so that the internal temperature distribution can be uneven, and there is a large difference between the temperature distribution of the crack region and the overall concrete region, and the shape of the crack region is irregular compared with the steel bar region, so the steel bar region and the crack region are distinguished based on the above differences.

[0068] Therefore, based on the above principle, the embodiments of the present application use Canny operator to perform edge segmentation on the infrared detection images in different directions respectively, and perform morphological closing operation on the edge segmentation results to determine the outermost closed boundary. The inside of the outermost closed boundary is the overall concrete structure region, and the concrete structure region has a plurality of closed patterns, and the inside of the closed pattern is a closed region. The gray scale analysis is performed on each closed region inside the closed boundary in each infrared detection image to determine the potential crack region and the steel bar region contained in each infrared detection image. Specifically:

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

[0070]

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

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

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

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

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

[0076] It should be noted that when the gray difference of a valid area and the overall concrete structure area is larger, the shape of the valid area is more irregular (the area difference of the minimum circumscribed rectangle is larger), and the internal gray distribution is uneven, the edge contour point (all the outermost edge points of the closed figure) of the area is not obvious in transition (small gradient amplitude) with the surrounding concrete structure, and the area is a potential possibility of a potential defect area Optionally, the potential possibility value is normalized to (0, 1), and the effective closed area after normalization is greater than the possibility threshold (for example, 0.5) is a potential defect area, and other effective closed areas except the potential defect area are steel areas, thereby determining the potential defect area and the steel area in the infrared detection image in two directions.

[0077] It should be noted that since the steel area usually has a large interference on the ultrasonic detection result, the ultrasonic probe needs to avoid the steel area when moving and cover all the defect areas, so a moving path that can avoid the steel area is needed, and the moving path is planned.

[0078] In an embodiment, the moving path that avoids the steel area is determined according to the potential crack area and the steel area in step S200, including steps S201-S203:

[0079] S201, the potential defect area and the steel area of different infrared detection images are registered by a registration algorithm, and the projection range corresponding to each potential crack area is determined according to the projection of each potential crack area on the front plane of the bridge structure in the registration result.

[0080] Optionally, the potential defect area and the steel area of two different infrared detection images are registered based on ORB (Oriented FAST and Rotated BRIEF), so as to obtain the three-dimensional relationship of the potential defect area and the steel area. Then, the projection of each potential crack area on the front plane of the bridge structure in the registration result is determined, so as to determine the projection range corresponding to each potential crack area.

[0081] S202, two pixel points farthest away in each projection range are determined as the starting point and the ending point of the projection range, and a plurality of detection points are uniformly arranged in each projection range.

[0082] Optionally, the two pixel points farthest apart in each projection range are determined as the starting point and the ending point of the projection range, and the line between the starting point and the ending point in each projection range is the long axis direction of the projection range, also known as the crack heat conduction direction. Then, a plurality of detection points are uniformly arranged in each projection range, for example, the distance between two adjacent detection points is the minimum default detection range of the current ultrasonic equipment. Since the thermal resistance in the crack heat conduction direction is greater than that in the vertical direction, the imaging range of the crack heat conduction direction in the surface temperature field is usually larger. The ultrasonic equipment can be a phased array ultrasonic flaw detector.

[0083] S203, determining the moving path of each potential crack region avoiding the reinforcement region according to the starting point, the ending point and the plurality of detection points in each projection range by using the ant colony algorithm.

[0084] Optionally, based on the starting point, the ending point and the plurality of detection points in each projection range, the moving path of each potential crack region avoiding the reinforcement region is determined by using the ant colony algorithm, that is, the moving path of the potential crack region avoiding the reinforcement region in the subsequent detection.

[0085] In an embodiment, the potential crack region is scanned along the moving path by using the ultrasonic equipment in step S200 to obtain the ultrasonic detection result. Specifically, each detection point in each potential crack region is sequentially scanned along the moving path by using the ultrasonic equipment to obtain the ultrasonic detection result.

[0086] Each detection point is scanned twice, one scanning direction is the first scanning direction, and the first scanning direction is perpendicular to the forward plane. The other scanning direction is the second scanning direction, and the second scanning direction is perpendicular to the line between the starting point and the ending point. Therefore, the ultrasonic detection result includes the first ultrasonic result based on the first scanning direction and the second ultrasonic result based on the second scanning direction.

[0087] It should be noted that during the ultrasonic detection process, when the angle between the sound wave incidence direction and the crack surface is close to 90°, the reflection of the sound wave on the crack surface is the strongest, and the detection accuracy is the highest. When the sound wave transmission direction is parallel to the crack direction, the sound wave is easy to bypass the crack, and it is difficult to accurately detect the area with cracks. In order to avoid the above situation, the first ultrasonic result and the second ultrasonic result are compared. If the two detections are consistent, the effectiveness of the detection is higher, and it is not necessary to switch the sound wave incidence angle for supplementary detection. Otherwise, supplementary detection is needed.

[0088] In an embodiment, the supplementary scanning direction is determined according to the ultrasonic detection result in step S300, including steps S301-S306:

[0089] S301, respectively determine the first first-wave amplitude drop index and the first first-wave delay index corresponding to the first wave in the first ultrasonic result of each detection point, and the second first-wave amplitude drop index and the second first-wave delay index corresponding to the first wave in the second ultrasonic result.

[0090] It should be noted that, because the medium of the sound wave changes when it encounters the crack surface, resulting in the change of acoustic impedance, and the roughness of the crack may cause the sound wave to scatter in multiple directions, so that the detected first wave amplitude drops sharply, wherein the first wave is the first wave amplitude greater than the average of all extreme point amplitudes; and because there is a crack filler, the sound speed of the sound wave decreases, resulting in an increase in the first wave travel time. Therefore, in the embodiments of the present application, the first first-wave amplitude drop index and the first first-wave delay index corresponding to the first wave in the first ultrasonic result of each detection point are determined, and the second first-wave amplitude drop index and the second first-wave delay index corresponding to the first wave in the second ultrasonic result are determined. Specifically, the calculation formula of the first-wave amplitude drop index and the first-wave delay index is:

[0091]

[0092]

[0093] In the formula, is the first-wave amplitude, is the first-wave occurrence time; it can be understood that, when , the first-wave amplitude of the first wave and the first-wave occurrence time in the first ultrasonic result are substituted, the first-wave amplitude drop index calculated is the first first-wave amplitude drop index, and the first-wave delay index calculated is the first first-wave delay index, and when the first-wave amplitude of the first wave and the first-wave occurrence time in the second ultrasonic result are substituted, the second first-wave amplitude drop index and the second first-wave delay index are calculated. Among them, is the standard reference first-wave amplitude, is the standard reference first-wave occurrence time, by scanning the region of the concrete structure region, except the potential crack region and the steel bar region, at any position perpendicular to the forward plane, the first wave in the ultrasonic result obtained is the standard reference first wave, so that and can be determined.

[0094] S302, according to the first wave amplitude drop index and the first wave delay index, determine whether each detection point in the first scanning direction is marked as a detection point with a crack defect, the first crack direction vector corresponding to the detection point marked as a detection point with a crack defect, and according to the second wave amplitude drop index and the second wave delay index, determine whether each detection point in the second scanning direction is marked as a detection point with a crack defect and the second crack direction vector corresponding to the detection point marked as a detection point with a crack defect.

[0095] Optionally, according to the first wave amplitude drop index and the first wave delay index , calculate the defect existence degree value :

[0096]

[0097] Wherein, The greater the first wave drop amplitude index corresponding to the detection point, the greater the first wave delay index corresponding to the detection point, The greater the first wave delay index corresponding to the detection point, the greater the defect existence degree value corresponding to the detection point; when the defect existence degree value of a certain detection point is greater than the defect degree threshold (for example, 0.05), the detection point is marked as a detection point with a crack defect, otherwise the detection point is marked as a detection point without a crack defect.

[0098] It can be understood that when , correspond to the first wave amplitude drop index and the first wave delay index, the defect existence degree value is the defect existence degree value corresponding to each detection point in the first scanning direction , denoted as the first defect existence degree value , and it can be determined whether each detection point in the first scanning direction is marked as a detection point with a crack defect; similarly, when , correspond to the second wave amplitude drop index and the second wave delay index, the defect existence degree value is the defect existence degree value corresponding to each detection point in the second scanning direction , denoted as the second defect existence degree value , and it can be determined whether each detection point in the second scanning direction is marked as a detection point with a crack defect.

[0099] At the same time, if the first wave delay degree (equivalent to ) obtained by a certain ultrasonic detection result is large, the possibility of the crack being perpendicular to the current sound wave scanning direction is greater, and if the first wave attenuation degree (equivalent to ) is larger, the crack is more likely to be parallel to the current sound path, and the estimated value of the included angle between the current crack direction and the current scanning direction , and then since the scanning direction is known, the estimated value of the included angle can be derived based on the estimated value of the included angle , wherein the estimated value of the included angle is calculated according to the following formula:

[0100]

[0101] It can be understood that when , correspond to the first wave amplitude drop index and the first wave delay index, the estimated value of the included angle calculated at this time is the estimated value of the included angle between the first scanning direction and the detection point marked as having a crack defect in the first ultrasonic result, and the crack direction vector estimated finally is the first crack direction vector corresponding to the detection point marked as having a crack defect in the first scanning direction; similarly, when , correspond to the second wave amplitude drop index and the second wave delay index, the estimated value of the included angle calculated at this time is the estimated value of the included angle between the second scanning direction and the detection point marked as having a crack defect in the second ultrasonic result, and the crack direction vector estimated finally is the second crack direction vector corresponding to the detection point marked as having a crack defect in the second scanning direction.

[0102] S303, if the detection point is marked as having a crack defect in both the first and second scanning directions, determine the supplemental detection degree value of the detection point, if the supplemental detection degree value is less than or equal to the supplemental degree threshold, determine the supplemental scanning direction of the detection point to be null, if the supplemental detection degree value is greater than the supplemental degree threshold, determine the supplemental scanning direction of the detection point to be the direction corresponding to the sum vector of the first crack direction vector and the second crack direction vector.

[0103] In an embodiment, determining the supplemental detection degree value of the detection point comprises:

[0104] First, according to the first wave amplitude drop index and the first wave delay index of the detection point, determine the first defect existence degree value , and according to the second wave amplitude drop index and the second wave delay index of the detection point, determine the second defect existence degree value .

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

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

[0107]

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

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

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

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

[0112] Optionally, if the detection point is marked as a detection point with a crack defect in the first scanning direction and is not marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined as a direction corresponding to a sum vector of a direction vector of the first scanning direction and a second crack direction vector. corresponding to a sum vector of a direction vector of the first scanning direction and a second crack direction vector.

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

[0114] Optionally, if the detection point is not marked as a detection point with a crack defect in the first scanning direction and is marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined as a direction corresponding to a sum vector of a direction vector of the first scanning direction and a second crack direction vector. corresponding to a sum vector of a direction vector of the first scanning direction and a second crack direction vector.

[0115] S306, if the detection point is not marked as a detection point with a crack defect in the first scanning direction and is not marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined as a direction corresponding to a sum vector of a direction vector of the first scanning direction and a direction vector of the second scanning direction.

[0116] Optionally, if the detection point is not marked as a detection point with a crack defect in the first scanning direction and is not marked as a detection point with a crack defect in the second scanning direction, the supplementary scanning direction of the detection point is determined as a direction corresponding to a sum vector of a direction vector of the first scanning direction and a direction vector of the second scanning direction. corresponding to a sum vector of a direction vector of the first scanning direction and a direction vector of the second scanning direction.

[0117] In an embodiment, the supplementary scanning based on the supplementary scanning direction of each detection point by the ultrasonic device in step S300 to determine the target crack region comprises steps S307-S309:

[0118] S307, by the ultrasonic device, supplementary scanning is performed based on the supplementary scanning direction of each detection point to obtain a supplementary scanning result of each detection point.

[0119] Optionally, after the supplementary scanning direction of each detection point is determined, by the ultrasonic device, supplementary scanning is performed based on the supplementary scanning direction of each detection point to obtain a supplementary scanning result of each detection point.

[0120] S308, performing similarity evaluation on the supplementary scan result of each detection point and the first ultrasound result and the second ultrasound result corresponding to the detection point, and if the evaluation result of the supplementary scan result and the first ultrasound result or the second ultrasound result is similar or if the new supplementary detection degree value corresponding to the supplementary scan result is less than or equal to the supplementary degree threshold value, determining the supplementary scan result as the final ultrasound result of the detection point, otherwise taking the supplementary scan direction as a new first scan direction or a new second scan direction and returning to the step of sequentially scanning each detection point in each potential crack region along the movement path by using the ultrasound device.

[0121] Optionally, similarity evaluation is performed on the supplementary scan result of each detection point and the first ultrasound result and the second ultrasound result corresponding to the detection point, and if the supplementary scan result of the detection point is similar to any one of the first ultrasound result or the second ultrasound result corresponding to the detection point (for example, similarity evaluation is performed based on an existing method, and it is considered similar if the similarity is greater than a preset threshold value), or if the new supplementary detection degree value (new ) calculated based on the supplementary scan result is less than or equal to the supplementary degree threshold value (for example, 0.4), it is considered that the supplementary scan is passed, and the supplementary scan result is determined as the final ultrasound result of the detection point.

[0122] If the supplementary scan result of the detection point is not similar to any one of the first ultrasound result or the second ultrasound result corresponding to the detection point, or if the new supplementary detection degree value (new ) is greater than the supplementary degree threshold value, it is considered that the supplementary scan is not passed, and the supplementary scan needs to be continued. At this time, the supplementary scan direction is taken as a new first scan direction or a new second scan direction, and the step of sequentially scanning each detection point in each potential crack region along the movement path by using the ultrasound device is returned to, and then the new (new ) is determined again until the new supplementary detection degree value (new ) is less than or equal to the supplementary degree threshold value, and the final ultrasound result of the detection point is determined. It should be noted that when the supplementary scan is performed, each detection point is still sequentially scanned based on the movement path.

[0123] If the detection point is not marked as a detection point with a crack defect in both scan directions, and is still not marked as a detection point with a crack defect after supplementary detection, it is determined that the point is not a crack point.

[0124] S309, according to the final ultrasound result of each detection point, marking the potential crack region in which the detection point finally marked as having a crack defect as a target crack region.

[0125] Optionally, after determining the final ultrasonic results of each detection point, the potential crack region where the detection point finally marked as existing crack defect in the final ultrasonic results is marked as the target crack region.

[0126] In an embodiment, the step S400 comprises steps S401-S402:

[0127] S401, respectively determine the total number of all detection points, starting points and ending points in each target crack region, and respectively determine the target number of target detection points of detection points finally marked as existing crack defect in each target crack region, the degree mean of target defect existence degree values corresponding to all target detection points, and the crack depth average of crack depths of all target detection points.

[0128] Optionally, respectively determine the total number of all detection points, starting points and ending points in each target crack region , and respectively determine the target number of target detection points of detection points finally marked as existing crack defect in each target crack region , the degree mean of target defect existence degree values corresponding to all target detection points , and the crack depth average of crack depths of all target detection points (the principle of calculating crack depth is as 、 ) . .

[0129] S402, according to the normalization function, the total number, the target number, the degree mean and the crack depth average corresponding to each target crack region, determine the crack severity index value of each target crack region; wherein the damage detection result of the bridge structure comprises the crack severity index value of each target crack region.

[0130] Optionally, according to the normalization function , the total number , the target number , the degree mean and the crack depth average corresponding to each target crack region, determine the crack severity index value of each target crack region , the formula is:

[0131]

[0132] wherein the damage detection result of the bridge structure comprises the crack severity index value of each target crack region, the crack severity index value of a certain target crack region is greater, the higher the crack severity of the target crack region is, is greater, the more crack points in the current target crack region, is a normalized function, and its value range is (0, 1). Optionally, a mask can be set for the determined target crack region, and the damage detection result is output by using an output device.

[0133] In the embodiments of the present application, the preliminary potential crack region and the steel bar region are distinguished through infrared device detection, so as to determine the moving path and preliminarily assist in guiding the scanning path of the ultrasonic device; then, the guided first ultrasonic detection result is evaluated, the supplementary scanning direction that needs to be supplemented is further determined, and the scanning direction / angle of the detection point is adjusted, so that the final ultrasonic detection result is more accurate and has stronger reference value, thereby providing an important basis for accurately determining the target crack region and the crack severity index value, and effectively improving the accuracy of the damage detection result of the bridge structure.

[0134] With reference to Figure 2 , a structural block diagram of a bridge structure damage detection system for bridge engineering in an embodiment of the present application is shown, and the system can include:

[0135] An acquisition module is configured to acquire an infrared detection image of the bridge structure of the bridge engineering by using an infrared device, and determine all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image;

[0136] A scanning module is configured to determine a moving path that avoids the steel bar region according to the potential crack region and the steel bar region, and scan the potential crack region along the moving path by using an ultrasonic device to obtain an ultrasonic detection result;

[0137] A determination module is configured to determine a supplementary scanning direction according to the ultrasonic detection result, and perform supplementary scanning based on the supplementary scanning direction by using the ultrasonic device to determine a target crack region;

[0138] A damage module is configured to determine a damage detection result of the bridge structure according to the target crack region.

[0139] In the embodiments of the present application, the functions of the modules in the system can be referred to the corresponding descriptions in the above method, and will not be described here.

[0140] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0141] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly describes the differences from other embodiments.

Claims

1. A bridge structure damage detection method for bridge engineering, characterized by, The method comprises: acquiring, by an infrared device, an infrared detection image of a bridge structure of a bridge engineering, and determining all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image; determining a moving path avoiding the steel bar regions according to the potential crack regions and the steel bar regions, and scanning the potential crack regions along the moving path by an ultrasonic device to obtain an ultrasonic detection result; determining a supplementary scanning direction according to the ultrasonic detection result, and performing supplementary scanning based on the supplementary scanning direction by the ultrasonic device to determine a target crack region; determining a damage detection result of the bridge structure according to the target crack region; the acquiring, by an infrared device, an infrared detection image of a bridge structure of a bridge engineering, and determining all potential crack regions and steel bar regions of the bridge structure according to the infrared detection image comprises: acquiring, by an infrared device, corresponding infrared detection images in a direction parallel to the bridge structure and a direction perpendicular to the bridge structure, respectively; performing edge segmentation and morphological closing operation on the infrared detection images in different directions, respectively, to determine the outermost closed boundary, and performing gray scale analysis on each closed region inside the closed boundary in each infrared detection image to determine the potential crack regions and the steel bar regions contained in each infrared detection image; the performing gray scale analysis on each closed region inside the closed boundary in each infrared detection image to determine the potential crack regions and the steel bar regions contained in each infrared detection image comprises: determining the overall gray scale mean value of the entire region inside the closed boundary in each infrared detection image, respectively, and determining the gray scale difference value between the gray scale mean value of each closed region and the overall gray scale mean value; determining effective closed regions according to the gray scale difference value; determining the gray scale range of each effective closed region and the gradient amplitude mean value of the edge contour points of the effective closed region, and determining the area difference between the area of each effective closed region and the area of the minimum circumscribed rectangle corresponding to the effective closed region; determining a potential possibility value according to the gray scale difference value, the gray scale range, the gradient amplitude mean value and the area difference of each effective closed region, determining the potential defect region in each infrared detection image according to the potential possibility value and a preset threshold, and regarding other effective closed regions except the potential defect region as steel bar regions.

2. The bridge structure damage detection method for bridge engineering according to claim 1, wherein: the determining a moving path avoiding the steel bar regions according to the potential crack regions and the steel bar regions comprises: performing registration on the potential defect regions and the steel bar regions of different infrared detection images by a registration algorithm, determining the projection range corresponding to each potential crack region according to the projection of each potential crack region on the forward plane of the bridge structure in the registration result; determining the two pixel points farthest apart in each projection range as the starting point and the ending point of the projection range, and setting a plurality of detection points uniformly in each projection range. The moving path of each potential crack region corresponding to the steel bar region is determined by an ant colony algorithm according to the start point, the end point and a plurality of detection points in each projection range.

3. The bridge structure damage detection method for bridge engineering according to claim 2, characterized in that: The ultrasonic detection result obtained by scanning the potential crack region along the moving path by the ultrasonic device comprises: Each detection point in each potential crack region is sequentially scanned along the moving path by the ultrasonic device to obtain an ultrasonic detection result. Each detection point is scanned twice, and the ultrasonic detection result comprises a first ultrasonic result of a first scanning direction of each detection point being perpendicular to the forward plane and a second ultrasonic result of a second scanning direction of each detection point being perpendicular to a line connecting the start point and the end point.

4. The bridge structure damage detection method for bridge engineering according to claim 3, wherein: The supplementary scanning direction is determined according to the ultrasonic detection result, which comprises: A first first-wave amplitude drop index and a first first-wave delay index corresponding to a first wave in the first ultrasonic result of each detection point and a second first-wave amplitude drop index and a second first-wave delay index corresponding to a first wave in the second ultrasonic result of each detection point are determined, wherein the first wave is a first extreme point with an amplitude greater than the average amplitude of all extreme points. Whether each detection point is marked as a detection point with a crack defect in the first scanning direction, a first crack direction vector corresponding to the detection point marked as the detection point with the crack defect, and whether each detection point is marked as a detection point with a crack defect in the second scanning direction and a second crack direction vector corresponding to the detection point marked as the detection point with the crack defect are determined according to the first first-wave amplitude drop index and the first first-wave delay index and the second first-wave amplitude drop index and the second first-wave delay index. If a detection point is marked as a detection point with a crack defect in both scanning directions, a supplementary detection degree value of the detection point is determined, if the supplementary detection degree value is less than or equal to a supplementary degree threshold, a supplementary scanning direction of the detection point is determined as no, and if the supplementary detection degree value is greater than the supplementary degree threshold, the supplementary scanning direction of the detection point is determined as a direction corresponding to a resultant vector perpendicular to the first crack direction vector and the second crack direction vector. If a detection point is marked as a detection point with a crack defect in the first scanning direction and is not marked as a detection point with a crack defect in the second scanning direction, a supplementary scanning direction of the detection point is determined as a direction corresponding to a resultant vector perpendicular to the first crack direction vector and a direction vector of the second scanning direction. If a detection point is not marked as a detection point with a crack defect in the first scanning direction and is marked as a detection point with a crack defect in the second scanning direction, a supplementary scanning direction of the detection point is determined as a direction corresponding to a resultant vector perpendicular to a direction vector of the first scanning direction and the second crack direction vector. If a detection point is not marked as a detection point with a crack defect in both scanning directions, a supplementary scanning direction of the detection point is determined as a direction corresponding to a resultant vector perpendicular to a direction vector of the first scanning direction and a direction vector of the second scanning direction.

5. The bridge structure damage detection method for bridge engineering according to claim 4, characterized in that: The determination of the supplementary detection level for this detection point includes: The presence degree of the first defect is determined based on the first wave amplitude decrease index and the first wave delay index at the detection point, and the presence degree of the second defect is determined based on the second wave amplitude decrease index and the second wave delay index at the detection point. Determine the cosine of the angle between the direction vector of the first scanning direction and the direction vector of the second scanning direction; The supplementary detection level value for the detection point is determined based on the first defect presence level value, the second defect presence level value, and the cosine value of the included angle.

6. The bridge structure damage detection method for bridge engineering according to claim 4, wherein: The step of performing supplementary scanning based on the supplementary scanning direction using the ultrasonic device to determine the target crack region includes: Using the ultrasound device, a supplementary scan is performed based on the supplementary scan direction of each of the detection points to obtain the supplementary scan result of each of the detection points. The supplementary scanning result of each detection point is compared with the first and second ultrasound results corresponding to the detection point for similarity evaluation. If the evaluation result of the supplementary scanning result is similar to the first or second ultrasound result, or if the new supplementary detection degree value corresponding to the supplementary scanning result is less than or equal to the supplementary degree threshold, the supplementary scanning result is determined as the final ultrasound result of the detection point. Otherwise, the supplementary scanning direction is used as the new first scanning direction or the new second scanning direction, and the process of sequentially scanning each detection point in each potential crack region using the ultrasound device along the moving path is repeated until the new supplementary detection degree value is less than or equal to the supplementary degree threshold, and the final ultrasound result of the detection point is determined. Based on the final ultrasonic results of each test point, the potential crack areas of the test points that are ultimately marked as having crack defects are marked as target crack areas.

7. The bridge structure damage detection method for bridge engineering according to claim 5, wherein: The step of determining the damage detection result of the bridge structure based on the target crack region includes: In each target crack region, the total number of all detection points, start points and end points is determined, as well as the target number of detection points that are finally marked as having crack defects in each target crack region, the average degree of the degree of the presence of target defects corresponding to all target detection points, and the average crack depth of crack depth of all target detection points are determined. The crack severity index value of each target crack region is determined based on the normalization function, the total number of each target crack region, the target number, the average severity value, and the average crack depth value; wherein, the damage detection result of the bridge structure includes the crack severity index value of each target crack region.

8. A bridge structure damage detection system for bridge engineering, characterized by, include: The acquisition module is used to acquire infrared detection images of the bridge structure of the bridge project through infrared devices, and to determine all potential crack areas and steel reinforcement areas of the bridge structure based on the infrared detection images. The scanning module is configured to determine a movement path avoiding the steel bar region according to the potential crack region and the steel bar region, and scan the potential crack region along the movement path by using the ultrasonic device to obtain an ultrasonic detection result; The determining module is configured to determine a supplementary scanning direction according to the ultrasonic detection result, and perform supplementary scanning by the ultrasonic device based on the supplementary scanning direction to determine a target crack region; The damage module is configured to determine a damage detection result of the bridge structure according to the target crack region; The infrared device is configured to obtain infrared detection images of the bridge structure of the bridge engineering, and determine all potential crack regions and steel bar regions of the bridge structure according to the infrared detection images, including: The infrared device is configured to obtain corresponding infrared detection images in a direction parallel to the bridge structure and a direction perpendicular to the bridge structure, respectively; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image; The infrared detection images in different directions are subjected to edge segmentation and morphological closing operation, respectively, to determine an outermost closed boundary, and each closed region inside the closed boundary in each infrared detection image is subjected to gray scale analysis to determine potential crack regions and steel bar regions contained in each infrared detection image.

Images