Bridge crack three-dimensional parameter detection device and method based on UWB and ultrasonic technology

Abstract

The invention relates to a bridge crack three-dimensional parameter detection device and method based on UWB and ultrasonic technology, and the method comprises the steps: arranging measurement points in a to-be-detected region of a bridge according to a grid, distributing a unique identifier for each measurement point, and storing the position information of each measurement point; acquiring the position of the detection probe in real time through a UWB positioning network, and controlling the detection probe to move to each detection point according to a preset path; an ultrasonic detection module is started at the measuring point, and the crack depth and the crack trend are calculated; acquiring a crack image through a camera, extracting a crack contour through image processing, and calculating a crack width and a crack distribution density; and performing crack grading evaluation to generate a detection report. The method has the beneficial effects that the moving path of the detection probe can be accurately planned based on the pre-arranged position information of the detection points, so that the detection probe can quickly and accurately reach each detection point, the time and errors of manually searching the detection points are reduced, and the efficiency of detection work is greatly improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bridge detection, and particularly relates to a bridge crack three-dimensional parameter detection device and method based on UWB and ultrasonic technology. BACKGROUND

[0002] As an important part of traffic infrastructure, the safety of a bridge is of great importance. Cracks are one of the common diseases of a bridge, and if not found and treated in time, may cause further damage to the structure of the bridge, and even cause safety accidents. At present, the traditional bridge crack detection method mainly relies on manual visual inspection or the use of simple detection tools, and these methods have low efficiency and poor precision, and are difficult to quantitatively measure and evaluate the crack position, trend and three-dimensional geometric parameters. SUMMARY

[0003] The application aims to overcome the deficiencies in the prior art, and provide a bridge crack three-dimensional parameter detection device and method based on UWB and ultrasonic technology.

[0004] In a first aspect, a bridge crack three-dimensional parameter detection device based on UWB and ultrasonic technology is provided, comprising:

[0005] A console integrated with a monitoring screen is used for human-computer interaction and system control;

[0006] An operating rod is used for manually controlling the detection device;

[0007] A clamping device is used for fixing the detection device to the bridge structure;

[0008] A lifting guide rail, a lower cantilever support rod and an extension device are used for realizing the vertical and horizontal movement of a detection probe;

[0009] A rotating node is used for adjusting the angle of the detection probe;

[0010] A UWB tag is installed on the detection probe and is used for real-time positioning;

[0011] A camera is used for collecting crack images;

[0012] The detection probe comprises an ultrasonic emission probe and a receiving probe, and is used for emitting and receiving ultrasonic signals.

[0013] In a second aspect, a bridge crack three-dimensional parameter detection method based on UWB and ultrasonic technology is provided, which is executed by the device in the first aspect, and comprises:

[0014] Step one: arranging measurement points in a grid in the bridge detection area to be detected, and assigning a unique identifier to each measurement point and storing the position information thereof;

[0015] Step two: Real-time acquisition of the position of the detection probe through the UWB positioning network, and control it to move to each measuring point along the preset path;

[0016] Step three: Start the ultrasonic detection module at the measuring point, emit and receive ultrasonic signals, calculate the crack depth and crack orientation, and collect crack images through the camera, extract the crack profile through image processing, and calculate the crack width and crack distribution density;

[0017] Step four: Integrate the data of each measuring point, conduct crack grading evaluation, and generate a detection report.

[0018] As preferred, in step three, the crack depth h is calculated by the following formula:

[0019]

[0020] Where v is the propagation speed of ultrasonic waves in the bridge material, and Δt is the time difference between the emission signal and the reception signal.

[0021] As preferred, in step three, the crack orientation is represented by the angle θ between the crack principal axis and the bridge longitudinal axis, and the detection of the crack orientation includes:

[0022] Emit ultrasonic waves at different angles by rotating the probe and record the reflection signal amplitude;

[0023] Find the angle corresponding to the minimum amplitude value as the crack orientation.

[0024] As preferred, in step three, a Gaussian function is used to fit the change curve of the reflection signal amplitude with the angle to optimize the crack orientation.

[0025] As preferred, in step three, the measurement of the crack width includes:

[0026] Binaryzation and edge detection are performed on the collected images to extract the crack profile;

[0027] Calculate the actual distance between adjacent edge points on the profile to obtain the crack width.

[0028] As preferred, in step three, the crack distribution density ρ N is calculated by the formula:

[0029]

[0030] Where N is the number of cracks in the measuring area, and A is the area of the measuring area.

[0031] As preferred, in step four, the crack grading evaluation includes comprehensive scoring of the crack width, depth, orientation, distribution density, and position, calculation of the risk index R, and division of the risk level according to the R value.

[0032] In a third aspect, a computer storage medium is provided, and the computer storage medium stores a computer program; the computer program, when running on a computer, causes the computer to execute the method of any one of the second aspect.

[0033] In a fourth aspect, an electronic device is provided, and the electronic device comprises:

[0034] a memory for storing a computer program;

[0035] a processor for executing the computer program to implement the method of any one of the second aspect.

[0036] The present application has the following beneficial effects:

[0037] 1. The present application can obtain the three-dimensional position information of the detection probe in real time by installing the UWB positioning tag on the detection probe and arranging the UWB positioning base station around the bridge detection area to form a positioning network. Based on the pre-arranged position information of the measuring points, the moving path of the detection probe can be accurately planned, so that the detection probe can quickly and accurately reach each measuring point, reducing the time and error of manually searching for the measuring point and greatly improving the efficiency of the detection work.

[0038] 2. The present application additionally provides a camera on the detection device, which can not only accurately guide the moving direction of the probe, but also capture the crack condition of the measuring area in real time, providing multi-dimensional information support for bridge crack detection.

[0039] 3. The present application can obtain detailed three-dimensional parameter information of the bridge crack, including the position, size (depth and width) and trend of the crack. These comprehensive information provides a rich data basis for the safety evaluation of the bridge, so that the evaluation personnel can more accurately understand the condition of the bridge crack and scientifically classify the severity of the crack. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 a scene detection scene provided by the present application;

[0041] Figure 2 a detection device schematic diagram provided by the present application;

[0042] Figure 3 a detection method flowchart provided by the present application.

[0043] REFERENCE SIGNS: 1-bridge, 2-UWB base station, 3-detection device, 3-1 control console, 3-2 operating rod, 3-3 clamping device, 3-4 lifting guide rail, 3-5 lower cantilever support rod, 3-6 rotating node, 3-7 UWB tag, 3-8 camera, 3-9 transmitting probe, 3-10 receiving probe, 3-11 telescopic device. DETAILED DESCRIPTION

[0044] The application will be further described below in connection with the embodiments. The following description of the embodiments is only to help understand the application. It should be pointed out that for those skilled in the art, some modifications can be made to the application without departing from the principles of the application, and these improvements and modifications also fall within the scope of protection of the claims of the application.

[0045] Embodiment 1

[0046] To solve the problems of the prior art, the embodiment 1 of the present application provides a bridge crack three-dimensional parameter detection device based on UWB and ultrasonic technology. The device is arranged with measuring point positions, uses UWB technology to realize accurate positioning and movement control of the detection probe, combines image recognition and ultrasonic technology to accurately detect the bridge cracks, obtains the three-dimensional parameters such as the depth, width and trend of the cracks, thereby improving the efficiency and accuracy of the bridge crack detection, and providing reliable data support for the safety evaluation of the bridge.

[0047] Specifically, as shown in Figure 1 and Figure 2 , the bridge crack three-dimensional parameter detection device based on UWB and ultrasonic technology comprises:

[0048] a console 3-1 integrated with a monitoring screen for human-computer interaction and system control;

[0049] an operating rod 3-2 for manually controlling the detection device;

[0050] a clamping device 3-3 for fixing the detection device to the bridge structure;

[0051] a lifting guide rail 3-4, a lower cantilever support rod 3-5 and a telescopic device 3-11 for realizing the vertical and horizontal movement of the detection probe;

[0052] a rotating node 3-6 for adjusting the angle of the detection probe;

[0053] a UWB tag 3-7 installed on the detection probe for real-time positioning;

[0054] a camera 3-8 for collecting crack images;

[0055] a detection probe comprising an ultrasonic transmitting probe 3-9 and a receiving probe 3-10 for transmitting and receiving ultrasonic signals.

[0056] Embodiment 2

[0057] Based on the embodiment 1, the embodiment 2 of the present application provides a bridge crack three-dimensional parameter detection method based on UWB and ultrasonic technology, which comprises:

[0058] Step one: arrange the measuring points in grid in the bridge detection area, and assign a unique identifier to each measuring point and store its position information.

[0059] Specifically, according to the structural characteristics of the bridge and the possible location of the crack, a series of measuring points are arranged in advance at the bottom and side of the bridge. Assuming that the bridge detection area is a rectangular area, the measuring points are arranged in grid form. Assuming that the length of the detection area is L, the width is W, and the spacing between the measuring points is d, the calculation formula of the number of measuring points N is:

[0060]

[0061] In the formula, M is the number of measuring points in the length direction (x-axis), and K is the number of measuring points in the width direction (y-axis).

[0062] Assign a unique identifier to each measuring point, and store the position information of the measuring point in the database of the detection system. Specifically as follows:

[0063] Arrange the measuring points at the bottom of the bridge, and set z-axis as a fixed value. The position of each measuring point is represented by (i, j), where i represents the serial number in the x direction (length direction) (from 0 to M-1), and j represents the serial number in the y direction (width direction) (from 0 to K-1). The coordinates of the measuring point are represented as:

[0064] x ij = x0 + i·d

[0065] y ij = y0 + j·d

[0066] z ij = z0

[0067] Where (x0, y0) is the coordinate of the starting point, and d is the spacing between the measuring points.

[0068] Store the position of all measuring points through matrix, and the measuring point position matrix is represented as:

[0069]

[0070] For example, for a bridge with a length of 60m and a width of 10m, the spacing between the measuring points is d=2m. According to the measuring point number calculation formula The number of measuring points is 150. Arrange these 150 measuring points on the bridge bottom according to the rules, assign a unique identifier to each measuring point, and store the measuring point position information in the database of the detection system.

[0071] Step two: real-time acquisition of the position of the detection probe through the UWB positioning network, and control it to move to each measuring point according to the preset path.

[0072] Specifically, a UWB positioning tag is installed on the detection probe, and multiple UWB positioning base stations are arranged around the bridge detection area to form a UWB positioning network. The three-dimensional position information (including X, Y, and Z coordinates) of the detection probe is obtained in real time through the UWB technology. According to the pre-arranged position information of the measurement points, the moving path of the detection probe is planned, and the detection probe is controlled to move to each measurement point according to the predetermined path. Assuming that the current position of the detection probe is P1(x1, y1, z1), and the target measurement point position is P2(x2, y2, z2), the moving direction vector of the detection probe is

[0073]

[0074] According to the moving direction vector The moving direction and speed of the detection probe are controlled to accurately reach the target measurement point.

[0075] For example, a UWB positioning tag is installed on the detection probe, and four UWB positioning base stations are arranged around the bridge bottom. The position information of the detection probe is obtained in real time through the UWB technology, and the detection probe is controlled to move to each measurement point according to the predetermined path according to the position information of the measurement points and the moving direction vector calculation formula.

[0076] Step three: start the ultrasonic detection module at the measurement point, emit and receive ultrasonic signals, calculate the crack depth and crack direction, and collect crack images through the camera, extract the crack profile through image processing, and calculate the crack width and crack distribution density.

[0077] For example, when the detection probe reaches the measurement point position, the ultrasonic detection module is started. The ultrasonic detection module emits ultrasonic signals to the surface of the bridge bottom and receives the reflected signals. According to the crack depth calculation formula The depth of the crack is calculated. The crack direction is obtained through multi-angle scanning results; the crack width and crack distribution density are obtained through a high-resolution macro camera.

[0078] Step four: integrate the data of each measurement point, perform crack grading evaluation, and generate a detection report.

[0079] For example, the detection data of each measurement point is stored in a database, and the detection data is processed and analyzed to generate a bridge bottom crack detection report.

[0080] It should be noted that the method provided in this embodiment provides a corresponding method for the device of Embodiment 1, so in this embodiment, the same or similar parts as Embodiment 1 can be mutually referenced, and will not be described in detail in this application.

[0081] Embodiment 3

[0082] ​Based on Embodiment 2, Embodiment 3 of the present application provides a more specific three-dimensional parameter detection method for bridge cracks based on UWB and ultrasonic technology, which comprises the following steps:

[0083] Step one: arrange the measuring points in a grid in the bridge area to be detected, and assign a unique identifier to each measuring point and store its position information.

[0084] Step two: obtain the position of the detection probe in real time through the UWB positioning network, and control it to move to each measuring point along the preset path.

[0085] Step three: start the ultrasonic detection module at the measuring point, emit and receive ultrasonic signals, calculate the crack depth and crack direction, and collect crack images through the camera, extract the crack profile through image processing, and calculate the crack width and crack distribution density.

[0086] Specifically, when the detection probe reaches the measuring point position, the ultrasonic detection module is started. The ultrasonic detection module emits ultrasonic signals to the bridge surface and receives the reflected signals. Assuming that the propagation speed of ultrasonic waves in the bridge material is v, and the time difference between the emitted signal and the received signal is Δt, then the crack depth h can be calculated by the following formula:

[0087]

[0088] At the same time, by analyzing the intensity and waveform characteristics of the reflected signals, combined with multi-angle detection data, the crack direction θ is analyzed.

[0089] In addition, the crack direction refers to the direction in which the crack extends on the bridge surface, which is usually represented by the angle θ between the crack principal axis and the longitudinal axis of the bridge.

[0090] Based on the physical relationship between the intensity of the ultrasonic reflection signal and the incident angle:

[0091] Perpendicular incidence: when the ultrasonic wave propagation direction is perpendicular to the crack direction (i.e. parallel to the crack normal direction), the sound wave energy produces the maximum reflection at the crack interface, i.e.

[0092] Parallel incidence: when the ultrasonic wave propagation direction is parallel to the crack direction, the reflected signal is the weakest, i.e. A min ∝k·δ 2 (k is a coefficient, δ is the surface roughness).

[0093] In step three, the crack direction is represented by the angle θ between the crack principal axis and the longitudinal axis of the bridge, and the detection of the crack direction includes:

[0094] Rotate the probe to emit ultrasonic waves at different angles and record the reflected signal amplitude;

[0095] The angle corresponding to the amplitude minimum value is searched as the crack orientation.

[0096] For example, the probe rotation angle sequence is set as β i ={0°, 15°, 30°, …, 180°}. i The reflection signal amplitude A i at each angle is recorded by scanning different angles β min , and the angle θ 裂缝 corresponding to the amplitude minimum value is searched, so as to infer the crack orientation:

[0097]

[0098] In the formula, the scanning angle corresponding to the minimum reflection amplitude is represented.

[0099] Further, to improve accuracy, a Gaussian function is used to fit the curve of the reflection signal amplitude change with angle:

[0100]

[0101] In the formula: A0 is the maximum reflection amplitude; θ0 is the angle at which the reflection amplitude is maximum (corresponding to the crack normal direction); σ is the direction sensitivity coefficient; and C is the environmental noise base parameter.

[0102] The crack orientation calculation formula is:

[0103] θ 裂缝 = θ0 ± 90° ± Δθ

[0104] In the formula, Δθ is the equipment calibration error.

[0105] In addition, crack width measurement is achieved by vertically shooting the crack plane with a high-resolution macro camera axis to obtain an undistorted crack image, and through binarization + edge detection algorithm to extract the crack contour, achieving 0.01mm level crack measurement accuracy. The specific steps are as follows:

[0106] Vertically shoot the crack plane with a high-resolution macro camera axis to obtain an undistorted crack image.

[0107] Convert the collected color or grayscale image into a binary image. Set the threshold value to divide the pixels in the image into two categories: crack pixels (usually black, value 0) and background pixels (usually white, value 1). Use the edge detection algorithm (Canny operator) to process the binary image and extract the crack contour. This algorithm calculates the gradient information of the pixels in the image to identify the areas with sharp gray level changes, i.e. the edges of the crack. The specific steps are as follows:

[0108] (1) Apply a Gaussian filter to smooth the image and reduce noise impact.

[0109] (2) Calculate the gradient magnitude and direction of the image, the formula is as follows:

[0110]

[0111] In the formula, G x and G y are the gradients of the image in the x and y directions, G is the gradient magnitude, and θ is the gradient direction.

[0112] Analyze the extracted crack contours to determine the boundaries of the cracks. The shape of the crack is described by calculating the distance between adjacent pixel points on the contour. Select multiple measurement points at different positions of the crack, and calculate the crack width at each measurement point. For the direction perpendicular to the crack direction, measure the distance between the edges on both sides of the crack. Assuming that the pixel coordinates of the edges on both sides of the crack at a certain measurement point are (x1, y1) and (x2, y2), the crack width w at that point is calculated by the following formula:

[0113]

[0114] In the formula, t is the actual physical size represented by each pixel in the image, which is calibrated according to the resolution and shooting distance of the camera, etc.

[0115] In addition, for crack distribution density detection, including:

[0116] Take pictures of the test area with a high-resolution macro camera, collect the number of cracks in the test area, and count the crack distribution density of the test area. The crack number density ρ N The calculation formula is:

[0117]

[0118] In the formula, N is the number of cracks in the test area, and A is the area of the test area.

[0119] Step four: integrate the data of each measurement point, conduct crack grading evaluation, and generate a detection report.

[0120] In step four, the crack grading evaluation includes comprehensive scoring of crack width, depth, direction, distribution density, and position, calculating the risk index R, and dividing the risk level according to the R value.

[0121] Specifically, store the detection data of each measurement point (including crack depth, width, direction, density, etc.) in the database.

[0122] Process and analyze the detection data to generate a bridge crack detection report. The report content includes the position, size, severity, etc. of the crack, and can be graded according to the preset threshold value.

[0123] The crack grading evaluation index system is shown in Table 1:

[0124] Table 1

[0125]

[0126]

[0127] The formula for calculating the crack comprehensive risk index is:

[0128]

[0129] For example, the risk level is divided as follows:

[0130] A (safe): R≤1.0→observation monitoring

[0131] B (attention): 1.0<R≤2.5→annual reinspection

[0132] C (danger): 2.5<R≤4.0→quarterly monitoring + temporary reinforcement

[0133] D (emergency): R>4.0→immediate stop + emergency repair

[0134] In addition, the embodiment of the present application also provides a bridge side crack detection method, and the implementation steps of the bridge side crack detection are similar to those of the bridge bottom crack detection. The number of measuring points is calculated according to the size of the bridge side and the distance between measuring points, the measuring points are arranged and the position information is stored. Then, the positioning and movement control of the detection probe are realized by using the UWB technology, the crack detection is performed by using the ultrasonic detection module after reaching the measuring point, and finally the detection data is processed and analyzed to generate a bridge side crack detection report.

[0135] It should be noted that the same or similar parts in the embodiment and embodiment 2 can be mutually referred to, and will not be described herein again.

Claims

1. A bridge crack three-dimensional parameter detection device based on UWB and ultrasonic technology, characterized in that, include: The console (3-1) integrates a monitoring screen for human-computer interaction and system control; The control lever (3-2) is used for manual operation of the detection device; The clamping device (3-3) is used to fix the detection device to the bridge structure; The lifting guide rail (3-4), the lower cantilever support rod (3-5), and the telescopic device (3-11) are used to realize the vertical and horizontal movement of the detection probe; Rotating nodes (3-6) are used to adjust the angle of the detection probe; UWB tags (3-7) are installed on the detection probe for real-time positioning; Cameras (3-8) are used to capture images of the cracks; The detection probe, including an ultrasonic transmitting probe (3-9) and a receiving probe (3-10), is used to transmit and receive ultrasonic signals.

2. A method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology, characterized in that, Performed by the apparatus of claim 1, comprising: Step 1: Arrange measuring points in a grid pattern in the area of ​​the bridge to be inspected, assign a unique identifier to each measuring point, and store its location information; Step 2: Obtain the position of the detection probe in real time through the UWB positioning network and control it to move to each measurement point according to the preset path; Step 3: Activate the ultrasonic detection module at the measuring point to transmit and receive ultrasonic signals, calculate the crack depth and crack direction; and acquire crack images through a camera, extract the crack outline through image processing, and calculate the crack width and crack distribution density. Step 4: Integrate the data from each measuring point, conduct a crack classification assessment, and generate an inspection report.

3. The method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology according to claim 2, characterized in that, In step three, the crack depth h is calculated using the following formula: Where v is the propagation speed of ultrasonic waves in the bridge material, and Δt is the time difference between the transmitted signal and the received signal.

4. The method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology according to claim 3, characterized in that, In step three, the crack direction is represented by the angle θ between the crack's main axis and the bridge's longitudinal axis. Crack direction detection includes: By rotating the probe to emit ultrasonic waves at different angles, the amplitude of the reflected signal is recorded. Find the angle corresponding to the minimum amplitude value as the crack direction.

5. The method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology according to claim 4, characterized in that, In step three, the crack orientation is optimized by fitting the curve of the reflected signal amplitude as a function of angle using a Gaussian function.

6. The method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology according to claim 5, characterized in that, Step three, measuring the crack width includes: The acquired images are binarized and edge detected to extract the crack contours. The actual distance between adjacent edge points on the contour is calculated to obtain the crack width.

7. The method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology according to claim 6, characterized in that, In step three, the crack distribution density ρ N The calculation formula is: Where N is the number of cracks in the survey area and A is the area of ​​the survey area.

8. The method for detecting three-dimensional parameters of bridge cracks based on UWB and ultrasonic technology according to claim 7, characterized in that, In step four, the crack classification assessment includes a comprehensive score of crack width, depth, orientation, distribution density and location, calculation of risk index R, and classification of risk levels based on the R value.

9. A computer storage medium, characterized in that, The computer storage medium stores a computer program; when the computer program is run on the computer, it causes the computer to perform the method described in any one of claims 2 to 8.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the method as described in any one of claims 2 to 8.

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