Bridge apparent disease image acquisition equipment

Abstract

The utility model discloses a bridge apparent disease image acquisition device, which comprises a mobile carrier; the mechanical arm is used for moving the detection mechanism to the bridge bottom, and one end of the mechanical arm is connected with the movable carrier; the detection mechanism comprises a mounting platform fixed to the other end of the mechanical arm, an industrial camera and a first electric telescopic rod are fixed to the end, away from the mechanical arm, of the mounting platform, a reference frame is fixed to the end, away from the mounting platform, of the first electric telescopic rod, and a reference ruler is fixed in the reference frame; when the first electric telescopic rod is in the extension state, the reference ruler is located in the view field of the industrial camera, so that a disease image shot by the industrial camera contains a reference object, and the actual size of the disease is determined through the reference object; the problem that measurement errors are possibly caused by light interference when a traditional camera and laser measurement are combined for disease measurement is effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge detection, in particular to an image acquisition device for bridge apparent diseases. Background Art

[0002] In the fields of transportation infrastructure such as highways and railways, bridges, as key media for crossing mountains and rivers, play a crucial role. After the bridge structure is put into use, it is necessary to regularly inspect each part of it. Diseases such as cracks, spalling, steel bar corrosion, and honeycombing on key parts need to be inspected. If early diseases are not inspected, maintained, and repaired, it will significantly accelerate the structural deterioration and threaten the overall safety and service life of the bridge. Traditional manual inspection depends on visual inspection, which has problems such as low efficiency, high risk of working at heights, and poor data continuity.

[0003] In recent years, in order to detect bridges more effectively, technicians in this field often use unmanned aerial vehicles or bridge inspection vehicles to detect diseases. Without the help of a reference object, it is impossible to directly know the actual size of the disease only by the disease images taken by the cameras carried by unmanned aerial vehicles or bridge inspection vehicles. Given that the bottom of the bridge is relatively flat and it is difficult to find a suitable reference object, therefore, the method of combining a camera with laser ranging is usually used for indirect estimation in order to obtain relatively accurate results. However, this method has two main defects: First, laser measurement is easily interfered by various lighting factors (such as the reflection of the water surface at the bottom of the bridge), resulting in measurement errors; Second, there are certain fluctuations in the estimation results, which may lead to misjudgment of the severity of the disease by the inspectors. Summary of the Utility Model

[0004] The utility model provides an image acquisition device for bridge apparent diseases to overcome the above problems.

[0005] In order to achieve the above purpose, the technical solution of the utility model is:

[0006] An image acquisition device for bridge apparent diseases, comprising: a mobile vehicle;

[0007] A robotic arm for moving the detection mechanism to the bottom of the bridge, one end of which is connected to the mobile vehicle;

[0008] The detection mechanism includes a mounting platform fixed at the other end of the robotic arm. At the end of the mounting platform far from the robotic arm, an industrial camera and four first electric telescopic rods are fixed. At the end of the first electric telescopic rod far from the mounting platform, a reference frame is fixed, and a reference scale is fixed inside the reference frame;

[0009] When the first electric telescopic rod is in the extended state, the reference scale is within the field of view of the industrial camera.

[0010] Further, it further includes a cleaning device for cleaning the surface to be detected of the bridge. The cleaning device includes a brush motor, a second electric telescopic rod, and a brush. The brush motor is fixed at one end of the mounting platform away from the robotic arm. One end of the second electric telescopic rod is fixed on the output shaft of the brush motor, and a brush is fixed at the other end of the second electric telescopic rod.

[0011] Further, a supplementary light is provided at one end of the mounting platform away from the robotic arm.

[0012] Further, the robotic arm includes a first-stage telescopic arm, a second-stage telescopic arm, and a third-stage telescopic arm;

[0013] A first motor is provided on the mobile vehicle. The output shaft of the first motor is in transmission connection with one end of the first-stage telescopic arm to drive the first-stage telescopic arm to rotate. A second motor is provided at the other end of the first-stage telescopic arm. The output shaft of the second motor is in transmission connection with one end of the second-stage telescopic arm to drive the second-stage telescopic arm to rotate. A third motor is provided at the other end of the second-stage telescopic arm. The output shaft of the third motor is in transmission connection with one end of the third-stage telescopic arm to drive the third-stage telescopic arm to rotate. The mounting platform is arranged at the other end of the third-stage telescopic arm;

[0014] The rotation center lines of the first-stage telescopic arm, the second-stage telescopic arm, and the third-stage telescopic arm are parallel to each other.

[0015] Further, the robotic arm further includes a rotating arm. The rotating arm is arranged at the end of the third-stage telescopic arm away from the third motor. A fourth motor is provided at the end of the rotating arm away from the third-stage telescopic arm. The fourth motor is in transmission connection with the mounting platform to drive the mounting platform to rotate.

[0016] Further, it further includes a slewing device. The slewing device includes a fixed seat and a rotating platform. The fixed seat is fixed on the mobile vehicle. A fifth motor is provided on the fixed seat. The fifth motor is in transmission connection with the rotating platform to drive the rotating platform to rotate. The first motor is provided on the rotating platform;

[0017] The rotation center line of the first-stage telescopic arm and the rotation center line of the rotating platform are perpendicular to each other.

[0018] Further, it further includes a battery. The battery is used to supply power to the detection mechanism and the robotic arm.

[0019] Further, a sponge strip or a rubber strip is pasted on the side of the reference frame away from the first electric telescopic rod.

[0020] Further, the brush motor is located at a corner of the mounting platform.

[0021] Beneficial effects: A bridge apparent disease image acquisition device provided by the present utility model realizes the detection of the surface to be detected at the bottom of the bridge by mounting a robotic arm equipped with a detection mechanism on a mobile vehicle. The detection personnel do not need to observe closely, which can greatly improve the bridge detection speed, detection efficiency, and the safety of the detection process. By the telescopic movement of the first electric telescopic rod, the reference frame is driven to move, ensuring that the reference scale on the reference frame is within the field of view of the industrial camera, so that the disease images captured by the industrial camera contain a reference object. Then, the actual size of the disease is determined through the reference object, effectively avoiding the problem of measurement errors caused by light interference that may occur when combining traditional cameras and laser measurements for disease measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 Structural schematic diagram of a bridge apparent disease image acquisition device disclosed by the present utility model;

[0024] Figure 2 Rear view schematic diagram of a bridge apparent disease image acquisition device disclosed by the present utility model;

[0025] Figure 3 Structural schematic diagram of the detection mechanism of a bridge apparent disease image acquisition device disclosed by the present utility model;

[0026] Figure 4 Front view schematic diagram of the detection mechanism of a bridge apparent disease image acquisition device disclosed by the present utility model;

[0027] Figure 5 Position schematic diagram of a bridge apparent disease image acquisition device and a bridge disclosed by the present utility model.

[0028] In the figure:

[0029] 1. Mobile vehicle, 2. Base, 3. Rotary table, 4. First telescopic arm, 5. Second telescopic arm, 6. First rotating shaft, 7. Second rotating shaft, 8. Third rotating shaft, 9. Rotating arm, 10. Third telescopic arm, 11. Installation platform, 12. Industrial camera, 13. First electric telescopic rod, 14. Reference frame, 15. Fill light, 16. Bridge, 17. Reference scale, 18. Bracket, 19. Brush motor, 20. Second electric telescopic rod, 21. Brush. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0031] Embodiment 1:

[0032] This embodiment provides a device for collecting images of apparent diseases of bridges, as Figure 1 and Figure 2 shown, including: a mobile vehicle 1. In this embodiment, the mobile vehicle 1 is a trackless vehicle, and the trackless vehicle is a heavy vehicle traveling on the bridge deck;

[0033] A robotic arm for moving the detection mechanism to the bottom of the bridge, one end of which is connected to the mobile vehicle 1;

[0034] The detection mechanism, as Figures 1 to 4 shown, includes a mounting platform 11 fixed to the other end of the robotic arm. An industrial camera 12 and four first electric telescopic rods 13 are fixed to the end of the mounting platform 11 away from the robotic arm. A reference frame 14 is fixed to the end of the first electric telescopic rod 13 away from the mounting platform 11. A reference scale 17 is fixed inside the reference frame 14. In this embodiment, the reference frame 14, the reference scale 17, and the support 18 are welded and fixed;

[0035] When the first electric telescopic rod 13 is in the extended state, the reference scale 17 is within the field of view of the industrial camera 12;

[0036] The device for collecting images of apparent diseases of bridges provided in this embodiment uses the mobile vehicle 1 to carry a robotic arm equipped with a detection mechanism to detect the surface to be detected at the bottom of the bridge. The detection personnel do not need to observe closely, thus greatly improving the bridge detection speed, improving the detection efficiency, and improving the safety of the detection process; by the telescopic movement of the first electric telescopic rod 13, the reference frame 14 is driven to move to ensure that the reference scale 17 on the reference frame 14 is within the field of view of the industrial camera 12, so that the disease images captured by the industrial camera 12 contain a reference object, and then the actual size of the disease is determined through the reference object, effectively avoiding the measurement error problem caused by light interference that may occur when combining a traditional camera with laser measurement for disease measurement. By using the reference scale 17 on the reference frame 14 as a reference object to calculate the disease size, the detection personnel do not need to go down to the bottom of the bridge for measurement, significantly improving the measurement accuracy of the bridge disease images and improving the efficiency of the shooting operation.

[0037] Specifically, taking the crack as an example of the disease, based on the principle of similar triangles in perspective projection, according to the area of the reference scale 17 with a known actual area, the number of pixels occupied by the reference object in the image measured using an image processing tool (such as OpenAV), and the number of pixels occupied by the crack in the image measured using the same image processing tool, the area of the crack is calculated as follows: Area of the crack / Area of the reference scale = Number of pixels occupied by the crack in the image / Number of pixels occupied by the reference scale in the image (The implementation method is a well-known prior art, that is, the computer program is not improved in this embodiment, so it will not be elaborated here).

[0038] The reference frame 14 and the first electric telescopic rod 13 are fixedly connected by bolts, and reference frames 14 of different sizes can be selected according to actual needs.

[0039] In a specific embodiment, it further includes a cleaning device for cleaning the surface to be detected of the bridge, such as Figure 3 and Figure 4 As shown, the cleaning device includes a brush motor 19, a second electric telescopic rod 20, and a brush 21. The brush motor 19 is fixed at one end of the mounting platform 11 away from the robotic arm. One end of the second electric telescopic rod 20 is fixed on the output shaft of the brush motor 19, and a brush 21 is fixed at the other end of the second electric telescopic rod 20;

[0040] In this embodiment, the brush motor 19 is located at a corner of the mounting platform 11. The length of the brush 21 should ensure that the area swept by the brush motor 19 driving the brush 21 can completely cover the area within the reference frame 14.

[0041] In a specific embodiment, as Figure 4 shown, a supplementary light 15 is provided at one end of the mounting platform 11 away from the robotic arm to provide illumination in a dim environment and ensure the image capture effect.

[0042] In a specific embodiment, as Figure 1 and Figure 2 shown, the robotic arm includes a first-stage telescopic arm 4, a second-stage telescopic arm 5, and a third-stage telescopic arm 10;

[0043] A first motor is provided on the mobile vehicle 1. The output shaft of the first motor is drivingly connected to one end of the first-stage telescopic arm 4 to drive the first-stage telescopic arm 4 to rotate. A second motor is provided at the other end of the first-stage telescopic arm 4. The output shaft of the second motor is drivingly connected to one end of the second-stage telescopic arm 5 to drive the second-stage telescopic arm 5 to rotate. A third motor is provided at the other end of the second-stage telescopic arm 5. The output shaft of the third motor is drivingly connected to one end of the third-stage telescopic arm 10 to drive the third-stage telescopic arm 10 to rotate. The mounting platform 11 is arranged at the other end of the third-stage telescopic arm 10;

[0044] The rotation center lines of the first telescopic arm 4, the second telescopic arm 5 and the third telescopic arm 10 are parallel to each other. The detection mechanism is brought close to the diseased area by the rotation of the telescopic arm. The first telescopic arm 4, the second telescopic arm 5 and the third telescopic arm 10 of different lengths can be selected according to actual needs;

[0045] When in use, the first-stage telescopic arm 4, the second-stage telescopic arm 5 and the third-stage telescopic arm 10 are extended as needed to extend the detection mechanism to the bottom of the bridge. The detection personnel do not need to go down to the bottom of the bridge, thereby ensuring the stability and safety of shooting.

[0046] In a specific embodiment, Figure 1 and Figure 2 As shown, the mechanical arm further includes a rotating arm 9, which is fixedly mounted at one end of the three-stage telescopic arm 10 away from the third motor, and a fourth motor is disposed at one end of the rotating arm 9 away from the three-stage telescopic arm 10, and the fourth motor is transmission-connected to the mounting platform 11 to drive the mounting platform 11 to rotate, thereby adjusting the shooting angle of the industrial camera 12;

[0047] For the convenience of explanation, Figure 5 For example, Figure 5 The middle installation platform 11 faces the pier of the bridge 16 , and the installation platform 11 can be rotated 90 degrees clockwise so that the installation platform 11 faces the cap beam of the bridge 16 .

[0048] In a specific embodiment, a rotating device is also included, such as Figure 1 and Figure 2 As shown, the slewing device includes a fixed seat 2 and a rotating table 3, the fixed seat 2 is fixed on the mobile carrier 1 by bolts, the mobile carrier 1 and the fixed seat 2 are used to carry the mechanical arm and the detection mechanism, the fixed seat 2 is provided with a fifth motor, the fifth motor is connected with the rotating table 3 to drive the rotating table 3 to rotate, and the rotating table 3 is fixed with a first motor;

[0049] The rotation centerline of the primary telescopic arm 4 and the rotation centerline of the rotating platform 3 are perpendicular to each other. The rotating platform 3 is driven by the fifth motor so that the rotating platform 3 can rotate 360 ​​degrees to adjust the direction of the robot arm.

[0050] In this embodiment, the rotating platform 3 is provided with a rotating shaft rotatably connected to the fixing base 2, and the output shaft gear of the fifth motor is meshed with the gear on the rotating shaft;

[0051] The first telescopic arm 4 is provided with a first rotating shaft 6 rotatably connected to the rotating platform 3, and the output shaft gear of the first motor is meshed with the gear on the first rotating shaft 6;

[0052] A second rotating shaft 7 for rotatably connecting with the first telescopic arm 4 is provided on the second telescopic arm 5, and the output shaft gear of the second motor meshes with the gear on the second rotating shaft 7;

[0053] A third rotating shaft 8 for rotatably connecting with the second telescopic arm 5 is provided on the third telescopic arm 10, and the output shaft gear of the third motor meshes with the gear on the third rotating shaft 8;

[0054] A fourth rotating shaft for rotatably connecting with the rotating arm 9 is provided on the mounting platform 11, and the output shaft gear of the fourth motor meshes with the gear on the fourth rotating shaft;

[0055] During use, the detection personnel can control the orientation of the detection mechanism as needed, and through the cooperation of the robotic arm and the slewing device, the spatial pose of the detection mechanism is adjusted to expand the detection range of the detection mechanism.

[0056] In a specific embodiment, a battery is further included, and the battery is used to supply power to the detection mechanism and the robotic arm. The battery can be fixed on the mobile vehicle 1 or on the robotic arm.

[0057] In a specific embodiment, a sponge strip or a rubber strip is pasted on the side of the reference frame 14 away from the first electric telescopic rod 13; the reference frame 14 is a metal structure, and the sponge strip or rubber strip in contact reduces the bumping and scratching during contact with the plane at the bottom of the bridge.

[0058] The bridge apparent disease image acquisition device provided in this embodiment is applicable to various diseases. Compared with the traditional measurement method using a high-precision laser rangefinder in cooperation with a camera for shooting, the cost is lower, it is applicable to bridge detection, avoids the measurement error caused by various light interferences in laser measurement, so as to obtain high-precision measurement results, and does not require a complex camera calibration process. It only needs the reference object and the disease to be in the same image. According to the size of the obtained disease and combined with the bridge specifications, the bridge damage level can be obtained more intuitively.

[0059] During shooting, the industrial camera 12 is turned on, and the scene seen by the industrial camera 12 can be wirelessly or wiredly transmitted to the display screen in the mobile vehicle 1 for the detection personnel to observe. The mobile vehicle 1 travels on the bridge. When the detection personnel find the disease at the bottom of the bridge 16, the detection personnel control the mobile vehicle 1 to stop. As Figure 5 shown, the robotic arm extends towards the surface to be detected of the bridge 16, and the reference frame 14 on the mounting platform 11 is attached to the part to be measured;

[0060] The first electric telescopic rod 13 extends, the robotic arm retracts accordingly, the reference frame 14 remains attached to the surface to be detected, the reference scale 17 is within the field of view of the industrial camera 12, the industrial camera 12 takes an image, and after the shooting is completed, the reference frame 14 is retracted;

[0061] The mobile vehicle 1 continues to move forward. After discovering the disease, repeat the above operations for measurement again;

[0062] When there is dirt such as dust at the disease area on the surface to be detected, which affects shooting, the second electric telescopic rod 20 extends, so that the bristles of the brush 21 are attached to the surface to be detected. The brush motor 19 drives the second electric telescopic rod 20 to rotate, and then drives the brush 21 to move. The movement trajectory of the brush 21 is fan-shaped to remove the dirt on the surface to be detected. After the cleaning is completed, the second electric telescopic rod 20 contracts and the brush motor 19 resets. At this time, the disease image can be shot, and the previous steps are repeated for shooting and measurement.

[0063] Embodiment 2:

[0064] This embodiment provides an image acquisition device for the apparent diseases of a bridge. The main structure of this embodiment is the same as that of Embodiment 1. The difference between this embodiment and Embodiment 1 is as follows:

[0065] In Embodiment 1, the mobile vehicle 1 is a trackless vehicle;

[0066] In this embodiment, the mobile vehicle 1 is a rail vehicle, and the rail vehicle is a vehicle running on a track, and the track is arranged near the edge of the bridge 16.

[0067] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bridge surface disease image acquisition device, characterized in that: include: Mobile Vehicle (1); A mechanical arm for moving the detection mechanism to the bottom of the bridge, one end of which is connected to the mobile carrier (1); The detection mechanism comprises a mounting platform (11) fixed to the other end of the mechanical arm, an industrial camera (12) and a first electric telescopic rod (13) being fixed to the end of the mounting platform (11) away from the mechanical arm, a reference frame (14) being fixed to the end of the first electric telescopic rod (13) away from the mounting platform (11), and a reference ruler (17) being fixed in the reference frame (14); When the first electric telescopic rod (13) is in an extended state, the reference ruler (17) is located within the field of view of the industrial camera (12).

2. The bridge surface defect image acquisition device according to claim 1 is characterized in that: It also includes a cleaning device for cleaning the surface of the bridge to be inspected, the cleaning device comprising a brush motor (19), a second electric telescopic rod (20) and a brush (21), the brush motor (19) being fixed to one end of the mounting platform (11) away from the mechanical arm, one end of the second electric telescopic rod (20) being fixed to the output shaft of the brush motor (19), and the other end of the second electric telescopic rod (20) being fixed to the brush (21).

3. The bridge surface defect image acquisition device according to claim 1 is characterized in that: A fill light (15) is provided at one end of the mounting platform (11) away from the mechanical arm.

4. The bridge surface defect image acquisition device according to claim 1 is characterized in that: The mechanical arm comprises a primary telescopic arm (4), a secondary telescopic arm (5) and a tertiary telescopic arm (10); The mobile carrier (1) is provided with a first motor, the output shaft of the first motor is transmission-connected to one end of the first telescopic arm (4) to drive the first telescopic arm (4) to rotate, the other end of the first telescopic arm (4) is provided with a second motor, the output shaft of the second motor is transmission-connected to one end of the second telescopic arm (5) to drive the second telescopic arm (5) to rotate, the other end of the second telescopic arm (5) is provided with a third motor, the output shaft of the third motor is transmission-connected to one end of the third telescopic arm (10) to drive the third telescopic arm (10) to rotate, and the mounting platform (11) is arranged at the other end of the third telescopic arm (10); The rotation center lines of the first-stage telescopic arm (4), the second-stage telescopic arm (5) and the third-stage telescopic arm (10) are parallel to each other.

5. The bridge surface defect image acquisition device according to claim 4 is characterized in that: The mechanical arm further comprises a rotating arm (9), wherein the rotating arm (9) is arranged at one end of the three-stage telescopic arm (10) away from the third motor, and a fourth motor is arranged at one end of the rotating arm (9) away from the three-stage telescopic arm (10), wherein the fourth motor is transmission-connected to the mounting platform (11) to drive the mounting platform (11) to rotate.

6. The bridge surface disease image acquisition device according to claim 4 is characterized in that: It also comprises a rotating device, the rotating device comprising a fixed seat (2) and a rotating platform (3), the fixed seat (2) being fixed on the mobile carrier (1), the fixed seat (2) being provided with a fifth motor, the fifth motor being in transmission connection with the rotating platform (3) to drive the rotating platform (3) to rotate, and the rotating platform (3) being provided with a first motor; The rotation center line of the primary telescopic arm (4) and the rotation center line of the rotating platform (3) are perpendicular to each other.

7. The bridge surface defect image acquisition device according to claim 1 is characterized in that: Also included is a battery, which is used to power the detection mechanism and the robotic arm.

8. The bridge surface disease image acquisition device according to claim 1 is characterized in that: A sponge strip or a rubber strip is adhered to a side of the reference frame (14) away from the first electric telescopic rod (13).

9. The bridge surface defect image acquisition device according to claim 2 is characterized in that: The brush motor (19) is located at a corner of the installation platform (11).

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