Bridge apparent disease inspection method, inspection system and inspection apparatus

Abstract

A bridge apparent disease inspection method, inspection system and inspection apparatus, relating to the technical field of bridge maintenance. The method comprises: obtaining, in real time, an inspection image set photographed by a monocular camera in a bridge inspection process; dynamically identifying a target disease in the inspection image set by using a visual inspection algorithm; selecting a two-dimensional code positioning point, determining spatial position coordinates of the two-dimensional code positioning point, and calculating a first relative position between the monocular camera and the two-dimensional code positioning point on the basis of an eight-orientation two-dimensional code positioning method; determining a relative distance and a relative angle between the monocular camera and the target disease, and obtaining a relative position between the target disease and the monocular camera by means of calculation by using the relative distance and the relative angle; and obtaining spatial position coordinates of the target disease by means of calculation by using spatial position coordinates of the monocular camera and the relative position between the target disease and the monocular camera. The technical problems in the prior art that bridge apparent disease inspection is mainly manual inspection, the danger coefficient is high, and the inspection result is affected by subjective factors are solved.

Description

A bridge apparent disease inspection method, inspection system and inspection device Technical Field

[0001] The present invention relates to the technical field of bridge maintenance, and in particular to a method, a system and a device for inspecting apparent bridge defects. Background Art

[0002] After bridges are built and put into operation, they are subject to numerous factors, including environmental and vehicle loads, and can develop various surface defects. These include cracks in beams, piles, towers, cables, and anchorage areas, water accumulation within box girders, coating delamination, and deck pavement defects. These surface defects pose significant safety risks to bridge operations. If left unchecked, they can lead to partial damage or even total collapse, seriously threatening the structural integrity of the bridge. Inspections for bridge defects are fundamental to evaluating the overall performance of bridges and provide data support for bridge maintenance projects. They are a crucial tool for ensuring traffic safety and extending bridge service life. Because most bridge structures are suspended above the ground or water, current inspections for surface defects are primarily manual. However, manual inspections require close observation, which carries a high risk factor and is susceptible to subjective influences. Furthermore, inspection records are often kept in paper form, making them difficult to preserve and organize.

[0003] Summary of the Invention

[0004] The purpose of the present invention is to provide a bridge surface defect inspection method, inspection system and inspection device to improve the above-mentioned problems. To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present application provides a method for inspecting bridge surface defects, comprising:

[0006] Real-time acquisition of inspection image sets captured by a monocular camera during bridge inspections;

[0007] Use visual inspection algorithms to dynamically identify target diseases in inspection image sets;

[0008] Select a QR code positioning point on the bridge and determine the spatial position coordinates of the QR code positioning point, and calculate the first relative position between the monocular camera and the QR code positioning point based on the eight-direction QR code positioning method;

[0009] Determine the relative distance and relative angle between the monocular camera and the target disease, and use the relative distance and relative angle to calculate the relative position of the target disease and the monocular camera;

[0010] The spatial position coordinates of the target disease are obtained by calculating the spatial position coordinates of the monocular camera and the relative position of the target disease and the monocular camera.

[0011] Furthermore, selecting a QR code positioning point on the bridge and determining the spatial position coordinates of the QR code positioning point include:

[0012] The bridge beam is a hollow cuboid, wherein the inner side of the hollow cuboid is the inner facade of the beam, and the outer side is the outer facade of the beam;

[0013] Four QR code positioning points are selected on the inner and outer sides of the cuboid respectively, and the spatial position coordinates of all the QR code positioning points are obtained.

[0014] Furthermore, the first relative position between the monocular camera and the QR code positioning point is calculated based on the eight-direction QR code positioning method, including:

[0015] Select a QR code positioning point as the starting point of the monocular camera, and select the QR code positioning point adjacent to the starting point as the end point of the monocular camera;

[0016] Get the acceleration and first duration of the monocular camera moving from the starting point to the end point;

[0017] The relative distance between the monocular camera and the starting point is calculated based on the acceleration of the movement and the first duration;

[0018] The error correction of the spatial position coordinates of the monocular camera is calculated using the spatial position coordinates of the starting point, the spatial position coordinates of the end point, and the moving distance of the monocular camera;

[0019] The spatial position coordinates of the monocular camera are calculated based on the spatial position coordinates of the starting point, the moving distance of the monocular camera, and the error correction amount.

[0020] Furthermore, the relative angle between the monocular camera and the target disease is determined, including:

[0021] Obtain the angular velocity and second duration of the monocular camera when it moves from the starting point to the target disease;

[0022] The relative angle between the target disease and the monocular camera is calculated based on the angular velocity of the movement and the second duration.

[0023] In a second aspect, the present application also provides a bridge surface defect inspection system, comprising:

[0024] The perception module is used to monitor the environmental data of the bridge and collect the detection image set of the bridge;

[0025] The computing and processing center is used to dynamically identify the target disease in the detection image set and select an image with the closest distance between the target disease and the image center from the detection image set as the disease image;

[0026] A spatial positioning module is used to determine the spatial positioning information of the target disease identified by the computing and processing center;

[0027] The data storage and transmission module is used to temporarily store environmental data, disease images, and location information of target diseases, and upload the temporarily stored environmental data, disease images, and location information of target diseases to the cloud;

[0028] The human-computer interaction module controls the inspection system through human-computer interaction operations.

[0029] Furthermore, the perception module includes:

[0030] An imaging unit, comprising a monocular camera, configured to capture a real-time inspection image of the bridge during the inspection process;

[0031] An oxygen monitoring unit is used to monitor the oxygen concentration in a closed area of ​​the inspection environment in real time, wherein the closed area includes the interior of the bridge beam;

[0032] Temperature monitoring unit: used to monitor the temperature in the inspection environment in real time;

[0033] Humidity monitoring unit: used to monitor the humidity in the inspection environment in real time;

[0034] Lighting unit: used for lighting when the inspection environment is dim.

[0035] Furthermore, the spatial positioning module includes an inertial sensor and a laser transmitter mounted on a monocular camera; the spatial positioning module includes an inertial sensor and a laser transmitter mounted on a monocular camera;

[0036] The laser transmitter is used to measure the relative distance between the target disease and the monocular camera;

[0037] The inertial sensor consists of three accelerometers and three angular velocity meters;

[0038] The three accelerometers are used to monitor the acceleration of the monocular camera in three spatial dimensions, and the spatial position coordinates of the monocular camera are calculated based on the acceleration;

[0039] The three angular accelerometers are used to monitor the angular velocity of the monocular camera in three spatial dimensions. The relative angle between the target disease and the monocular camera is calculated based on the angular velocity. The spatial position coordinates of the target disease are determined by the relative angle and relative distance between the target disease and the monocular camera and the spatial position coordinates of the monocular camera.

[0040] Furthermore, it also includes:

[0041] Power management module, used to provide power for the inspection system;

[0042] A portable power-assisting module, wherein the portable power-assisting module is provided with a telescopic device for arranging a monocular camera;

[0043] Expansion module: used to reserve network interface, audio interface and data interface.

[0044] In a third aspect, the present application further provides a bridge surface defect inspection device, comprising:

[0045] The device body has a touch screen, buttons, and an audio output port on the front of the device body;

[0046] The side of the device body is also provided with a lighting lamp, a microphone and a telescopic device, and the telescopic device is installed with a monocular camera;

[0047] The device body is equipped with an oxygen sensor, a temperature sensor, a humidity sensor, a battery, a development board and an expansion interface.

[0048] Furthermore, it also includes:

[0049] The monocular camera is also provided with an inertial sensor, which includes three accelerometers and three angular velocity meters.

[0050] The beneficial effects of the present invention are:

[0051] 1. This invention is a portable bridge surface defect inspection device that is easy for inspectors to carry. The device features environmental data collection, intelligent defect identification and measurement, and data transmission. It can also interact with inspectors, aiding inspections through human-computer interaction. This makes inspections more intelligent and digital, avoiding false detections and missed inspections, improving inspection efficiency and flexibility, and ensuring comprehensive and objective inspection results.

[0052] 2. This invention achieves precise positioning of the monocular camera and the defects to be detected without relying on network or satellite signals or requiring additional base stations, thus reducing costs. The environmental perception module monitors the inspection environment, recording the location of defects and providing early warning of any anomalies, ensuring the safety of inspectors. Finally, data analysis based on environmental data and defect identification measurement results explores the mechanisms and trends of defect generation, providing data support for bridge assessment and maintenance.

[0053] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the embodiments of the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0055] FIG1 is a flow chart of a method for inspecting bridge surface defects according to an embodiment of the present invention;

[0056] FIG2 is a schematic structural diagram of a bridge surface defect inspection system according to an embodiment of the present invention;

[0057] FIG3 is a front structural diagram of a bridge surface defect inspection device according to an embodiment of the present invention;

[0058] FIG4 is a schematic diagram of the back structure of the bridge surface defect inspection device according to an embodiment of the present invention.

[0059] Markings in the figure: 1. Touch screen; 2. Button; 3. Audio output port; 4. Telescopic device; 5. Monocular camera; 6. Oxygen sensor; 7. Temperature sensor; 8. Humidity sensor; 9. Battery; 10. Development board; 11. Expansion interface; 12. Light. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0061] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0062] Example 1:

[0063] This embodiment provides a method for inspecting bridge surface defects.

[0064] Referring to Figure 1, this method is illustrated:

[0065] S1. Real-time acquisition of a set of inspection images captured by a monocular camera during bridge inspection;

[0066] In this embodiment, the photographed parts of the bridge include the bridge deck pavement, bridge piles, cables, the inside and outside of the beam, the tower body, the anchorage area, etc.

[0067] S2. Use visual inspection algorithms to dynamically identify target diseases in the inspection image set;

[0068] In this embodiment, the visual inspection algorithm is obtained through training and optimization of a database containing various bridge surface defects, and can quickly and efficiently dynamically identify and detect bridge surface defects, where bridge surface defects include cracks, water accumulation, concrete damage; rust on key components; paint peeling; deformation, oil spillage, and damage to asphalt bridge deck pavement; polishing, peeling, exposure, misalignment, potholes, spalling, and damage to joint materials of concrete bridge deck pavement.

[0069] S3. Select the QR code positioning point in the bridge and determine the spatial coordinates of the QR code positioning point, and calculate the first relative position of the monocular camera and the QR code positioning point based on the eight-direction QR code positioning method;

[0070] Specifically, step S3 includes:

[0071] S31. The bridge beam is formed as a hollow cuboid having a certain thickness, wherein the inner portion of the hollow cuboid is the inner facade of the beam and the outer portion is the outer facade of the beam;

[0072] S32. Select four QR code positioning points on the inner and outer sides of the cuboid respectively, and obtain the spatial position coordinates of all the QR code positioning points.

[0073] Specifically, please refer to Figure 2. The principle for arranging the positioning points inside the cuboid is to place three QR code positioning points at any three corners of the bottom surface of the cuboid, and one QR code positioning point at any corner of the top surface of the cuboid. The principle for arranging the positioning points outside the cuboid is to place three QR code positioning points at any three corners of the top surface of the cuboid, and one QR code positioning point at any corner of the bottom surface of the cuboid. A schematic diagram of the QR code positioning points is shown in Figure 2:

[0074] Positioning points A, B, and C are three QR code positioning points on the inner lower bottom surface, and positioning point D is a QR code positioning point on the inner upper top surface.

[0075] Positioning points E, F, and G are three QR code positioning points on the outer upper top surface, and positioning point H is a QR code positioning point on the outer lower bottom surface.

[0076] The position information of the QR code positioning point is obtained through the spatial position information of the corresponding position of the beam during the bridge design stage.

[0077] S33. Select a QR code positioning point as the starting point of the monocular camera, and select a QR code positioning point adjacent to the starting point as the end point of the monocular camera;

[0078] In this embodiment, when inspecting the vertical surface of the beam body, positioning point B is selected as the starting point and positioning point C is selected as the end point;

[0079] The spatial position coordinate system is constructed with the positioning point B as the coordinate origin, BA is the Y direction of the spatial position coordinate system, BC is the X direction of the spatial position coordinate system, and BD is the Z direction of the spatial position coordinate system.

[0080] S34. Obtaining the acceleration and first duration of the monocular camera during the movement from the starting point to the end point;

[0081] Specifically, the monocular camera scans the QR code of the positioning point B to obtain the position of point B (X B ,Y B ,Z B ), start timing after scanning, record the acceleration change at each moment, the acceleration in the three directions at each moment is (a X ,a Y ,a Z )

[0082] S35. Calculate the relative distance between the monocular camera and the starting point based on the acceleration of the movement and the first duration;

[0083] From this, we can see that the relative displacement of the monocular camera in the X, Y, and Z directions and the positioning point B is:

[0084] Among them, S X 、S Y 、S Z are the relative displacements between the monocular camera and the positioning point B in the X, Y, and Z directions, respectively, and t represents time.

[0085] From this we can see that the spatial position of the monocular camera at time t is (X B +S X ,Y B +S Y ,Z B +S Z ).

[0086] S36. The error correction amount of the spatial position coordinates of the monocular camera is calculated using the spatial position coordinates of the starting point, the spatial position coordinates of the end point, and the moving distance of the monocular camera;

[0087] Specifically, when correcting the error in the X direction, after scanning the positioning point B, the inspection moves to the positioning point C and scans the QR code to obtain the position information of the positioning point C (X C ,Y C ,Z C ), the positioning error in the X direction is X B +S X -X C , the positioning error in the Y direction is Y B +S Y -Y A , the positioning error in the Z direction is Z B +S Z -Z D ;

[0088] Among them, the X-direction error correction value δS X for:

[0089] Y-direction error correction δS Y for:

[0090] Z-direction error correction δS Z for:

[0091] S37. The spatial position coordinates of the monocular camera (X B +S X +δS X ,Y B +S Y +δS Y ,Z B +S Z +δS Z ).

[0092] S4. Determine the relative distance and relative angle between the monocular camera and the target disease, and use the relative distance and relative angle to calculate the relative position of the target disease and the monocular camera;

[0093] Specifically, step S4 includes:

[0094] S41. Obtain the angular velocity and second duration of the monocular camera moving from the starting point to the target disease;

[0095] Specifically, the angular velocity in the X, Y, and Z directions is (ω X ,ω Y ,ω Z ), the time it takes for the monocular camera to move from the starting point to the target disease is the second time length t′.

[0096] S42. Calculate the relative angle between the target disease and the monocular camera based on the angular velocity of the movement and the second duration;

[0097] Therefore, the angle θ between the target disease and the three directions of X, Y, and Z at time t′ is X ,θ Y ,θ Z are θ X =∫(ω X )dt′; θ Y =∫(ω Y )dt′; θ Z =∫(ω Z )dt′;

[0098] From this, we can know that the relative position of the marked defect in the X direction and the monocular camera is: D X =D×sinθ Z ×cosθ X ;

[0099] Similarly, the relative position of the target disease in the Y and Z directions to the monocular camera is: D Y =D×sinθ Z ×cosθ Y ; D Z =D×cosθ Z ;

[0100] S5. The spatial position coordinates of the target disease (X B +S X +δS Y +D X ,Y B +S Y +δS Y +D Y ,Z B +S Z +δS Z +D Z ).

[0101] Example 2:

[0102] As shown in FIG2 , the present application also provides a bridge surface defect inspection system, comprising:

[0103] The perception module is used to monitor the environmental data of the bridge and collect the detection image set of the bridge;

[0104] The computing and processing center is used to dynamically identify the target disease in the detection image set and select an image with the closest distance between the target disease and the image center from the detection image set as the disease image;

[0105] The computing and processing center can use a visual detection algorithm to dynamically identify target defects in the detection image set, wherein the visual detection algorithm is obtained through training and optimization of a database containing various bridge apparent defects, and can quickly and efficiently dynamically identify and detect bridge apparent defects.

[0106] The identification results of the target disease include but are not limited to the disease type, location, and morphological characteristic parameters (length, width, area, etc.).

[0107] A spatial positioning module, configured to execute the steps of the bridge apparent defect inspection method implemented in Example 1 to determine the spatial positioning information of the target defect identified by the computing and processing center;

[0108] The data storage and transmission module is used to temporarily store environmental data, disease images, and location information of target diseases, and upload the temporarily stored environmental data, disease images, and location information of target diseases to the cloud;

[0109] Human-computer interaction module, which controls the inspection system through human-computer interaction;

[0110] Specifically, the human-computer interaction terminal is a portable device's visualization terminal and also serves as a window for executing inspectors' commands. Using a touchscreen, it supports touch, key, voice, and image input modes. If inspectors discover a missed inspection during the inspection process, they manually capture an image of the defect, along with its location information. These images are then fed into a visual inspection algorithm for defect identification and morphological feature extraction. The inspection results are then collected and uploaded to the cloud computing platform. If a false positive is detected, the erroneous data and inspection results are manually deleted, and the subsequent process is the same as for handling a missed inspection.

[0111] Specifically, the cloud computing platform is a data computing and storage platform deployed on a cloud server. A BIM model of the bridge to be inspected is pre-built on the cloud computing platform, and the collected defect images, identification results, and environmental data are mapped to the BIM model according to the location information, and different colors are used to represent the different performance characteristics of the bridge. A dynamic BIM model of bridge performance decay is constructed based on multiple inspection data. Data analysis is performed based on environmental data and defect identification measurement results to explore the mechanism and growth trend of defects, providing data support for bridge assessment and maintenance. The cloud computing platform permanently stores inspection data and organizes the inspection data into digital reports for easy storage and organization. The digital report includes the inspection personnel, inspection date, name of the inspected bridge, type of defect, location of the defect, temperature, humidity, length, width, area of ​​the defect, etc.

[0112] Based on the above embodiment, the perception module includes:

[0113] An imaging unit, comprising a monocular camera, configured to capture a real-time inspection image of the bridge during the inspection process;

[0114] Specifically, the monocular camera can zoom and has an autofocus function.

[0115] An oxygen monitoring unit is used to monitor the oxygen concentration in a closed area during inspection, including the interior of a bridge beam. When the oxygen concentration is detected to be below the permitted normal level, an alarm is issued to remind the inspectors to leave the closed area as soon as possible.

[0116] Temperature monitoring unit: used to monitor the temperature in the inspection environment in real time, record temperature data, and issue high and low temperature warnings;

[0117] Humidity monitoring unit: used to monitor the humidity in the inspection environment in real time and record humidity data.

[0118] The temperature data and humidity data of each disease image when it is taken are saved together with the disease image and recorded as disease environment data.

[0119] Lighting unit: used for lighting when the inspection environment is dim, ensuring the quality of images collected in dark environments.

[0120] Based on the above embodiment, the spatial positioning module includes an inertial sensor and a laser transmitter mounted on a monocular camera; the spatial positioning module includes an inertial sensor and a laser transmitter mounted on a monocular camera;

[0121] The laser transmitter is used to measure the relative distance between the target disease and the monocular camera;

[0122] The inertial sensor consists of three accelerometers and three angular velocity meters;

[0123] The three accelerometers are used to monitor the acceleration of the monocular camera in three spatial dimensions, and the spatial position coordinates of the monocular camera are calculated based on the acceleration;

[0124] The three angular accelerometers are used to monitor the angular velocity of the monocular camera in three spatial dimensions. The relative angle between the target disease and the monocular camera is calculated based on the angular velocity. The spatial position coordinates of the target disease are determined by the relative angle and relative distance between the target disease and the monocular camera and the spatial position coordinates of the monocular camera.

[0125] Specifically, four QR code positioning points are set on the inner and outer facades of a section of the bridge beam. The position information of the QR code positioning points is obtained from the spatial position information of the corresponding positions of the beam during the bridge design phase. The positioning point layout principle for the inner facade of the beam is to place three QR code positioning points at any three corners of the lower bottom surface and one QR code positioning point at any corner of the upper top surface; the positioning point layout principle for the outer facade of the beam is to place three QR code positioning points at any three corners of the upper top surface and one QR code positioning point at any corner of the lower bottom surface.

[0126] Three independent accelerometers can collect the relative displacement information between the monocular camera and the QR code positioning point in three dimensions, and three independent angular velocity meters can collect the three angle data of a certain point in space relative to the monocular camera.

[0127] Based on the above embodiment, the following further comprises:

[0128] The power management module provides power to the inspection system. Preferably, the module is composed of removable and replaceable batteries that can be recharged and discharged multiple times, making them easy for inspectors to replace and ensure long-lasting battery life. The power management system controls charging and detects battery levels. When the remaining battery level falls below a set threshold, it issues a battery alert, reminding inspectors to save their inspection tasks and replace the batteries. The power management system also features output voltage overvoltage, undervoltage, and overcurrent protection to ensure battery safety. It also provides overtemperature warnings, alerting inspectors to take appropriate action and ensuring equipment safety.

[0129] A portable power-assisting module, wherein the portable power-assisting module is provided with a telescopic device for arranging a monocular camera;

[0130] The portable assistance module integrates the other modules industrially. Through ergonomic and lightweight design, the device is lightweight, comfortable, and flexible. The modules are strategically arranged, allowing for convenient portability and use by inspectors, such as handheld and crossbody. The portable assistance module also features an extra-long telescopic mechanism, with a monocular camera positioned at its top. For inspections at long distances, in narrow areas, or inaccessible locations, the mechanism can be opened to extend the lens, enabling visual disease detection in conjunction with the monocular camera's zoom and autofocus.

[0131] Expansion module: used to reserve network interface, audio interface and data interface; specifically, the expansion module retains multiple interfaces such as USB, Type-c, HDMI, RJ-45 network interface, AUX audio interface, etc., is compatible with a variety of expansion devices, and reserves a way for portable devices to expand other modules. When performing inspection tasks, if there is insufficient memory, the memory can be expanded by connecting an external hard drive through the USB interface. When the inspection requires multi-lens detection, the USB camera can be directly connected through the USB interface to achieve device expansion. The expansion module supports remote system upgrades, and through the reserved data interface, the preset programs of the local computing and processing center can be changed and upgraded.

[0132] Example 3:

[0133] As shown in FIG3 and FIG4, this embodiment provides a bridge surface disease inspection device, the device comprising:

[0134] The device body has a touch screen 1, buttons 2 and an audio output port 3 on the front of the device body;

[0135] The side of the device body is also provided with an illumination lamp 12, a microphone and a telescopic device 4, on which a monocular camera 5 is mounted;

[0136] The device body is equipped with an oxygen sensor 6, a temperature sensor 7, a humidity sensor 8, a battery 9, a development board 10 and an expansion interface 11;

[0137] The development board 10 stores a computer program, which, when executed by the processor, implements the steps of the bridge surface defect inspection method described in Example 1;

[0138] The development board, which serves as the device's control center and consists of a Raspberry Pi or Jetson Nano development board, provides computing and data processing capabilities. It includes visual detection algorithms, location information fusion algorithms, environmental data storage algorithms, and human-computer interaction instructions.

[0139] Furthermore, it also includes:

[0140] The monocular camera is also provided with an inertial sensor, which includes three accelerometers and three angular velocity meters.

[0141] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0142] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A bridge apparent disease inspection method, characterized in that: include: Real-time acquisition of detection image sets captured by a monocular camera during bridge inspection; Use visual inspection algorithms to dynamically identify target diseases in inspection image sets; Select a QR code positioning point on the bridge and determine the spatial position coordinates of the QR code positioning point, and calculate the first relative position between the monocular camera and the QR code positioning point based on the eight-direction QR code positioning method; Determine the relative distance and relative angle between the monocular camera and the target disease, and use the relative distance and relative angle to calculate the relative position of the target disease and the monocular camera; The spatial position coordinates of the target disease are calculated by the spatial position coordinates of the monocular camera and the relative position of the target disease and the monocular camera.

2. The bridge apparent disease inspection method according to claim 1 is characterized in that: Select the QR code positioning point in the bridge and determine the spatial position coordinates of the QR code positioning point, including: The beam of the bridge is a hollow cuboid, the inner side of the hollow cuboid is the inner facade of the beam, and the outer side is the outer facade of the beam; Four QR code positioning points are selected on the inner and outer sides of the cuboid respectively, and the spatial position coordinates of all the QR code positioning points are obtained.

3. The bridge apparent disease inspection method according to claim 1 or 2, characterized in that: Calculating the first relative position between the monocular camera and the QR code positioning point based on the eight-direction QR code positioning method includes: Select a QR code positioning point as the starting point of the monocular camera, and select the QR code positioning point adjacent to the starting point as the end point of the monocular camera; Get the acceleration and first duration of the monocular camera moving from the starting point to the end point; The relative distance between the monocular camera and the starting point is calculated according to the acceleration of the movement and the first duration; The error correction amount of the spatial position coordinates of the monocular camera is calculated using the spatial position coordinates of the starting point, the spatial position coordinates of the end point, and the moving distance of the monocular camera; The spatial position coordinates of the monocular camera are calculated by the spatial position coordinates of the starting point, the moving distance of the monocular camera and the error correction amount.

4. The bridge apparent disease inspection method according to claim 3 is characterized in that: Determine the relative angle between the monocular camera and the target disease, including: Obtain the angular velocity and second duration of the monocular camera when it moves from the starting point to the target disease; The relative angle between the target disease and the monocular camera is calculated based on the angular velocity of the movement and the second duration.

5. A bridge apparent disease inspection system, characterized in that: include: A perception module, used to monitor the environmental data of the bridge and collect a set of detection images of the bridge; A computing and processing center is used to dynamically identify the target disease in the detection image set, and select an image with the closest distance between the target disease and the image center from the detection image set as the disease image; A spatial positioning module is used to determine the spatial positioning information of the target disease identified by the computing and processing center; A data storage and transmission module, used for temporarily storing environmental data, disease images, and location information of target diseases, and uploading the temporarily stored environmental data, disease images, and location information of target diseases to the cloud; The human-computer interaction module controls the inspection system through human-computer interaction operations.

6. The bridge apparent disease inspection system according to claim 5 is characterized in that: The perception module comprises: An imaging unit, the imaging unit comprising a monocular camera, for taking a detection image of the bridge in real time during the inspection process; An oxygen monitoring unit is used to monitor the oxygen concentration in a closed area in the inspection environment in real time, wherein the closed area includes the interior of the bridge beam; Temperature monitoring unit: used to monitor the temperature in the inspection environment in real time; Humidity monitoring unit: used to monitor the humidity in the inspection environment in real time; Lighting unit: used for lighting when the inspection environment is dim.

7. The bridge apparent disease inspection system according to claim 6 is characterized in that: The spatial positioning module includes an inertial sensor and a laser transmitter mounted on a monocular camera; The laser transmitter is used to measure the relative distance between the target disease and the monocular camera; The inertial sensor is composed of three accelerometers and three angular velocity meters; The three accelerometers are used to monitor the acceleration of the monocular camera in three spatial dimensions, and the spatial position coordinates of the monocular camera are calculated based on the acceleration; The three angular accelerometers are used to monitor the angular velocity of the monocular camera in three spatial dimensions. The relative angle between the target disease and the monocular camera is calculated based on the angular velocity. The spatial position coordinates of the target disease are determined by the relative angle and relative distance between the target disease and the monocular camera and the spatial position coordinates of the monocular camera.

8. The bridge apparent disease inspection system according to claim 6 is characterized in that: Also includes: A power management module is used to provide power to the inspection system; A portable power-assisting module, wherein the portable power-assisting module is provided with a telescopic device for arranging a monocular camera; Expansion module: used to reserve network interface, audio interface and data interface.

9. A bridge surface disease inspection device, characterized in that: include: A device body, the front of which is provided with a touch screen (1), a button (2) and an audio output port (3); A lighting lamp (12), a microphone and a telescopic device (4) are also provided on the side of the device body, and a monocular camera (5) is installed on the telescopic device (4); The device body is equipped with an oxygen sensor (6), a temperature sensor (7), a humidity sensor (8), a battery (9), a development board (10) and an expansion interface (11); The development board (10) stores a computer program, and when the computer program is executed by a processor, the steps of the bridge surface defect inspection method according to any one of claims 1 to 4 are implemented.

10. The bridge surface disease inspection device according to claim 9, characterized in that: Also includes: The monocular camera is also provided with an inertial sensor, which includes three accelerometers and three angular velocity meters.

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