CN103643629A - Method and device for inspecting bridge structure - Google Patents
Method and device for inspecting bridge structure Download PDFInfo
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- CN103643629A CN103643629A CN201310648025.8A CN201310648025A CN103643629A CN 103643629 A CN103643629 A CN 103643629A CN 201310648025 A CN201310648025 A CN 201310648025A CN 103643629 A CN103643629 A CN 103643629A
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Abstract
The invention discloses a method and device for inspecting a bridge structure. The method for inspecting the bridge structure comprises the steps that coordinate values of an inspected target in a bridge coordinate system are obtained, the position of the inspected target is determined according to the coordinate values, and information of the inspected target is obtained according to the determined position of the inspected target. By the adoption of the method and device for inspecting the bridge structure, comprehensive inspection of the bridge structure can be achieved, and automatic re-inspection can be achieved.
Description
Technical field
The present invention relates to bridge monitoring administrative skill field, relate in particular to a kind of inspection method and device of bridge construction.
Background technology
Along with the develop rapidly of national economy, the bridge road construction of China is also at rapid growth.Bridge Accidents occurs repeatedly in recent years, often has every year many bridge blocks to collapse, and its reason is many-sided, has design reasons, has construction reason, also may have inspection work reason not in place.Before bridge collapse accident occurs, bridge defect may be very serious, and characteristic remarkable if early improvement can be early found in the real running check work of implementing completely, thereby is avoided the generation of major accident.In the process of bridge current check, restriction due to checking tool and means, be difficult to obtain the bridge coordinate information of disease, often needing to spend the plenty of time picks up original disease, for disease check brings great difficulty, cause the efficiency of Daily Round Check lower, cannot meet the code requirement of bridge regular inspection.
In the bridge defect of prior art checks, operating personnel need pass through the special tools such as Hanging Basket, scaffold, double ladder or bridge-checking vehicle and arrive near disease, with digital camera, take disease photo, and disease positional information and dimension information are measured, conventional survey tool has tape measure, laser range finder or total powerstation.
In the survey tool of prior art, tape measure needs contact measurement target, and measurement category is limited, and operation inconvenience, generally needs two people to coordinate surveying work.The range of laser range finder is large, precision is high, but needs take multiple measurements near disease for obtaining bridge coordinate information and the dimension information of disease, and need to manually calculate.Total powerstation almost can be used on all fields of measurement but is not suitable for the running check of bridge, and it exists preparation complicated, and complex operation cannot be realized disease and take and record, has the problems such as observation dead angle in use.
Summary of the invention
The object of the invention is to propose a kind of inspection method and device of bridge construction, so that inspection target is accurately located, and then gather size or the image information that checks target.
The invention provides a kind of inspection method of bridge construction, described method comprises:
Obtain and check the coordinate figure of target under bridge coordinate system;
According to described coordinate figure, determine the position of described inspection target;
According to the position of the described inspection target of determining, gather the information that checks target.
Accordingly, the invention allows for a kind of testing fixture of bridge construction, described device comprises:
Obtain coordinate figure module, for obtaining, check the coordinate figure of target under bridge coordinate system;
Determine position module, for according to described coordinate figure, determine the position of described inspection target;
Information Monitoring module, for according to the position of the described inspection target of determining, gathers the information that checks target.
Accordingly, the invention allows for a kind of testing fixture of bridge construction, described device comprises:
High-precision digital The Cloud Terrace, horizontally rotates angle and pitch rotation angle for what obtain described device;
Laser range finder is installed on described high-precision digital The Cloud Terrace, for measuring described device to the distance that checks target;
Attitude instrument is installed on described high-precision digital The Cloud Terrace, for obtaining the 3 d pose information of described device;
Optical zoom high-definition camera movement is installed on described high-precision digital The Cloud Terrace, for gathering video or the image information that checks target.
The present invention proposes a kind of inspection method and device of bridge construction, by acquisition, check that the coordinate figure of target under bridge coordinate system accurately locate checking target, and then collection checks size or the image information of target, can realize the comprehensive inspection to bridge construction, and obtain and check that the coordinate figure of target under bridge coordinate system can provide for the check after bridge construction accurate positional information, during check, need not reorientate, realize check automatically.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the inspection method of the bridge construction that provides of first embodiment of the invention;
Fig. 2 is the structural representation of the testing fixture of the bridge construction that provides of third embodiment of the invention;
Fig. 3 is the structural representation of the testing fixture of the bridge construction that provides of fourth embodiment of the invention.
The specific embodiment
For the technical scheme of technical problem that the present invention is solved, employing and the technique effect that reaches clearer, below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, in accompanying drawing, only show part related to the present invention but not full content.Below in conjunction with accompanying drawing and by the specific embodiment, further illustrate technical scheme of the present invention.
Embodiment mono-
Fig. 1 is the realization flow figure of the inspection method of the bridge construction that provides of first embodiment of the invention.The testing fixture of the bridge construction that the method that the embodiment of the present invention provides can be provided by the embodiment of the present invention is carried out, and this device can be realized by software and/or hardware.As shown in Figure 1, the method that the embodiment of the present invention provides comprises:
Wherein, bridge coordinate system is the coordinate system being designed according to the position of bridge, trend and environmental characteristic by designer when bridge construction.After a bridge block builds up, the origin of coordinates of bridge coordinate system of bridge and the direction of each axle are fixing and known.Generally, it is initial point that bridge coordinate system be take the central point of the 0th pier of bridge, and the travel direction of bridge is the direction of an axle of bridge coordinate system.In embodiments of the present invention, by operating equipment, measure to obtain and check the coordinate figure required data of target under bridge coordinate system, wherein, operating equipment can be measured operating equipment to checking that the distance of known point under target or a bridge coordinate system is, the deflection relation that horizontally rotates angle and pitch rotation angle and operating equipment coordinate system and bridge coordinate system of operating equipment.
In embodiments of the present invention, preferably, the data of measuring according to operating equipment, the coordinate figure of the origin of coordinates of obtaining respectively a known point under bridge coordinate system and bridge coordinate system under operating equipment coordinate system, because the origin of coordinates of the known point under a bridge coordinate system and the bridge coordinate system coordinate figure under bridge coordinate system is known, coordinate figure by the known point under a described bridge coordinate system under bridge coordinate system and the coordinate figure of the origin of coordinates of the coordinate figure under operating equipment coordinate system and bridge coordinate system under operating equipment coordinate system, determine the coordinate figure of operating equipment under bridge coordinate system.Wherein, operating equipment coordinate system is the coordinate system that the actual conditions of setting up according to operating equipment are set according to the requirement of engineering design, and operating equipment coordinate system be take operating equipment as initial point, and each axle is level not necessarily.Operating equipment bridge coordinate system is that described operating equipment coordinate system is converted to each axle coordinate system parallel with bridge coordinate system, and described operating equipment bridge coordinate system be take operating equipment as initial point.The operating equipment coordinate system that operating equipment coordinate system and bridge coordinate system can be measured by operating equipment and the deflection relation of bridge coordinate system, by rotation of coordinate and coordinate translation, change, the mutual conversion of complete operation device coordinate system and bridge coordinate system, concrete mapping mode comprises level compensating and adjustment in direction.
Coordinate figure according to the described inspection target of determining in step 101 under bridge coordinate system, has just determined the position of described inspection target, and then determines the position relationship that checks target and operating equipment.
After having determined the position of described inspection target, operating equipment is aimed at and is checked target, measures to gather the information that checks target.Wherein, described information comprises video, image or the dimension information that checks target.The information collecting is using the foundation of inspection target being analyzed as testing staff.
The beneficial effect of such scheme is to check that by determining the coordinate figure of target under bridge coordinate system comes checking the accurate location of target, realize to check target carry out checking comprehensively in for check in the future provides accurate positional information, can realize automatic check.
In such scheme, preferably, described acquisition checks the coordinate figure of target under bridge coordinate system, comprising:
To check respectively known point under target and the bridge coordinate system coordinate figure under operating equipment bridge coordinate system;
Coordinate figure according to described known point under bridge coordinate system and the described known point coordinate figure under operating equipment bridge coordinate system, determines the coordinate figure of operating equipment under bridge coordinate system;
Coordinate figure according to the described inspection target obtaining under operating equipment bridge coordinate system and the coordinate figure of the described operating equipment of determining under bridge coordinate system, determine the coordinate figure of described inspection target under bridge coordinate system.
It is foundation that such scheme only be take the coordinate figure of a known point under bridge coordinate system under different coordinates, carries out coordinate transform, obtains the coordinate figure of operating equipment under bridge coordinate system, and scheme is simple, reliable, be convenient to promote.
Preferably, the coordinate figure of the known point under the described inspection target of acquisition respectively and a bridge coordinate system under operating equipment bridge coordinate system, comprising:
Obtain operating equipment to the distance of known point under inspection target or a bridge coordinate system, the deflection relation that horizontally rotates angle and pitch rotation angle and operating equipment coordinate system and bridge coordinate system of operating equipment;
According to described operating equipment to check the known point under target or a bridge coordinate system distance, operating equipment horizontally rotate angle and pitch rotation angle, determine the known point that checks under target or the bridge coordinate system spherical coordinates value under operating equipment coordinate system;
According to the described spherical coordinates value of determining, the definite rectangular co-ordinate value of the known point under target or a bridge coordinate system under operating equipment coordinate system that check;
According to the described operating equipment coordinate system and the deflection relation of bridge coordinate system and definite described inspection target or the rectangular co-ordinate value of the known point under a bridge coordinate system under operating equipment coordinate system that obtain, determine known point under described inspection target or the bridge coordinate system coordinate figure under operating equipment bridge coordinate system.
Such scheme can be in the situation that the non-level of operating equipment be set up, the data of utilizing operating equipment to record, the coordinate figure of known point under acquisition inspection target or a bridge coordinate system under operating equipment coordinate system, the deflection relation of recycling operating equipment coordinate system and bridge coordinate system, coordinate figure by the known point under inspection target or a bridge coordinate system under operating equipment coordinate system is converted to the coordinate figure under operating equipment bridge coordinate system, do not need operating equipment to carry out complicated leveling, the actual conditions that detect for bridge have more practical value.Therefore the popularization of technology is more convenient.
In addition, when check, for the inspection target of known coordinate figure in bridge coordinate system, operating equipment can calculate the spherical coordinates that checks target automatically, and operating equipment auto-alignment is checked to target collection checks the information of target.
The inspection method of the bridge construction that the present embodiment provides, by acquisition, check that the coordinate figure of target under bridge coordinate system accurately locate checking target, and then collection checks size or the image information of target, can realize the comprehensive inspection to bridge construction, and obtain and check that the coordinate figure of target under bridge coordinate system can provide for the check after bridge construction accurate positional information, when check, need not reorientate, realize check automatically.
Embodiment bis-
Second embodiment of the invention be take the first embodiment as basis, proposes a kind of preferred embodiment on the basis of the first embodiment.
Preferably, operating equipment comprises: high-precision digital The Cloud Terrace, laser range finder, attitude instrument and optical zoom high-definition camera movement.
Wherein, high-precision digital The Cloud Terrace, horizontally rotates angle and pitch rotation angle for what obtain described operating equipment; Laser range finder is installed on described high-precision digital The Cloud Terrace, for measuring described operating equipment to the distance that checks target; Attitude instrument is installed on described high-precision digital The Cloud Terrace, for obtaining the deflection relation of operating equipment coordinate system and bridge coordinate system; Optical zoom high-definition camera movement is installed on described high-precision digital The Cloud Terrace, for gathering video or the image information that checks target.
By laser range finder, can obtain operating equipment is l to the distance that checks the known point under target or a bridge coordinate system, the angle that horizontally rotates that high-precision digital The Cloud Terrace can obtain operating equipment is α and pitch rotation angle β, the deflection pass that attitude instrument can obtain operating equipment coordinate system and bridge coordinate system is (P, R, H), obtain checking that the spherical coordinates of target under operating equipment coordinate system is (α, β, l), spherical coordinates can be converted into rectangular co-ordinate (x ', y ', z '), wherein, x '=l * sin β cos α, y '=l * sin β sin α, z '=l * cos β.Further, known bridge direction is H
0, by rotation of coordinate and coordinate translation, convert, can complete operation device coordinate system (x ', y ', z ') and bridge coordinate system (x ", y ", the mutual conversion between z ").
Cannot guarantee operating equipment horizontal positioned owing to setting up, must carry out level compensating and adjustment in direction, operating equipment coordinate system is converted to bridge coordinate system.Operating equipment coordinate system, around X-axis anglec of rotation P, to revise the angle of pitch, around Y-axis anglec of rotation R, to revise roll angle, is obtained to operating equipment bridge coordinate system; Known bridge direction is H
0, operating equipment coordinate direction is H, operating equipment and bridge angular separation are H-H
0, by the operating equipment coordinate system after level compensating around Z axis anglec of rotation φ=H-H
0, to revise course angle, after three rotation transformations, operating equipment coordinate system (x ', y ', z ') (each direction of principal axis of operating equipment coordinate system is parallel with each direction of principal axis of bridge coordinate system for x ", y ", z "); now, and origin of coordinates O ' is operating equipment to be converted into bridge coordinate system.In like manner, through reverse rotation of coordinate, bridge coordinate system can be reduced to operating equipment coordinate system.
Further, utilize operating equipment to obtain known point C under the bridge coordinate system spherical coordinates (α under operating equipment bridge coordinate system
c, β
c, l
c), the rectangular co-ordinate value that can obtain known point C through above Coordinate Conversion is (x
c, y
c, z
c) coordinate figure (x in operating equipment bridge coordinate system
c", y
c", z
c"), the coordinate figure of operating equipment initial point O ' in bridge coordinate system is (x
c-x
c", y
c-y
c", z
c-z
c").
Further, utilize operating equipment to obtain and check the coordinate figure of target in bridge coordinate system, obtain and check that the spherical coordinates of target A is (α
a, β
a, l
a), through above Coordinate Conversion, can obtain checking that the coordinate of target A in operating equipment bridge coordinate system is (x
a", y
a", z
a"), checks that the coordinate figure of target A in bridge coordinate system is (x
c-x
c"+x
a", y
c-y
c"+y
a", z
c" z
c"+z
a").Determine the coordinate figure of described inspection target under bridge coordinate system, just determined the position of described inspection target, and then determined the position relationship that checks target and operating equipment.
Further, after having determined the position of described inspection target, utilize optical zoom high-definition camera movement to measure to gather to checking target video, image or the dimension information that checks target.
In addition, owing to having obtained, check the coordinate figure of target A in bridge coordinate system, when inspection target A is checked, need not reorientate, realize check automatically.
Embodiment tri-
Fig. 2 is the structural representation of the testing fixture of the bridge construction that provides of third embodiment of the invention.As shown in Figure 2, the device that the embodiment of the present invention provides comprises: obtain coordinate figure module 201, determine position module 202 and Information Monitoring module 203.
Wherein, described acquisition coordinate figure module 201, checks the coordinate figure of target under bridge coordinate system for obtaining.Determine position module 202, for according to described coordinate figure, determine the position of described inspection target.Information Monitoring module 203, for according to the position of the described inspection target of determining, gathers the information that checks target.
Further, described acquisition coordinate figure module 201, also comprises: obtain submodule, for obtaining respectively the known point that checks under target and the bridge coordinate system coordinate figure under operating equipment bridge coordinate system; First determines submodule, for the coordinate figure under bridge coordinate system and the described known point coordinate figure under operating equipment bridge coordinate system according to described known point, determines the coordinate figure of operating equipment under bridge coordinate system; Second determines submodule, for the coordinate figure under operating equipment bridge coordinate system and the coordinate figure of the described operating equipment of determining under bridge coordinate system according to the described inspection target obtaining, determines the coordinate figure of described inspection target under bridge coordinate system.
Further, described acquisition submodule, specifically for: obtain operating equipment to the distance of known point under inspection target or a bridge coordinate system, the deflection relation that horizontally rotates angle and pitch rotation angle and operating equipment coordinate system and bridge coordinate system of operating equipment; According to described operating equipment to check the known point under target or a bridge coordinate system distance, operating equipment horizontally rotate angle and pitch rotation angle, determine the known point that checks under target or the bridge coordinate system spherical coordinates value under operating equipment coordinate system; According to the described spherical coordinates value of determining, the definite rectangular co-ordinate value of the known point under target or a bridge coordinate system under operating equipment coordinate system that check; According to the described operating equipment coordinate system and the deflection relation of bridge coordinate system and definite described inspection target or the rectangular co-ordinate value of the known point under a bridge coordinate system under operating equipment coordinate system that obtain, determine known point under described inspection target or the bridge coordinate system coordinate figure under operating equipment bridge coordinate system.
Further, described device also comprises:
Logic control module, processes for coordinate figure that described acquisition coordinate figure module, the operation of determining position module and described Information Monitoring module are controlled and described acquisition coordinate figure module is obtained and video or the image information of described Information Monitoring module collection;
Stepper motor drives servo submodule, for controlling the level of described device and the rotational angle of pitching.
The present invention proposes a kind of testing fixture of bridge construction, by obtaining coordinate figure module, to checking target, accurately locate, and then utilize the collection of Information Monitoring module to check size or the image information of target, can realize the comprehensive inspection to bridge construction, and obtain and check that the coordinate figure of target under bridge coordinate system can provide for the check after bridge construction accurate positional information, when check, need not reorientate, realize check automatically.
The testing fixture of the bridge construction that the present embodiment provides, for the inspection method of the bridge construction carrying out any embodiment of the present invention and provide, possesses corresponding functional module, reaches identical technique effect.
Embodiment tetra-
Fig. 3 is the structural representation of the testing fixture of the bridge construction that provides of fourth embodiment of the invention.As shown in Figure 3, the device that the embodiment of the present invention provides comprises: high-precision digital The Cloud Terrace 301, laser range finder 302, attitude instrument 303 and optical zoom high-definition camera movement 304.
Wherein, high-precision digital The Cloud Terrace 301, horizontally rotates angle and pitch rotation angle for what obtain described device; Laser range finder 302 is installed on described high-precision digital The Cloud Terrace, for measuring described device to the distance that checks target; Attitude instrument 303 is installed on described high-precision digital The Cloud Terrace, for obtaining the 3 d pose information of described device; Optical zoom high-definition camera movement 304 is installed on described high-precision digital The Cloud Terrace, for gathering video or the image information that checks target.
In such scheme, preferably, described high-precision digital The Cloud Terrace 301 adopts the digital drive servo techniques of 1.8 ° of stepper motors, 32 segmentation drivings and 100:1 mechanical reducer, and the rotation precision of described high-precision digital The Cloud Terrace 301 is 2 ".
Preferably, the measurement category of described laser range finder 302 is 0.05 to 40m.
Preferably, described attitude instrument 303 band Hard Magnetic, soft magnetism and pour angle compensations, course precision is 0.5 °, high dip angle measurement category is ± 80 °, wide temperature range is-40 ℃ to+85 ℃, operating current is 40mA, and output interface is that standard RS232/RS485/TTL and small size profile are L44 * W35 * H8(mm).
Preferably, described optical zoom high-definition camera movement 304 is installed with described laser range finder 302 axle.
Further, the ultimate resolution of described optical zoom high-definition camera movement 304 is 1280 * 960, and the focal length of described optical zoom high-definition camera movement 304 is 4.7 to 84.6mm, and the fastest zooming time of described optical zoom high-definition camera movement 304 is 2S.
The usefulness of such scheme is that described testing fixture can be to checking that target be carried out coordinate setting, can be carried out detail inspection, accuracy is high, check that effect is clear, fine and smooth, focusing speed is fast.
The present invention proposes a kind of testing fixture of bridge construction, by cooperatively interacting of high-precision digital The Cloud Terrace, laser range finder, attitude instrument and optical zoom high-definition camera movement, can accurately locate inspection target, and then collection checks size or the image information of target, accurate location can provide for later check accurate positional information, during check, need not reorientate, realize check automatically.
The invention is not restricted to the inspection to bridge construction, can be applied to the structure inspection of other buildings simultaneously.
Note, foregoing is only preferred embodiment of the present invention.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious variations, readjust and substitute and can not depart from protection scope of the present invention.Therefore, although the present invention is described in further detail by above embodiment, the present invention is not limited only to above embodiment, in the situation that not departing from the present invention's design, can also comprise more other equivalent embodiment, and scope of the present invention is determined by appended claim scope.
Claims (9)
1. an inspection method for bridge construction, is characterized in that, comprising:
Obtain and check the coordinate figure of target under bridge coordinate system;
According to described coordinate figure, determine the position of described inspection target;
According to the position of the described inspection target of determining, gather the information that checks target.
2. method according to claim 1, is characterized in that, described acquisition checks the coordinate figure of target under bridge coordinate system, comprising:
To check respectively known point under target and the bridge coordinate system coordinate figure under operating equipment bridge coordinate system;
Coordinate figure according to described known point under bridge coordinate system and the described known point coordinate figure under operating equipment bridge coordinate system, determines the coordinate figure of operating equipment under bridge coordinate system;
Coordinate figure according to the described inspection target obtaining under operating equipment bridge coordinate system and the coordinate figure of the described operating equipment of determining under bridge coordinate system, determine the coordinate figure of described inspection target under bridge coordinate system.
3. method according to claim 2, is characterized in that, the coordinate figure of the known point under the described inspection target of acquisition respectively and a bridge coordinate system under operating equipment bridge coordinate system, comprising:
Obtain operating equipment to the distance of known point under inspection target or a bridge coordinate system, the deflection relation that horizontally rotates angle and pitch rotation angle and operating equipment coordinate system and bridge coordinate system of operating equipment;
According to described operating equipment to check the known point under target or a bridge coordinate system distance, operating equipment horizontally rotate angle and pitch rotation angle, determine the known point that checks under target or the bridge coordinate system spherical coordinates value under operating equipment coordinate system;
According to the described spherical coordinates value of determining, the definite rectangular co-ordinate value of the known point under target or a bridge coordinate system under operating equipment coordinate system that check;
According to the described operating equipment coordinate system and the deflection relation of bridge coordinate system and definite described inspection target or the rectangular co-ordinate value of the known point under a bridge coordinate system under operating equipment coordinate system that obtain, determine known point under described inspection target or the bridge coordinate system coordinate figure under operating equipment bridge coordinate system.
4. a testing fixture for bridge construction, is characterized in that, comprising:
Obtain coordinate figure module, for obtaining, check the coordinate figure of target under bridge coordinate system;
Determine position module, for according to described coordinate figure, determine the position of described inspection target;
Information Monitoring module, for according to the position of the described inspection target of determining, gathers the information that checks target.
5. device according to claim 4, is characterized in that, described acquisition coordinate figure module, comprising:
Obtain submodule, for obtaining respectively the known point that checks under target and the bridge coordinate system coordinate figure under operating equipment bridge coordinate system;
First determines submodule, for the coordinate figure under bridge coordinate system and the described known point coordinate figure under operating equipment bridge coordinate system according to described known point, determines the coordinate figure of operating equipment under bridge coordinate system;
Second determines submodule, for the coordinate figure under operating equipment bridge coordinate system and the coordinate figure of the described operating equipment of determining under bridge coordinate system according to the described inspection target obtaining, determines the coordinate figure of described inspection target under bridge coordinate system.
6. device according to claim 5, is characterized in that, described acquisition submodule, specifically for:
Obtain operating equipment to the distance of known point under inspection target or a bridge coordinate system, the deflection relation that horizontally rotates angle and pitch rotation angle and operating equipment coordinate system and bridge coordinate system of operating equipment;
According to described operating equipment to check the known point under target or a bridge coordinate system distance, operating equipment horizontally rotate angle and pitch rotation angle, determine the known point that checks under target or the bridge coordinate system spherical coordinates value under operating equipment coordinate system;
According to the described spherical coordinates value of determining, the definite rectangular co-ordinate value of the known point under target or a bridge coordinate system under operating equipment coordinate system that check;
According to the described operating equipment coordinate system and the deflection relation of bridge coordinate system and definite described inspection target or the rectangular co-ordinate value of the known point under a bridge coordinate system under operating equipment coordinate system that obtain, determine known point under described inspection target or the bridge coordinate system coordinate figure under operating equipment bridge coordinate system.
7. device according to claim 4, is characterized in that, also comprises:
Logic control module, processes for coordinate figure that described acquisition coordinate figure module, the operation of determining position module and described Information Monitoring module are controlled and described acquisition coordinate figure module is obtained and video or the image information of described Information Monitoring module collection;
Stepper motor drives servo submodule, for controlling the level of described device and the rotational angle of pitching.
8. a testing fixture for bridge construction, is characterized in that, comprising:
High-precision digital The Cloud Terrace, horizontally rotates angle and pitch rotation angle for what obtain described device;
Laser range finder is installed on described high-precision digital The Cloud Terrace, for measuring described device to the distance that checks target;
Attitude instrument is installed on described high-precision digital The Cloud Terrace, for obtaining the 3 d pose information of described device;
Optical zoom high-definition camera movement is installed on described high-precision digital The Cloud Terrace, for gathering video or the image information that checks target.
9. device according to claim 8, is characterized in that, described optical zoom high-definition camera movement and described laser range finder axle are installed.
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| CN201310648025.8A CN103643629B (en) | 2013-12-04 | 2013-12-04 | The inspection method of a kind of bridge structure and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113358068A (en) * | 2021-04-26 | 2021-09-07 | 福建数***信息科技有限公司 | Floor type scaffold correcting method and device |
| CN116295020A (en) * | 2023-05-22 | 2023-06-23 | 山东高速工程检测有限公司 | Bridge disease positioning method and device |
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| CN202133392U (en) * | 2011-07-28 | 2012-02-01 | 北京特希达特种设备技术有限公司 | Spatial distance remote-viewing measuring instrument for works |
| CN103266559A (en) * | 2013-06-04 | 2013-08-28 | 重庆交通大学 | BP bridge safety inspection vehicle and method for obtaining bridge surface physiognomy |
| CN103335858A (en) * | 2013-06-06 | 2013-10-02 | 湖南大学 | Method for measuring bridge structure dynamic displacement and vibration frequency |
| CN203603053U (en) * | 2013-12-04 | 2014-05-21 | 北京特希达特种设备技术有限公司 | Detection device and system of bridge structure |
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| CN113358068A (en) * | 2021-04-26 | 2021-09-07 | 福建数***信息科技有限公司 | Floor type scaffold correcting method and device |
| CN116295020A (en) * | 2023-05-22 | 2023-06-23 | 山东高速工程检测有限公司 | Bridge disease positioning method and device |
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