CN103643629B - The inspection method of a kind of bridge structure and device - Google Patents
The inspection method of a kind of bridge structure and device Download PDFInfo
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- CN103643629B CN103643629B CN201310648025.8A CN201310648025A CN103643629B CN 103643629 B CN103643629 B CN 103643629B CN 201310648025 A CN201310648025 A CN 201310648025A CN 103643629 B CN103643629 B CN 103643629B
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Abstract
The invention discloses the inspection method of a kind of bridge structure and device, described method includes: obtains and checks target coordinate figure under bridge coordinate system；According to described coordinate figure, it is determined that the position of described inspection target；Position according to the described inspection target determined, gathers the information checking target.The present invention is capable of the comprehensive inspection to bridge structure, and realizes check automatically.
Description
Technical field
The present invention relates to bridge monitoring management technique field, particularly relate to inspection method and the device of a kind of bridge structure.
Background technology
Along with developing rapidly of national economy, the bridge road construction of China is also in quick growth.Bridge Accidents occurs repeatedly in recent years, often has many bridge blocks to collapse every year, and its reason is many-sided, has design reasons, has construction reason, it is also possible to have the reason checking that work is not in place.Before bridge collapse accident occurs, bridge defect is likely to very serious, characteristic remarkable, if real implements running check work, can early find early to administer completely, thus avoiding the generation of major accident.In the process of bridge current check, restriction due to checking tool and means, it is difficult to obtain the bridge coordinate information of disease, generally require and spend the plenty of time to pick up original disease, great difficulty is brought for disease check, cause the inefficient of Daily Round Check, it is impossible to meet the code requirement of bridge regular inspection.
In the bridge defect of prior art checks, operating personnel need to arrive near disease by specific purpose tools such as Hanging Basket, scaffold, double ladder or bridge-checking vehicles, disease photo is shot with digital camera, 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 is limited in scope, operation inconvenience, it is generally required to two people have coordinated measurement work.The range of laser range finder is big, precision is high, but the bridge coordinate information and dimension information for obtaining disease needs to take multiple measurements near disease and it needs to be manually calculated.Total powerstation almost can be used on all of fields of measurement but is not suitable for the running check of bridge, and it exists preparation complexity, complex operation, it is impossible to realize disease shooting and record, has the problems such as observation dead angle in using.
Summary of the invention
It is an object of the invention to propose inspection method and the device of a kind of bridge structure, so that inspection target to be accurately positioned, and then gather the size or image information that check target.
The invention provides the inspection method of a kind of bridge structure, described method includes:
Obtain and check target coordinate figure under bridge coordinate system；
According to described coordinate figure, it is determined that the position of described inspection target；
Position according to the described inspection target determined, gathers the information checking target.
Accordingly, the invention allows for the inspection device of a kind of bridge structure, described device includes:
Obtain coordinate figure module, for obtaining inspection target coordinate figure under bridge coordinate system；
Determine position module, for according to described coordinate figure, it is determined that the position of described inspection target；
Gather information module, for the position according to the described inspection target determined, gather the information checking target.
Accordingly, the invention allows for the inspection device of a kind of bridge structure, described device includes:
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 the described device distance to inspection 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 the video or image information checking target.
The present invention proposes inspection method and the device of a kind of bridge structure, check that target coordinate figure under bridge coordinate system is to checking that target is accurately positioned by obtaining, and then gather the size or image information that check target, it is capable of the comprehensive inspection to bridge structure, and obtain and check that target coordinate figure under bridge coordinate system can provide accurate positional information for the check after bridge structure, need not reorientate during check, it is achieved automatically check.
Accompanying drawing explanation
Fig. 1 is the flowchart of the inspection method of the bridge structure that first embodiment of the invention provides；
Fig. 2 is the structural representation checking device of the bridge structure that third embodiment of the invention provides；
Fig. 3 is the structural representation checking device of the bridge structure that fourth embodiment of the invention provides.
Detailed description of the invention
For the technical scheme making to present invention solves the technical problem that, adopting and the technique effect reached clearly, below in conjunction with drawings and Examples, the present invention is described in further detail.It is understood that specific embodiment described herein is used only for explaining the present invention, but not limitation of the invention.It also should be noted that, for the ease of describing, accompanying drawing illustrate only part related to the present invention but not full content.Technical scheme is further illustrated below in conjunction with accompanying drawing and by detailed description of the invention.
Embodiment one
Fig. 1 is the flowchart of the inspection method of the bridge structure that first embodiment of the invention provides.The inspection device of the bridge structure that the method that the embodiment of the present invention provides can be provided by the embodiment of the present invention performs, and this device can be realized by software and/or hardware.As it is shown in figure 1, the method that the embodiment of the present invention provides includes:
Step 101, it is thus achieved that check target coordinate figure under bridge coordinate system.
Wherein, bridge coordinate system is the coordinate system designed according to the position of bridge, trend and environmental characteristic by designer when bridge construction.After a bridge block builds up, the zero of the bridge coordinate system of bridge and the direction of each axle are fixing and known.Generally, bridge coordinate system is with the central point of the 0th pier of bridge for initial point, and the travel direction of bridge is the direction of an axle of bridge coordinate system.In embodiments of the present invention, the equipment of being operated by is measured and is obtained the data checked needed for target coordinate figure under bridge coordinate system, wherein, operation equipment can measure the operation equipment deflecting relationship horizontally rotating angle and pitch rotation angle and operation device coordinate system and bridge coordinate system to the distance of the known point checked under target or a bridge coordinate system, operation equipment.
In embodiments of the present invention, preferably, data according to operation device measuring, the zero of the known point under one bridge coordinate system of acquisition and bridge coordinate system coordinate figure under operation device coordinate system respectively, owing to coordinate figure under bridge coordinate system of the zero of the known point under a bridge coordinate system and bridge coordinate system is known, by the zero of the coordinate figure under bridge coordinate system of the known point under one bridge coordinate system and the coordinate figure under operation device coordinate system and bridge coordinate system coordinate figure under operation device coordinate system, determine operation equipment coordinate figure under bridge coordinate system.Wherein, operation device coordinate system is the coordinate system that the practical situation according to the erection of operation equipment sets according to the requirement of engineering design, operates device coordinate system to operate equipment for initial point, each axle not necessarily level.Operation equipment bridge coordinate system is that described operation device coordinate system is converted to the coordinate system that each axle is parallel with bridge coordinate system, and described operation equipment bridge coordinate system is to operate equipment for initial point.Operation device coordinate system and bridge coordinate system can be operated by the deflecting relationship operating device coordinate system and bridge coordinate system that equipment is measured, rotated by coordinate and coordinate translation change, completing the mutual conversion of operation device coordinate system and bridge coordinate system, concrete mapping mode includes level compensating and adjustment in direction.
Step 102, according to described coordinate figure, it is determined that the position of described inspection target.
According to the described inspection target determined in step 101 coordinate figure under bridge coordinate system, determine that the position of described inspection target, and then determined the position relationship checking target with operation equipment.
Step 103, the position according to the described inspection target determined, gather the information checking target.
After determining the position of described inspection target, operation equipment alignment checks target, measures to gather the information checking target.Wherein, described information includes checking the video of target, image or dimension information.The foundation that inspection target will be analyzed by the information collected as testing staff.
Having the beneficial effects that of such scheme is determined by checking that target coordinate figure under bridge coordinate system is to checking being accurately positioned of target, realizing checking that target provides accurate positional information for check in the future while carrying out checking comprehensively, it is possible to realize check automatically.
In such scheme, it will be preferred that, described acquisition checks target coordinate figure under bridge coordinate system, including:
Obtain the known point checked under target and bridge coordinate system coordinate figure under operation equipment bridge coordinate system respectively；
The coordinate figure under operation equipment bridge coordinate system according to described known point coordinate figure under bridge coordinate system and described known point, it is determined that operation equipment coordinate figure under bridge coordinate system；
The described inspection target according to acquisition coordinate figure under operation equipment bridge coordinate system and the described operation equipment the determined coordinate figure under bridge coordinate system, it is determined that described inspection target coordinate figure under bridge coordinate system.
Such scheme only with the known point under bridge coordinate system coordinate figure under different coordinates for foundation, carries out coordinate transform, obtains operation equipment coordinate figure under bridge coordinate system, and scheme is simple, reliable, be easy to promote.
Preferably, the described known point obtained respectively under inspection target and bridge coordinate system coordinate figure under operation equipment bridge coordinate system, including:
Obtain the operation equipment deflecting relationship horizontally rotating angle and pitch rotation angle and operation device coordinate system and bridge coordinate system to the distance of the known point checked under target or a bridge coordinate system, operation equipment；
According to the distance of described operation equipment to the known point checked under target or a bridge coordinate system, operation equipment horizontally rotate angle and pitch rotation angle, it is determined that check the spherical coordinates value under operation device coordinate system of the known point under target or a bridge coordinate system；
According to the described spherical coordinates value determined, it is determined that check the rectangular coordinate value under operation device coordinate system of the known point under target or a bridge coordinate system；
The known point under deflecting relationship according to the described operation device coordinate system and the bridge coordinate system that obtain and the described inspection target determined or bridge coordinate system rectangular coordinate value under operation device coordinate system, it is determined that described inspection target or the coordinate figure under operation equipment bridge coordinate system of the known point under a bridge coordinate system.
Such scheme can when operating the erection of equipment non-horizontal, utilize the data that operation equipment records, obtain the known point checked under target or bridge coordinate system coordinate figure under operation device coordinate system, the deflecting relationship of recycling operation device coordinate system and bridge coordinate system, the known point checked under target or bridge coordinate system coordinate figure under operation device coordinate system is converted to the coordinate figure under operation equipment bridge coordinate system, operation equipment need not carry out the leveling of complexity, and the practical situation for bridge machinery has more practical value.Therefore the popularization of technology is more convenient.
It addition, when check, for the inspection target of known coordinate figure in bridge coordinate system, operation equipment can go out to check the spherical coordinates of target by Automatic solution, and operation equipment is directed at automatically the information checking that target collection checks target.
The inspection method of the bridge structure that the present embodiment provides, check that target coordinate figure under bridge coordinate system is to checking that target is accurately positioned by obtaining, and then gather the size or image information that check target, it is capable of the comprehensive inspection to bridge structure, and obtain and check that target coordinate figure under bridge coordinate system can provide accurate positional information for the check after bridge structure, need not reorientate when check, it is achieved automatically check.
Embodiment two
Second embodiment of the invention, based on first embodiment, proposes a kind of preferred embodiment on the basis of first embodiment.
Preferably, operation equipment includes: 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 rotate angle and pitch rotation angle for what obtain described operation equipment；Laser range finder is installed on described high-precision digital The Cloud Terrace, for measuring the described operation equipment distance to inspection target；Attitude instrument is installed on described high-precision digital The Cloud Terrace, for obtaining the deflecting relationship of operation device coordinate system and bridge coordinate system；Optical zoom high-definition camera movement is installed on described high-precision digital The Cloud Terrace, for gathering the video or image information checking target.
Can obtain operation equipment to the distance of the known point checked under target or a bridge coordinate system by laser range finder is l, it is α and pitch rotation angle β that high-precision digital The Cloud Terrace can obtain the angle that horizontally rotates of operation equipment, it is (P that attitude instrument can obtain the deflecting relationship of operation device coordinate system and bridge coordinate system, R, H), obtain checking that target spherical coordinates under operation device coordinate system is (α, β, l), spherical coordinates can be converted into rectangular coordinate (x ', y ', z '), wherein, x '=l × sin β cos α, y '=l × sin β sin α, z '=l × cos β.Further, it is known that bridge direction is H0, rotated by coordinate and coordinate translation conversion, it is possible to complete operation device coordinate system (x ', y ', z ') and bridge coordinate system (x ", y ", the mutual conversion between z ").
Cannot guarantee during due to erection that operation equipment level is placed, it is necessary to carry out level compensating and adjustment in direction, operation device coordinate system is converted to bridge coordinate system.Device coordinate system will be operated around X-axis anglec of rotation P, to revise the angle of pitch, around Y-axis anglec of rotation R, to revise roll angle, obtain operation equipment bridge coordinate system；Known bridge direction is H0, operation device coordinate direction is H, then operation equipment is H-H with bridge angular separation0, by the operation device coordinate system anglec of rotation φ about the z axis=H-H after level compensating0, to revise course angle, after three rotation transformations, operate device coordinate system (x ', y ', z ') (each direction of principal axis of operation device coordinate system is parallel with each direction of principal axis of bridge coordinate system, and zero O ' is operation equipment for x ", y ", z "); now to be converted into bridge coordinate system.In like manner, rotate through reverse coordinate, bridge coordinate system can be reduced to operation device coordinate system.
Further, the spherical coordinates (α under operation equipment bridge coordinate system of the known point C under operation equipment one bridge coordinate system of acquisition is utilizedc, βc, lc), the rectangular coordinate value that can obtain known point C through above Coordinate Conversion is (xc,yc,zc) operation equipment bridge coordinate system in coordinate figure (xc″,yc″,zc"), then the operation equipment initial point O ' coordinate figure in bridge coordinate system is (xc-xc″,yc-yc″,zc-zc″)。
Further, utilize operation equipment to obtain and check target coordinate figure in bridge coordinate system, it is thus achieved that the spherical coordinates of inspection target A is (αa, βa, la), can obtain checking that target A coordinate in operation equipment bridge coordinate system is (x through above Coordinate Conversiona″,ya″,za"), then check that target A coordinate figure in bridge coordinate system is (xc-xc″+xa″,yc-yc″+ya″,zc″-zc″+za″).Determine described inspection target coordinate figure under bridge coordinate system, determined that the position of described inspection target, and then determined the position relationship checking target with operation equipment.
Further, after determining the position of described inspection target, utilize optical zoom high-definition camera movement to checking that target measurement is to gather the inspection video of target, image or dimension information.
Further, since obtain inspection target A coordinate figure in bridge coordinate system, to when checking that target A checks, need not reorientate, it is achieved automatically check.
Embodiment three
Fig. 2 is the structural representation checking device of the bridge structure that third embodiment of the invention provides.As in figure 2 it is shown, the device that the embodiment of the present invention provides includes: obtain coordinate figure module 201, determine position module 202 and gather information module 203.
Wherein, described acquisition coordinate figure module 201, for obtaining inspection target coordinate figure under bridge coordinate system.Determine position module 202, for according to described coordinate figure, it is determined that the position of described inspection target.Gather information module 203, for the position according to the described inspection target determined, gather the information checking target.
Further, described acquisition coordinate figure module 201, also include: obtain submodule, for obtaining the known point checked under target and bridge coordinate system coordinate figure under operation equipment bridge coordinate system respectively；First determines submodule, for the coordinate figure under operation equipment bridge coordinate system according to described known point coordinate figure under bridge coordinate system and described known point, it is determined that operation equipment coordinate figure under bridge coordinate system；Second determines submodule, for according to the described inspection target obtained coordinate figure under operation equipment bridge coordinate system and the described operation equipment the determined coordinate figure under bridge coordinate system, it is determined that described inspection target coordinate figure under bridge coordinate system.
Further, described acquisition submodule, specifically for: obtain the operation equipment deflecting relationship horizontally rotating angle and pitch rotation angle and operation device coordinate system and bridge coordinate system to the distance of the known point checked under target or a bridge coordinate system, operation equipment；According to the distance of described operation equipment to the known point checked under target or a bridge coordinate system, operation equipment horizontally rotate angle and pitch rotation angle, it is determined that check the spherical coordinates value under operation device coordinate system of the known point under target or a bridge coordinate system；According to the described spherical coordinates value determined, it is determined that check the rectangular coordinate value under operation device coordinate system of the known point under target or a bridge coordinate system；The known point under deflecting relationship according to the described operation device coordinate system and the bridge coordinate system that obtain and the described inspection target determined or bridge coordinate system rectangular coordinate value under operation device coordinate system, it is determined that described inspection target or the coordinate figure under operation equipment bridge coordinate system of the known point under a bridge coordinate system.
Further, described device also includes:
Logic control module, is used for described acquisition coordinate figure module, determines that the operation of position module and described collection information module is controlled and the coordinate figure of described acquisition coordinate figure module acquisition and video or the image information of described collection information module collection are processed；
Step motor drive servo submodule, for controlling the level of described device and the rotational angle of pitching.
The present invention proposes the inspection device of a kind of bridge structure, by obtaining coordinate figure module to checking that target is accurately positioned, and then utilize the size or image information that gather information module collection inspection target, it is capable of the comprehensive inspection to bridge structure, and obtain and check that target coordinate figure under bridge coordinate system can provide accurate positional information for the check after bridge structure, need not reorientate when check, it is achieved automatically check.
The inspection device of the bridge structure that the present embodiment provides, for performing the inspection method of the bridge structure that any embodiment of the present invention provides, possesses corresponding functional module, reaches identical technique effect.
Embodiment four
Fig. 3 is the structural representation checking device of the bridge structure that fourth embodiment of the invention provides.As it is shown on figure 3, the device that the embodiment of the present invention provides includes: 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 rotate 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 the described device distance to inspection 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 the video or image information checking target.
In such scheme, it will be preferred that, described high-precision digital The Cloud Terrace 301 adopts the digital drive servo techniques of 1.8 ° of motors, 32 Multi-level microstep and 100:1 mechanical reducer, and the rotation precision of described high-precision digital The Cloud Terrace 301 is 2 ".
Preferably, the measurement of described laser range finder 302 ranges for 0.05 to 40m.
Preferably, described attitude instrument 303 band Hard Magnetic, soft magnetism and pour angle compensation, course precision is 0.5 °, high dip angle measurement ranges for ± 80 °, wide temperature range is-40 DEG C to+85 DEG C, operating current is 40mA, and output interface is standard RS232/RS485/TTL and small size profile is 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.
Such scheme is beneficial in that described inspection device can to checking that target carry out coordinate setting, can carry out detail inspection, degree of accuracy is high, Checking on effect is clear, fine and smooth, focusing speed is fast.
The present invention proposes the inspection device of a kind of bridge structure, by cooperating of high-precision digital The Cloud Terrace, laser range finder, attitude instrument and optical zoom high-definition camera movement, can to checking that target is accurately positioned, and then gather the size or image information that check target, accurate location can provide accurate positional information for later check, need not reorientate during check, it is achieved automatically check.
The invention is not restricted to the inspection to bridge structure, may apply to the structure inspection of other buildings simultaneously.
Noting, foregoing is only presently preferred embodiments of the present invention.It will be appreciated by those skilled in the art that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention being described in further detail by above example, but the present invention is not limited only to above example, when without departing from present inventive concept, other Equivalent embodiments more can also be included, and the scope of the present invention is determined by appended right.
Claims (7)
1. the inspection method of a bridge structure, it is characterised in that including:
Obtain and check target coordinate figure under bridge coordinate system；
According to described coordinate figure, it is determined that the position of described inspection target；
Position according to the described inspection target determined, gathers the information checking target.
2. method according to claim 1, it is characterised in that described acquisition checks target coordinate figure under bridge coordinate system, including:
Obtain the known point checked under target and bridge coordinate system coordinate figure under operation equipment bridge coordinate system respectively；
The coordinate figure under operation equipment bridge coordinate system according to described known point coordinate figure under bridge coordinate system and described known point, it is determined that operation equipment coordinate figure under bridge coordinate system；
The described inspection target according to acquisition coordinate figure under operation equipment bridge coordinate system and the described operation equipment the determined coordinate figure under bridge coordinate system, it is determined that described inspection target coordinate figure under bridge coordinate system.
3. method according to claim 2, it is characterised in that the described known point obtained respectively under inspection target and bridge coordinate system coordinate figure under operation equipment bridge coordinate system, including:
Obtain the operation equipment deflecting relationship horizontally rotating angle and pitch rotation angle and operation device coordinate system and bridge coordinate system to the distance of the known point checked under target or a bridge coordinate system, operation equipment；
According to the distance of described operation equipment to the known point checked under target or a bridge coordinate system, operation equipment horizontally rotate angle and pitch rotation angle, it is determined that check the spherical coordinates value under operation device coordinate system of the known point under target or a bridge coordinate system；
According to the described spherical coordinates value determined, it is determined that check the rectangular coordinate value under operation device coordinate system of the known point under target or a bridge coordinate system；
The known point under deflecting relationship according to the described operation device coordinate system and the bridge coordinate system that obtain and the described inspection target determined or bridge coordinate system rectangular coordinate value under operation device coordinate system, it is determined that described inspection target or the coordinate figure under operation equipment bridge coordinate system of the known point under a bridge coordinate system.
4. the inspection device of a bridge structure, it is characterised in that including:
Obtain coordinate figure module, for obtaining inspection target coordinate figure under bridge coordinate system；
Determine position module, for according to described coordinate figure, it is determined that the position of described inspection target；
Gather information module, for the position according to the described inspection target determined, gather the information checking target.
5. device according to claim 4, it is characterised in that described acquisition coordinate figure module, including:
Obtain submodule, for obtaining the known point checked under target and bridge coordinate system coordinate figure under operation equipment bridge coordinate system respectively；
First determines submodule, for the coordinate figure under operation equipment bridge coordinate system according to described known point coordinate figure under bridge coordinate system and described known point, it is determined that operation equipment coordinate figure under bridge coordinate system；
Second determines submodule, for according to the described inspection target obtained coordinate figure under operation equipment bridge coordinate system and the described operation equipment the determined coordinate figure under bridge coordinate system, it is determined that described inspection target coordinate figure under bridge coordinate system.
6. device according to claim 5, it is characterised in that described acquisition submodule, specifically for:
Obtain the operation equipment deflecting relationship horizontally rotating angle and pitch rotation angle and operation device coordinate system and bridge coordinate system to the distance of the known point checked under target or a bridge coordinate system, operation equipment；
According to the distance of described operation equipment to the known point checked under target or a bridge coordinate system, operation equipment horizontally rotate angle and pitch rotation angle, it is determined that check the spherical coordinates value under operation device coordinate system of the known point under target or a bridge coordinate system；
According to the described spherical coordinates value determined, it is determined that check the rectangular coordinate value under operation device coordinate system of the known point under target or a bridge coordinate system；
The known point under deflecting relationship according to the described operation device coordinate system and the bridge coordinate system that obtain and the described inspection target determined or bridge coordinate system rectangular coordinate value under operation device coordinate system, it is determined that described inspection target or the coordinate figure under operation equipment bridge coordinate system of the known point under a bridge coordinate system.
7. device according to claim 4, it is characterised in that also include:
Logic control module, is used for described acquisition coordinate figure module, determines that the operation of position module and described collection information module is controlled and the coordinate figure of described acquisition coordinate figure module acquisition and video or the image information of described collection information module collection are processed；
Step motor drive servo submodule, for controlling the level of described device and the rotational angle of pitching.
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| CN113358068B (en) * | 2021-04-26 | 2023-06-20 | 福建数***信息科技有限公司 | Correction method and device for floor type scaffold |
| CN116295020B (en) * | 2023-05-22 | 2023-08-08 | 山东高速工程检测有限公司 | Bridge disease positioning method and device |
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| CN103643629A (en) | 2014-03-19 |
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