CN106442151B - Automatic control device and detection method for bridge static load test - Google Patents
Automatic control device and detection method for bridge static load test Download PDFInfo
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- CN106442151B CN106442151B CN201610799684.5A CN201610799684A CN106442151B CN 106442151 B CN106442151 B CN 106442151B CN 201610799684 A CN201610799684 A CN 201610799684A CN 106442151 B CN106442151 B CN 106442151B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
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Abstract
The invention discloses an automatic control device and a detection method for a bridge static load test, wherein the automatic control device for the bridge static load test comprises the following components: the plurality of loading execution devices are arranged between the component and the reaction frame and are used for simultaneously applying a test load equivalent to the stress of the reaction frame to the component when the loading force is applied to the reaction frame; the load measuring devices are correspondingly arranged between the component and each loading executing device and are used for detecting test load values applied to each loading point of the component by the loading executing device; the control device is respectively connected with each loading execution device and each load measuring device and is used for adjusting the loading force of the corresponding loading execution device according to the test load value detected by each load measuring device so as to balance the stress of each loading point of the component; the automatic crack detection device is arranged at the bottom of the component and used for detecting the crack change condition of the component. The automatic control device for the bridge static load test can ensure the stress balance of each loading point of the component in the detection process.
Description
Technical Field
The invention relates to the technical field of automatic detection, in particular to an automatic control device and a detection method for a bridge static load test.
Background
As shown in FIG. 1, the prior art has an automatic control device for a bridge static load test, which comprises a test main control device for controlling the whole test process, and further comprises a loading execution device, a load measuring device, a deflection measuring device, a deviation checking device and an abnormality alarming device which are connected with the test main control device. The test main control device is also provided with a remote monitoring device for data uploading and image remote monitoring, a manual emergency device, a full-automatic/semi-automatic device and a one-key control device for completing the whole test process through one-key operation. However, when the device loads the bridge in the static load test process, the stress balance of each loading point of the bridge cannot be effectively ensured, so that the detection result is inaccurate.
Disclosure of Invention
The invention aims to provide an automatic control device for a bridge static load test, which can ensure the stress balance of each loading point of a component in the detection process.
In order to achieve the above object, the present invention provides the following solutions:
an automatic control device for a bridge static test, the automatic control device for the bridge static test comprising:
the plurality of loading execution devices are arranged between the component and the reaction frame and are used for simultaneously applying a test load equivalent to the stress of the reaction frame to the component when the loading force is applied to the reaction frame;
The load measuring devices are correspondingly arranged between the component and each loading executing device and are used for detecting test load values applied by the loading executing devices to each loading point of the component;
the control device is respectively connected with the load execution devices and the load measurement devices and is used for adjusting the loading force of the corresponding load execution device according to the test load value detected by the load measurement devices so as to balance the stress of each loading point of the component;
the automatic crack detection device is arranged at the bottom of the component and used for detecting the crack change condition of the component.
Optionally, the load execution device includes:
the mechanical jack assembly comprises a shell, the shell is provided with a working cavity and a transmission cavity, a cylinder sleeve is arranged in the working cavity, the cylinder sleeve is in sliding fit with the shell, one end of the cylinder sleeve extends out of the working cavity, a transmission nut is sleeved at the other end of the cylinder sleeve, the transmission cavity is positioned at the lower part of the working cavity and is communicated with the working cavity, a transmission screw is rotationally arranged in the transmission cavity, one end of the transmission screw is connected with the shell, and the other end of the transmission screw is inserted into the cylinder sleeve and is in matched connection with the transmission nut;
The transmission assembly comprises a turbine and a worm matched with the turbine, the turbine is sleeved on the transmission screw and is in power connection with the transmission screw, the turbine can drive the transmission screw to rotate, one end of the worm is inserted into the shell and is connected with the turbine, and a transmission gear is arranged on the other end of the worm, which is positioned outside the shell;
the power device is in power connection with the transmission gear, and the power device is in power connection with the worm through the transmission gear;
the self-adaptive assembly comprises a universal pressing cap, wherein the universal pressing cap is arranged at one end of the cylinder sleeve extending out of the shell, and the universal pressing cap is connected with the cylinder sleeve in a sliding fit manner.
Optionally, the loading execution device further comprises a speed reducer, and the speed reducer is respectively connected with the transmission gear and the power device.
Optionally, the load measuring device is a load cell, wherein the load cell includes an elastomer and a plurality of foil gage, the foil gage is installed on the elastomer, the foil gage includes detection foil gage and check gauge, the detection foil gage is used for detecting experimental load value, the check gauge is used for checking the experimental load value that detects of detection foil gage.
Optionally, the elastomer includes an even number of spokes, and the strain gauge is adhered to two sides of the spokes.
Optionally, the automatic crack detection device includes:
the image acquisition device is used for acquiring an image of the bottom of the component;
the image processing device is respectively connected with the image acquisition device and the control device, and is used for identifying cracks in the image and sending the cracks to the control device;
the movable bearing device is used for bearing the image acquisition device and can move along at least one surface to be detected at the bottom of the component.
Optionally, the mobile bearing device comprises a mobile track, the image acquisition device is arranged on the mobile track and can move on the mobile track, and an included angle between the moving direction of the image acquisition device on the mobile track and the moving direction of the mobile track is greater than 0 ° and less than 180 °.
Optionally, a moving mechanism is arranged at the contact part of the moving track and the bottom of the member, a wall climbing robot is arranged on the moving track, the top surface of the wall climbing robot is adsorbed on the surface of the bottom of the member, and the wall climbing robot crawls along the surface of the bottom of the member and drives the moving track to move along the member; the moving member comprises rollers arranged at two ends of the moving track, and the rollers are in contact with the member.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the bridge static load test automatic control device, the plurality of load execution devices, the plurality of load measurement devices, the crack automatic detection device and the control device are arranged, the loading force of the corresponding load execution device is adjusted according to the test load value detected by each load measurement device, so that the stress balance of each loading point of the component is realized, the crack change of the component is detected after the stress balance of each loading point of the component is realized, and the detection accuracy is ensured.
The invention further aims to provide a detection method for the bridge static load test, which can ensure the stress balance of each loading point of the component in the detection process.
In order to achieve the above object, the present invention provides the following solutions:
a method of detecting a bridge static load test, the method comprising:
applying a loading force to the reaction frame, and simultaneously applying a test load equivalent to the force applied by the reaction frame to the member;
detecting test load values received by each loading point of the component;
according to the test load value received by each loading point of the component, the loading force applied to the reaction frame is adjusted, so that the stress of each loading point of the component is balanced;
And after the stress of each loading point of the component is balanced, starting to detect the crack change condition of the component when the stress reaches a preset value.
Optionally, the method for applying the loading force to the reaction frame includes:
continuously applying a pre-loading force to the reaction frame;
and after the set time is reached, applying a secondary loading force to the reaction frame so as to increase the test load applied to the component.
Compared with the prior art, the detection method of the bridge static load test has the same beneficial effects as the automatic control device of the bridge static load test, and is not repeated here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a bridge static test automatic control device in the prior art;
FIG. 2 is a schematic diagram of a module structure of an automatic control device for a bridge static load test according to the present invention;
FIG. 3 is a schematic diagram of a loading execution device according to the present invention;
FIG. 4 is a top view of the load performing device;
FIG. 5 is a side view of a load cell according to an embodiment of the invention;
FIG. 6 is a top view of a load cell according to an embodiment of the invention;
FIG. 7 is a schematic view of an embodiment of the present invention showing the mounting of strain gages;
FIG. 8 is a schematic diagram of a strain gauge grouping in accordance with an embodiment of the present invention;
FIG. 9 is a top view of a strain gage grouping in accordance with an embodiment of the invention;
FIG. 10 is a schematic diagram of a first strain gage signal output circuit according to an embodiment of the invention;
FIG. 11 is a schematic diagram of a second strain gage signal output circuit according to an embodiment of the invention;
FIG. 12 is a side view of a strain gage grouping in accordance with an embodiment of the invention;
FIG. 13 is a top view of a strain gage grouping in accordance with an embodiment of the invention;
FIG. 14 is a schematic diagram of a first strain gage redundancy signal output circuit according to an embodiment of the invention;
FIG. 15 is a schematic diagram of a second strain gage redundancy signal output circuit according to an embodiment of the invention;
FIG. 16 is a schematic view of a strain gage according to an embodiment of the invention;
FIG. 17 is a schematic diagram of an automatic crack detection device according to the present invention;
fig. 18 is a schematic structural diagram of a rail car according to an embodiment of the present invention;
Fig. 19 is a schematic structural view of a wall climbing robot according to an embodiment of the present invention;
fig. 20 is a schematic structural diagram of an image capturing device according to an embodiment of the present invention;
FIG. 21 is a schematic view of the structure of a component far infrared cruise target point provided in an embodiment of the present invention;
FIG. 22 is a flow chart of a method of detecting a bridge static load test of the present invention;
FIG. 23 is a flowchart of an automatic crack detection method according to an embodiment of the present invention;
FIG. 24 is a flow chart of secondary detection in the automatic crack detection method according to the embodiment of the present invention;
FIG. 25 is a flow chart of a crack based on a dark area identification component provided by an embodiment of the present invention;
fig. 26 is a flowchart of extracting direction information of a crack in a difference image according to an embodiment of the present invention;
FIG. 27 is a flowchart for removing stray points and clusters in a binarized image, extracting cracks, and labeling the cracks, according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an automatic control device for a bridge static load test, which is provided with a plurality of load execution devices, a plurality of load measurement devices, a crack automatic detection device and a control device, wherein the load force of the corresponding load execution device is adjusted according to test load values detected by the load measurement devices, so that the stress balance of each load point of a component is realized, the crack change of the component is detected after the stress balance of each load point of the component is realized, and the detection accuracy is ensured.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 2, the automatic bridge static test control device of the present invention comprises a plurality of load executing devices 1, a plurality of load measuring devices 2, a crack automatic detecting device 3 and a control device 4. Wherein, each loading executing device 1 is arranged between a component and a reaction frame, and is used for simultaneously applying a test load equivalent to the force applied by the reaction frame to the component when the loading force is applied to the reaction frame; each load measuring device 2 is correspondingly arranged between the component and each load executing device 1 and is used for detecting test load values applied by the load executing device 1 to each loading point of the component; the control device 4 is respectively connected with the load execution devices 1 and the load measurement devices 2, and is used for adjusting the loading force of the corresponding load execution device 1 according to the test load value detected by the load measurement devices 2 to balance the stress of each loading point of the component, and the crack automatic detection device 3 is arranged at the bottom of the component, is used for detecting the crack change condition of the component, and is sent to the control device for storage and update. The member may be a bridge, but is not limited thereto.
As shown in fig. 3 and 4, the load execution device 1 includes: a mechanical jack assembly, a transmission assembly, a power device 17 and an adaptive assembly 18.
The mechanical jack assembly comprises a shell 11, the shell 11 is provided with a working cavity and a transmission cavity, a cylinder sleeve 12 is arranged in the working cavity, the cylinder sleeve 12 is in sliding fit with the shell 11, one end of the cylinder sleeve 12 extends out of the working cavity, a transmission nut 13 is sleeved at the other end of the cylinder sleeve 12, the transmission cavity is positioned at the lower part of the working cavity and is communicated with the working cavity, a transmission screw 14 is rotatably arranged in the transmission cavity, one end of the transmission screw 14 is connected with the shell 11, and the other end of the transmission screw 14 is inserted into the cylinder sleeve 12 and is in matched connection with the transmission nut 13.
In the present invention, the housing 11 may be made of titanium-magnesium alloy, cast iron, or other metallic materials with high structural strength. A projection is provided at the top of the housing 11, which projection is preferably of circular open design. The inside of the shell 11 is provided with two communicated cavities, a working cavity is arranged on the upper side, the working cavity is of a straight cylinder type structure, a transmission cavity is arranged on the lower side, and the transmission cavity is used for installing transmission parts. The cylinder sleeve 12 is arranged in the working cavity, the cylinder sleeve 12 is made of wear-resistant metal materials, the cylinder sleeve 12 can slide up and down in the working cavity, and in order to prevent the cylinder sleeve 12 from rotating in the sliding process to reduce the lifting control precision, the invention is provided with a positioning strip in the working cavity, and a positioning chute matched with the positioning strip is arranged on the outer surface of the cylinder sleeve 12. The locating strip can be arranged in the working cavity or at the edge of the opening of the extension port. The cylinder liner 12 has a circular sleeve structure, one end of which extends out of the housing 11, and the other end of which is inserted into the housing 11. The end of the cylinder sleeve 12 inserted into the shell 11 is of an open end structure, and a transmission nut 13 with a transmission function is sleeved in the cylinder sleeve 12. Based on the above structure, a driving screw 14 is inserted into the cylinder sleeve 12, and the driving screw 14 is matched with the driving nut 13, so that when the driving screw 14 rotates, the cylinder sleeve 12 and the driving nut 13 cannot rotate, and therefore, the driving nut 13 can drive the cylinder sleeve 12 to convert the rotation motion of the driving screw 14 into linear motion, which is specifically expressed as follows: the cylinder liner 12 is raised or lowered.
The transmission assembly comprises a turbine 15 and a worm 16 matched with the turbine 15, the turbine 15 is sleeved on the transmission screw 14 and is in power connection with the turbine 15 to drive the transmission screw 14 to rotate, one end of the worm 16 is inserted into the shell 11 and is connected with the turbine 15, and a transmission gear is arranged on the worm 16, which is positioned outside the shell 11. The turbine 15 is sleeved on the drive screw 14, and can drive the drive screw 14 to rotate.
The power device 17 is in power connection with the transmission gear, and the power device 17 is in power connection with the worm 16 through the transmission gear. In the present invention, the power device 17 is a variable frequency motor, a servo motor or a stepping motor. The three motors have higher control precision.
The self-adapting assembly 18 comprises a universal pressing cap, wherein the universal pressing cap is arranged at one end of the cylinder sleeve 12 extending out of the shell 11, and the universal pressing cap is connected with the cylinder sleeve 12 in a sliding fit manner.
For those skilled in the art, during the experiment, the applied load is very large, and once the axis of the cylinder liner 12 is not parallel to the pressure transmission direction, deformation of the cylinder liner 12 is caused, which not only easily causes inaccuracy of experimental data, but also may cause damage to equipment.
In order to avoid the above-mentioned situation, the present invention particularly provides the adaptive assembly 18, and the adaptive assembly 18 is a universal pressure cap, so that the parallel state between the axis of the cylinder liner 12 and the pressure transmission direction can be always maintained through the adaptive assembly 18.
Through the structural design, the cylinder sleeve 12 is arranged in the shell 11, the cylinder sleeve 12 can move up and down relative to the shell 11 through the bolt and screw assembly, and the worm and gear 16 assembly can stably transmit the power of the power device 17 to the cylinder sleeve 12, so that the invention is guaranteed to have abundant power. The universal pressure cap is arranged to ensure that the axis of the cylinder sleeve 12 is always parallel to the pressure transmission direction. The invention is based on a mechanical jack structure, can realize large power input by using the worm gear 16, can ensure that experiments are carried out smoothly, adopts the bolt transmission nut 13 to control the lifting height, and has higher control precision. And the whole mechanism has simple structure and small abrasion loss among parts. Compared with the traditional hydraulic device, the self-locking device realizes self-locking by utilizing the screw mechanism of the transmission nut 13, the pressure maintaining is simple to realize, and the control operation is very simple.
Specifically, in this embodiment, the load loading mechanism further includes a speed reducer 19, and the speed reducer 19 is connected to the transmission gear and the power device 17, respectively.
In the present invention, a mount is provided at the bottom of the housing 11, a bearing is provided in the mount, and the drive screw 14 is rotatably provided on the mount through the bearing.
Specifically, the end of the cylinder liner 12 extending out of the housing 11 is a closed end surface, the closed end surface is of a smooth curved surface structure protruding outwards, the adaptive assembly 18 is provided with a contact groove matched with the shape of the closed end surface, and the adaptive assembly 18 is buckled on the end of the cylinder liner 12 through the contact groove.
In order to improve the stability of the whole mechanism arrangement of the jack during pressing, the invention also provides a stabilizing plate which is a metal plate and is arranged at the bottom of the shell 11. Through the stabilizing plate, the contact area between the whole mechanism and the ground can be increased, the pressure in unit area is reduced, and the stability of the mechanism is improved.
Further, the load measuring device 2 is a load cell. Wherein, the load cell includes: the strain gauge comprises a detection strain gauge and a verification strain gauge, wherein the detection strain gauge is used for detecting a test load value, and the verification strain gauge is used for verifying the test load value detected by the detection strain gauge.
As shown in fig. 5, the force sensor is an elastomer, the outer ring is a supporting surface 102, the inner ring is a bearing surface 101, the bottom surface of the outer ring is slightly protruded from the bottom surface of the inner ring to form a gap, the gap is a deformation reserved gap, when overload occurs, the deformation amount is larger than the deformation reserved gap, and after the bottom of the inner ring contacts the mounting surface, the bottom of the inner ring cannot be deformed, namely, the bottom of the inner ring is designed as a safety protection supporting surface 103.
As shown in fig. 6, the sensor is provided with a plurality of spokes 201, the number of spokes can be an even number between 6 and 18, and is generally an integer multiple of 4, the number of spokes in this embodiment is 8, and both sides of each spoke are provided with strain gauges for measuring the pressure applied to the bridge.
As shown in fig. 7, the strain gauges 301 are attached to both sides of the spoke, and the strain gauges 301 are attached to the center of the spoke side and are arranged obliquely at an angle of 45 degrees to the vertical center line of the spoke side. The center of the spoke is the strain center, and the strain gauge attached to the center of the spoke is stressed by tension or compression to drive the strain gauge to deform, so that the resistance value of the strain gauge is increased or reduced, and a voltage signal matched with the stressed value is output.
As shown in fig. 8, the 8 spokes are uniformly spaced, wherein the spokes 401, 403, 405, 407 are detection spokes, the spokes 402, 4041, 406, 408 are check spokes, all the detection spokes are arranged on the detection spokes are detection strain gauges, all the check spokes are arranged on the detection spokes are check strain gauges, the data measured by the detection strain gauges are independent of the data measured by the check strain gauges, and the check data are used for checking the detection data.
As another embodiment of the strain gauge group of the present invention, fig. 9 is a top view of the strain gauge group mode of the embodiment of the present invention, two strain gauges are adhered to one side of each spoke, as shown in fig. 9, strain gauges 501-2, 502-1, 503-1, 504-2, 505-2, 506-1, 507-1, 508-2, 509-2, 510-1, 511-1, 512-2, 513-2, 514-1, 515-1, 516-2 form a signal output circuit, the circuit diagram of which is shown in fig. 10 (fig. 10 is a schematic diagram of the signal output circuit of the first strain gauge of the embodiment of the present invention), and strain gauges 501-1, 502-2, 503-1, 505-1, 506-2, 507-2, 508-1, 509-1, 510-2, 511-2, 512-1, 513-1, 514-2, 515-2, 516-1 form another signal output circuit, the circuit diagram of which is shown in fig. 11 (fig. 10 is a schematic diagram of the signal output circuit of the first strain gauge of the embodiment of the present invention). The two groups of signals are mutually independent, one group is used as a detection signal, and the other group is used as a verification signal.
FIG. 12 is a side view of a strain gauge grouping method according to an embodiment of the present invention, as shown in FIG. 12, 3 strain gauges are adhered to one side of each spoke, FIG. 13 is a top view of a strain gauge grouping method according to an embodiment of the present invention, strain gauges 801-2, 802-1, 803-1, 804-2, 805-2, 806-1, 807-1, 808-2, 809-2, 810-1, 811-1, 812-2, 813-2, 814-1, 815-1, 816-2 are formed into one signal output circuit, strain gauges 801-1, 802-2, 803-2, 805-1, 806-2, 807-2, 808-1, 809-1, 810-2, 811-2, 812-1, 813-1, 814-2, 816-1 are formed into another signal output circuit, one group is used as a check signal, and the other group is used as a check signal, while the other group 801-3, 802-3, 805-3, 806-3, 813-3, 806-3, 803-3, 816-3, and 803-3 are capable of outputting signals with a lower accuracy than those shown in FIGS. 3, 803-3, and 803-3 are shown in each of FIGS. 15-3 and 803-3, respectively.
As shown in fig. 16, the strain gauge is mounted in a strain gauge bearing structure 121, and the strain gauge bearing structure 121 is adhered to both sides of the spoke.
The data measured by the detection strain gauge and the check strain gauge are respectively led to a data processor outside the sensor through signal lines, the two groups of data are mutually independent, the check data measured by the check strain gauge are used for checking the detection data measured by the detection strain gauge, if the difference value between the detection data and the check data is ensured to be within the range of 0.1%, the group of data is considered to be effective, otherwise, the group of data is considered to be ineffective, if the sensor continuously detects ineffective data for many times, the system prompts an operator, and the sensor has a problem and needs to be overhauled.
The strain gauge of the sensing element of the force transducer is divided into the detection strain gauge and the check strain gauge, so that the data measured by the strain gauge can be checked, the accuracy of the measured data is ensured, and meanwhile, the detection strain gauge and the check strain gauge are uniformly arranged at intervals, so that the detection strain gauge and the check strain gauge have the same reflecting effect on the pressure born by a bridge, and the check strain gauge accords with the standard of a check tool serving as the detection strain gauge, and further the accuracy of the measured data is ensured.
As shown in fig. 17, the automatic crack detection device 3 includes an image acquisition device 32 for acquiring an image of the bottom of the member; the image processing device is respectively connected with the image acquisition device and the control device 4, and is used for identifying cracks in the image and sending the cracks to the control device 4 for storage and update; and the movable bearing device 31 is used for bearing the image acquisition device and can move along at least one surface to be detected at the bottom of the component.
In the present embodiment, an image of the bottom surface of the member is acquired by the image acquisition device 32 that is movable on the bottom of the member, and the image is processed by the image processing device to obtain a crack component in the image, thereby realizing crack detection of the member. The automatic crack detection device provided by the invention can be used for detecting the cracks, so that the potential safety hazard of manually observing and judging the existence of the cracks is avoided, the crack information can be objectively, truly and accurately obtained, and the authenticity, the correctness and the reliability of the component load test data are improved.
As an alternative embodiment, unlike the other embodiments, as shown in fig. 17 and 19, the movement carrier 31 includes a movement rail 33, the image pickup device 32 is provided on the movement rail 33 and the image pickup device 32 is movable on the movement rail 33, and an angle between a movement direction of the image pickup device 32 on the movement rail 33 and a movement direction of the movement rail 33 is greater than 0 ° and less than 180 °. Specifically, the contact position of the moving track 33 and the bottom of the component is provided with a moving mechanism, the moving track is provided with a wall climbing robot 34, the top surface of the wall climbing robot 34 is adsorbed on the bottom surface of the component, the wall climbing robot 34 is adsorbed on the component 1 and can drive the moving track 33 to longitudinally move along the bottom of the component under the pushing action of crawling along the bottom surface of the component, so that the borne image acquisition device 32 longitudinally moves along the component, and the acquisition of the longitudinal component image is realized.
The moving mechanism in the present embodiment may be rollers 36 provided at both ends of the moving rail, and the movement of the moving rail 33 may be achieved by the rollers 36 contacting the bottom of the member and rolling along the bottom of the member.
The moving mechanism in this embodiment may be a slider (not shown in the figure) provided on the moving rail and a slide rail (not shown in the figure) provided on the member and adapted to the slider, so that the moving rail can move along the slide rail, the moving track of the moving rail on the member is fixed, and at the same time, the problem that the moving rail deviates from the detection surface of the member can be avoided, and the detection accuracy can be improved.
As an alternative embodiment, unlike other embodiments, as shown in fig. 18 and 19, the image pickup device 32 includes a lens 37. The lens 37 includes one or both of a line camera and an area camera, and also includes an industrial lens 373. Optionally, the lens 37 is disposed on the track trolley 35, the track trolley 35 is disposed on the moving track 33, and can move along the moving track 33, and the moving direction of the track trolley 35 is different from the moving direction of the moving track 33, so that the lens 37 can shoot the whole detection surface of the component, the coverage detection surface is wide, the detection omission condition can not occur, and the comprehensiveness and the accuracy of the detection crack are improved. Alternatively, the lens 37 may be disposed on the wall climbing robot 34 and connected to the wall climbing robot 34 by a camera arm 38, the camera arm 38 being capable of swinging 180 ° horizontally about the wall climbing robot 34. The lens of the setting mode is used for collecting the image of the component detection surface in an annular scanning process, so that the structure of the track trolley 35 is omitted, the collecting device is simplified, meanwhile, the swing of the shooting arm 38 is used for collecting the image of the component detection surface, and when the moving track 33 moves to a certain position, the lens 37 of the setting mode can be used for shooting a larger range of image, and the collecting efficiency is improved.
As an alternative embodiment, unlike the other embodiments, the image pickup device 3 further includes a light supplementing lamp 371 (as shown in fig. 20), and the light supplementing lamp 371 is used to provide a light source for taking an image of the lens 37. Under the general condition, the lower surface can downward bending deformation after the bridge upper surface receives the load, whether appear the crack in order to detect bridge bottom surface after loading, all carry out image acquisition at bridge bottom surface, but bridge bottom surface illumination is not enough, can seriously influence image acquisition's definition, consequently, needs this light filling lamp to provide compensation light for the camera lens to guarantee image acquisition's definition, and then improve crack identification's accuracy and precision.
The image acquisition device in the embodiment comprises a gigabit network industrial area array CCD (charge coupled device) camera 372, an industrial lens 373 and a machine vision LED strip light source. The gigabit network industrial area array CCD (charge coupled device) camera 372 and the industrial lens 373 are adopted as the lenses 37, and the machine vision LED strip light source is adopted as the light supplementing lamp. The CCD sensor is adopted in the gigabit network industrial area array camera to realize high-speed high-definition stable imaging, so that the camera is applied to wider industrial occasions. The industrial camera has the characteristics of high resolution, high speed, high precision, high definition, low noise and the like, and the gigabit network output and direct transmission distance can reach 100m, so that the industrial camera is widely applied to the field of high-speed high-precision machine vision. The machine vision LED strip light source is suitable for surface illumination of an object to be detected in machine vision, can provide oblique illumination matched with the object from any angle, has high-brightness distribution in a strip structure, and is widely applied to surface crack detection and the like. The brightness and the installation angle are adjustable, and the LED lamp has the characteristics of high brightness, low temperature, balance, no flicker and the like. The machine vision LED strip light source outputs with the maximum power, and the aperture and focal length of the industrial lens are adjusted so as to enable the image to be in the best definition. The exposure time of the camera is not too long, so that image blurring caused by image smear in the image acquisition process is prevented.
The detection range of the automatic crack detection device covers cambered surfaces of the member box girder member, namely the bottom surface of each 2m of the middle and left and right sides and the bottom angle of the lower flange, which are upwards 15 cm.
As an alternative embodiment, unlike other embodiments, the automatic crack detection device further includes a far infrared cruise target point 39 as shown in fig. 21, and the control device is respectively connected to the wall climbing robot 34, the image acquisition device 32 and the image processing device, and controls the wall climbing robot 34 to be adsorbed to the member to move according to the far infrared cruise target point 39; controlling the image acquisition device 3 to move and acquire images on the mobile bearing device 31 according to the far infrared cruise target point 39; and controlling the image processing device to identify crack components in the image, and transmitting the image processed by the image processing device to a railway engineering construction information management platform data center. The control device can realize automatic component image acquisition and component crack identification, avoids inaccurate crack information caused by different judgment standards in manual observation, improves the detection precision and detection efficiency of component cracks, and improves the safety of engineering tests.
As an alternative embodiment, the automatic crack detection device further includes an alarm device including an audible alarm and an optical alarm, which alarms when the image processing device detects the presence of a crack in the image, to remind a worker to determine the crack and take corresponding measures, unlike other embodiments.
The invention further aims at providing a detection method for the bridge static load test. As shown in fig. 22, the automatic detection method for the load of the component of the present invention comprises:
step 91: applying a loading force to the reaction frame, and simultaneously applying a test load equivalent to the force applied by the reaction frame to the member;
step 92: detecting test load values received by each loading point of the component;
step 93: according to the test load value received by each loading point of the component, the loading force applied to the reaction frame is adjusted, so that the stress of each loading point of the component is balanced;
step 94: and after the stress of each loading point of the component is balanced, starting to detect the crack change condition of the component when the stress reaches a preset value.
Wherein, in step 91, the method for applying a loading force to the reaction frame includes: continuously applying a pre-loading force to the reaction frame; and after the set time is reached, applying a secondary loading force to the reaction frame so as to increase the test load applied to the component. In the present invention, the member is a bridge.
Wherein in step 94, after the stress balance of each loading point of the component, the method for detecting the crack change condition of the component includes (as shown in fig. 23):
Step 101: acquiring an image of the bottom of the member;
step 102: extracting gray information in an image;
step 103: determining a dark region in the image according to the gray information;
step 104: cracks of the component are identified based on the darkened area.
The gray area is an area with gray level larger than the set gray level threshold value, and the crack in the image is an area with larger gray level value, so that the crack can occur only when the gray level is larger than the set gray level threshold value, the recognition range is reduced, and the recognition rate is accelerated.
The automatic crack detection device is used for detection, the image acquisition device is used for reciprocating on the movable bearing device, the movable bearing device moves on the bridge, the part of the bridge box girder component bearing a large bending moment is scanned, a processing algorithm in the moving image processing device is used for identifying crack components in an image, and the crack detection result is recorded.
As an alternative embodiment, after identifying the crack of the member based on the dark area, further comprising:
acquiring an included angle between the crack and a straight line where the component is transversely positioned,
judging whether the included angle is larger than 45 degrees or not, and obtaining a first judging result;
when the first judgment result shows yes, determining the crack as a target crack;
And when the first judging result indicates no, determining that the crack is a non-target crack.
As an alternative embodiment, as shown in fig. 24, after the stress balance at each loading point of the component, the method for detecting the crack change condition of the component further includes:
step 111: acquiring an image of the position of the crack again to obtain a secondary image;
step 112: identifying a secondary crack in the secondary image;
step 113: comparing the lengths of the secondary cracks in the secondary image to obtain a comparison result;
when the comparison result shows that the length of the secondary crack is larger than that of the crack, determining that the crack component in the secondary image is a target crack, and sending out an alarm signal;
and when the comparison result shows that the length of the secondary crack is not more than that of the crack, eliminating the dark area, and recording the detection result.
Before the test starts, the detection area of the component is firstly scanned and detected once by the crack detection method, and the coordinates of the initial crack at the bottom of the component are recorded. In the test process, a 1.00-1.20-level load is required to be applied to the component, the control device controls the mobile bearing device to carry the image acquisition device to scan the critical area of the beam body of the component, and the scanned image is transmitted to the image processing device to process, detect and extract the crack coordinates. Completing 1 time of 1.20-stage previous stage loading within 5min, completing 4 times of image data acquisition, processing and stress crack judgment within 1.20-stage loading within 20min, wherein the position coordinates corresponding to the initial image are also acquired while the initial image is acquired, the position coordinates corresponding to the image are also acquired when the image is acquired again, the images of the two identical position coordinates are compared, and the lengths of crack components in the images at two sides are compared, if the comparison result shows that: if the length of the crack component in the secondary image is greater than that of the crack component in the previous image, the crack component in the secondary image is a real crack, namely a crack generated after load is applied, the secondary image is extracted and recorded, and an alarm is given, so that a worker can confirm the crack and position the crack. If when the comparison result shows that: and eliminating the previous image and the secondary image, recording the detection result, indicating that the cracks in the initial image are not generated by applying a load, eliminating the cracks, and recording the detection result.
The position coordinates of the image are determined according to the set far infrared cruising target point, the motion track of the wall climbing robot and the motion track of the image acquisition device.
In the above embodiment, the detection of the crack component from the acquired bridge bottom image requires binarization of the image, and belongs to the field of image segmentation. Then, stray points and flaking areas are filtered out from the treated component, and crack components are extracted. In order to segment the image by adopting the dynamic threshold binarization mode and to consider the texture distribution characteristic of the crack to eliminate the interference of stray points and lumps, a crack detection method based on local binarization of crack direction distribution is provided, namely the step of identifying the crack of the component based on the dark area, as shown in fig. 25, specifically comprising:
step 121: carrying out low-pass filtering on the image containing the dark areas by using a Gaussian smoothing filtering method;
step 122: acquiring a difference image of the filtered image and the image of the dark area;
step 123: extracting direction information of cracks in the filtered image;
step 124: carrying out binarization processing on the filtered crack image by combining the direction information to obtain a binarized image;
Step 125: and removing stray points and clusters in the binarized image, extracting cracks and labeling the cracks.
And carrying out graying treatment on the acquired image to obtain a single-channel image. Due to the problems of illumination, jitter and the like in the acquisition process, noise is mixed in the image, so that the deviation between partial pixel values in the image and the neighborhood pixels is larger. Therefore, it is necessary to perform gaussian smoothing on the image before the crack extraction, and obtain the low-pass component of the image after the low-pass filtering. And then obtaining the low-pass component of the crack image by making difference between the original image and the low-pass filtered image. So as to ensure the accuracy of crack extraction.
In order to obtain the direction information of each point in the image, first, the direction gradient of x and y needs to be obtained, the gradient sum in two directions needs to be obtained by first-order differentiation adopted for obtaining the gradient value, and in order to make the direction information of each pixel point as accurate as possible, in this embodiment, local area pixels are adopted as a reference for calculation. As shown in fig. 26, specifically, the step of extracting the direction information of the crack in the filtered crack image specifically includes:
step 131: selecting a pixel point (x, y) in the filtered crack image;
Step 132: selecting a rectangular area with the height of h and the width of w by taking a pixel point (x, y) as a center;
step 133: calculating gradient average values in the x and y directions in the rectangular area;
step 134: and calculating the phase angle of any pixel point (i, j) in the rectangular area according to the gradient mean value.
The calculation formula of the gradient mean value is as follows:
obtaining the X-direction ladder and the Y-direction ladder in the rectangular area through the methodAfter the mean value of the degrees, the phase of each point is estimated by the mean value in the rectangular area, and the calculation formula of the phase is as followsAfter the direction information of the cracks is obtained, the multi-section crack patterns can be integrated into one crack, so that the position of the crack can be accurately determined, and the precision of crack detection is improved.
The local binarization method of the dynamic threshold in the present embodiment is an algorithm that combines the nimack binarization method with the phase of each point in the image based on the nimack method.
In a point (I, j) in an image, a straight line I (I, j) passing through the point can be obtained according to the phase of the point (I, j) in the x and y directions and the coordinates of the point, N points on the upper half plane and the lower half plane of the straight line are taken, and the mean value m (I, j) and the variance s (I, j) of 2N+1 points on the straight line are counted:
in the algorithm, a pixel on a phase straight line I (I, j) of a target point (I, j) is taken as a reference, the straight line is taken as a template, and the obtained threshold value is as follows: t (x, y) =m (x, y) +k·s (x, y)
In the above formula, k is a correction coefficient and is generally given according to engineering requirements. After obtaining the decision threshold of the target pixel, the decision can be made for this point:
and each pixel point in the image is calculated by the algorithm to obtain a binarized image of the target image. In order to close the narrow gap, a spatial closed operation is used to smooth the binarized image result.
As an alternative embodiment, as shown in fig. 27, the steps of removing the stray points and the clusters in the binary image, extracting the cracks and labeling the cracks specifically include:
step 141: obtaining an outsourcing rectangle of a dark component in the binarized image;
step 142: calculating the aspect ratio of the outsourcing rectangle;
step 143: judging whether the length-width ratio is larger than the set length-width ratio, and obtaining a judging result;
when the judgment result shows yes, determining the dark component surrounded by the outsourcing rectangle as a target crack;
and when the comparison result shows that the gray component surrounded by the outsourcing rectangle is not the stray point or the lump, the stray point or the lump is removed.
In order to filter out the components, the embodiment adopts the aspect ratio limitation, the length limitation, the area limitation and the like of the target outsourcing rectangle to realize the automatic filtration of dirty points or clusters and screen out long and narrow components. Then, the isolated components are removed by the adjacent relation between the cracks.
The method for detecting the member cracks utilizes the automatic crack detection device to detect, adopts the image acquisition device to reciprocate on the movable bearing device, and the movable bearing device moves on the member to scan the part of the member box girder member bearing a large bending moment, and a processing algorithm in the moving image processing device identifies crack components in an image and records the crack detection result.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. The utility model provides a bridge static test automatic control device which characterized in that, bridge static test automatic control device includes:
The plurality of loading execution devices are arranged between the component and the reaction frame and are used for simultaneously applying a test load equivalent to the stress of the reaction frame to the component when the loading force is applied to the reaction frame;
the load measuring devices are correspondingly arranged between the component and each loading executing device and are used for detecting test load values applied by the loading executing devices to each loading point of the component;
the control device is respectively connected with the load execution devices and the load measurement devices and is used for adjusting the loading force of the corresponding load execution device according to the test load value detected by the load measurement devices so as to balance the stress of each loading point of the component;
the automatic crack detection device is arranged at the bottom of the component and is used for detecting the crack change condition of the component;
wherein the load execution apparatus includes:
the mechanical jack assembly comprises a shell, the shell is provided with a working cavity and a transmission cavity, a cylinder sleeve is arranged in the working cavity, the cylinder sleeve is in sliding fit with the shell, one end of the cylinder sleeve extends out of the working cavity, a transmission nut is sleeved at the other end of the cylinder sleeve, the transmission cavity is positioned at the lower part of the working cavity and is communicated with the working cavity, a transmission screw is rotationally arranged in the transmission cavity, one end of the transmission screw is connected with the shell, and the other end of the transmission screw is inserted into the cylinder sleeve and is in matched connection with the transmission nut;
The transmission assembly comprises a turbine and a worm matched with the turbine, the turbine is sleeved on the transmission screw and is in power connection with the transmission screw, the turbine drives the transmission screw to rotate, one end of the worm is inserted into the shell and is connected with the turbine, and a transmission gear is arranged on the other end of the worm, which is positioned outside the shell;
the power device is in power connection with the transmission gear, and the power device is in power connection with the worm through the transmission gear;
the self-adaptive assembly comprises a universal pressing cap, the universal pressing cap is arranged at one end of the cylinder sleeve extending out of the shell, and the universal pressing cap is connected with the cylinder sleeve in a sliding fit manner;
the loading execution device further comprises a speed reducer, and the speed reducer is respectively connected with the transmission gear and the power device;
the load measuring device is a load cell, wherein the load cell comprises an elastomer and a plurality of strain gages, the strain gages are arranged on the elastomer, the strain gages comprise detection strain gages and check strain gages, the detection strain gages are used for detecting test load values, and the check strain gages are used for checking the test load values detected by the detection strain gages;
The elastic body comprises an even number of spokes, and the strain gauges are adhered to two sides of the spokes;
the plurality of strain gauges are arranged in parallel in the thickness direction of the spoke, and the strain gauges on two sides of the spoke are mutually perpendicular;
the crack automatic detection device comprises:
the image acquisition device is used for acquiring an image of the bottom of the component;
the image processing device is respectively connected with the image acquisition device and the control device, and is used for identifying cracks in the image and sending the cracks to the control device;
the movable bearing device is used for bearing the image acquisition device and can move along at least one surface to be detected at the bottom of the component.
2. The automatic bridge static test control device according to claim 1, wherein the moving bearing device comprises a moving track, the image acquisition device is arranged on the moving track and can move on the moving track, and an included angle between a moving direction of the image acquisition device on the moving track and a moving direction of the moving track is larger than 0 degrees and smaller than 180 degrees.
3. The automatic bridge static load test control device according to claim 2, wherein a moving mechanism is arranged at the contact position of the moving track and the bottom of the component, a wall climbing robot is arranged on the moving track, the top surface of the wall climbing robot is adsorbed on the surface of the bottom of the component, and the wall climbing robot climbs along the surface of the bottom of the component and drives the moving track to move along the component; the moving mechanism comprises rollers arranged at two ends of the moving track, and the rollers are in contact with the members.
4. A detection method using the bridge static test automatic control device according to any one of claims 1 to 3, characterized in that the detection method comprises:
applying a loading force to the reaction frame, and simultaneously applying a test load equivalent to the force applied by the reaction frame to the member;
detecting test load values received by each loading point of the component;
according to the test load value received by each loading point of the component, the loading force applied to the reaction frame is adjusted, so that the stress of each loading point of the component is balanced;
after the stress of each loading point of the component is balanced, starting to detect the crack change condition of the component when the stress reaches a preset value;
after the stress balance of each loading point of the component, the method for detecting the crack change condition of the component comprises the following steps:
acquiring an image of the bottom of the member;
extracting gray information in the image;
determining a dark region in the image according to the gray information;
identifying a crack of the component based on the darkened area; the method specifically comprises the following steps:
performing low-pass filtering on the image containing the dark area by using a Gaussian smoothing filtering method;
acquiring a difference image of the filtered image and the image of the dark area;
Extracting direction information of cracks in the filtered image;
carrying out binarization processing on the filtered crack image by combining the direction information to obtain a binarized image;
and removing stray points and clusters in the binarized image, extracting cracks and labeling the cracks.
5. The method for detecting a bridge static load test according to claim 4, wherein the method for applying a loading force to the reaction frame comprises:
continuously applying a pre-loading force to the reaction frame;
and after the set time is reached, applying a secondary loading force to the reaction frame so as to increase the test load applied to the component.
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| CN106952556A (en) * | 2017-04-17 | 2017-07-14 | 华南理工大学 | A kind of composite roof truss intelligence test experimental provision |
| CN110987267B (en) * | 2019-12-23 | 2022-04-22 | 佳讯飞鸿（北京）智能科技研究院有限公司 | Point switch stress signal detection device and method and electronic equipment |
| CN111189657B (en) * | 2020-01-13 | 2021-06-15 | 安徽工业大学 | Method for correcting hydraulic jack by using axial compression steel pipe |
| CN117572903B (en) * | 2024-01-16 | 2024-03-29 | 中国建筑科学研究院有限公司 | Terminal induction feedback type load automatic adjustment method and system based on AI (advanced technology attachment) processing |
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