CN115272276A - Suspension bridge main cable subsurface disease identification method and device based on infrared light camera shooting - Google Patents
Suspension bridge main cable subsurface disease identification method and device based on infrared light camera shooting Download PDFInfo
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Abstract
The invention discloses a suspension bridge main cable subsurface disease identification method based on infrared light camera shooting, which comprises the following steps: s1, reconstructing a suspension bridge model, namely establishing a bridge three-dimensional model based on unmanned aerial vehicle oblique photogrammetry, and performing field oblique photogrammetry image acquisition and interior three-dimensional model reconstruction; s2, routing inspection planning: manually marking the characteristic points of the main cable and generating a main cable inspection route; s3, field infrared data acquisition: importing the unmanned aerial vehicle path planning file into an unmanned aerial vehicle, flying according to a specific air route and executing a corresponding task; s4, disease identification: and carrying out infrared anomaly detection on the surface temperature of the main cable, identifying the position and the size of the subsurface defect, and marking the part with abnormal disease temperature. The invention also discloses a suspension bridge main cable subsurface disease recognition device based on infrared light camera shooting, and the device can automatically detect the suspension bridge main cable subsurface diseases by using an unmanned aerial vehicle based on infrared images, and has wide application prospects.
Description
Technical Field
The invention belongs to the technical field of bridge detection, and particularly relates to a suspension bridge main cable subsurface disease identification method based on infrared light camera shooting.
Background
The main cable is used as the most main bearing component of the suspension bridge and can not be replaced almost in the service life of the bridge, and the safety state of the main cable structure directly determines the service life of the suspension bridge. Apparent diseases such as damage, corrosion, cracking and the like are one main cause of corrosion inside the main cable, and the inspection of the apparent diseases of the main cable is very important. In the traditional bridge detection, a manual field investigation method is mostly adopted, a main cable of a detector regularly patrols and examines the personnel once along the whole main cable, the main cable is sufficiently close to the main cable so as to touch the main cable, the sound of the main cable is heard, and the inspection of the content of the main cable of the bridge comprises the inspection of a main cable coating and an external protection system; checking a construction seam at the main cable clamp; visual inspection is carried out on the damage conditions of the handrail rope and the upright post; the bottom of the main cable and the main cable clamp are checked for rust spots or water seepage, etc. However, the manual visual inspection is labor-consuming and requires huge cost, the visual inspection also has visual blind spots and limitations, and the quality of the visual inspection is greatly different due to different experiences, knowledge and capabilities of inspectors.
Unmanned aerial vehicle is as a novel instrument, also begins to use recently in the bridge detects. Unmanned aerial vehicle has characteristics such as nimble, flight steadily, and can carry on high definition digtal camera to replace people's eye inspection bridge main push-towing rope disease, artificial intelligence algorithm such as computer vision also provides new opportunity for the automated inspection of main push-towing rope. However, the infrared camera is not applied in the detection of the main cable of the unmanned aerial vehicle, and the difficulty of the manual operation of the unmanned aerial vehicle flying according to the linear shape of the main cable is large.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the invention provides a method for identifying the subsurface diseases of the main cable of the suspension bridge based on infrared light camera shooting.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention firstly provides a method for identifying the subsurface diseases of the main cable of the suspension bridge based on infrared light camera shooting, which specifically comprises the following steps:
s1, bridge model reconstruction. The invention aims to ensure that the path planning of the unmanned aerial vehicle is more reliable and well documented. The bridge three-dimensional model is established based on unmanned aerial vehicle oblique photogrammetry and comprises two steps of field oblique photogrammetry image acquisition and interior three-dimensional model reconstruction.
And S2, routing inspection planning. After a three-dimensional model of the suspension bridge is established, the characteristic points of the main cable are manually marked, and a main cable inspection route is generated, wherein the course overlapping rate is preferably over 50%.
And S3, acquiring field infrared data. The unmanned aerial vehicle is required to fly according to a specific air route and automatically complete a specified task, a response instruction is required to be transmitted to the unmanned aerial vehicle, the instruction is a path planning kml file, the file is a coding specification for describing and storing geographic information, and parameters of the unmanned aerial vehicle, such as flying speed, a tripod head pitch angle, unmanned aerial vehicle yaw angle, waypoint tasks and the like, are added when the unmanned aerial vehicle is used for air route planning. The unmanned aerial vehicle path planning kml file is led into the unmanned aerial vehicle, the infrared camera and the visible light camera are carried on the unmanned aerial vehicle, and the unmanned aerial vehicle can fly according to a specific air route and execute a corresponding task by acquiring waypoint and task information in the kml file. When the unmanned aerial vehicle shoots the waypoint photos from the two sides of the main cable, the pitch angle of the holder is adjusted to be 0 degrees, and the waypoint task is set to shoot the infrared photos and the visible photos simultaneously.
And S4, identifying diseases. When apparent diseases exist in the main cable of the suspension bridge, rainwater can be accumulated at the diseased part and seep into the main cable, and the surface temperature of the defective part is abnormal due to solar radiation or air temperature rise and fall. Performing abnormal detection on the surface temperature of the main cable by infrared imaging according to the infrared radiation principle, and identifying the position and the size of the subsurface defect; aiming at background thermal noise and edge blurring phenomena which inevitably exist in radiation imaging, infrared image enhancement processing is carried out, the size of subsurface diseases or the area of seeper is accurately evaluated, and the degree of seeper is quantified; carrying out unmanned aerial vehicle inspection under various weather and environmental temperatures, and researching and suggesting the optimal inspection opportunity for seeper detection; aiming at the challenge that infrared image training samples for a deep learning algorithm are few, researching a seeped water detection method based on an unsupervised or semi-supervised learning algorithm; the temperature distribution characteristics of the inner side, the outer side, the upstream and the downstream and the middle side of the circular section of the protective layer of the main cable in the service life are analyzed, and the degradation characteristics and the degradation rules of the anticorrosive coating and the cable clamp caulking along with the change of seasons and temperature are researched. And marking the part with abnormal disease temperature.
The invention also provides a suspension bridge main cable subsurface disease recognition device based on infrared light camera shooting, which comprises:
a bridge model reconstruction module configured to perform the following actions: establishing a bridge three-dimensional model based on unmanned aerial vehicle oblique photogrammetry;
a patrol path planning module configured to perform the following actions: manually marking the characteristic points of the main cable and generating a main cable inspection route;
an field infrared data acquisition module configured to perform the following actions: importing a path planning kml file of the unmanned aerial vehicle into the unmanned aerial vehicle, carrying an infrared camera and a visible light camera on the unmanned aerial vehicle at the same time, and enabling the unmanned aerial vehicle to fly according to a specific route and execute a corresponding task by acquiring waypoint and task information in the kml file; when the unmanned aerial vehicle shoots the waypoint photos from the two sides of the main cable, the pitch angle of the holder is adjusted to be 0 degrees, and the waypoint task is set to shoot the infrared photos and the visible photos simultaneously;
a disease identification module configured to perform the actions of: and (3) carrying out abnormal detection on the surface temperature of the main cable by utilizing an infrared radiation principle, identifying the position and the size of the subsurface defect, and marking the part with abnormal disease temperature.
The present invention also provides an electronic device, comprising: the device comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor realizes the method for identifying the sub-surface diseases of the main cable of the suspension bridge based on infrared light camera shooting when executing the computer program.
Finally, the invention provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is read and executed, the method for identifying the subsurface disease of the main cable of the suspension bridge based on infrared light camera shooting is realized.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that:
the invention provides a main cable subsurface disease identification method based on infrared light camera shooting, aiming at the problems that an infrared camera is immature in application in main cable detection of an unmanned aerial vehicle, the manual operation difficulty of the unmanned aerial vehicle flying along the shape of a main cable is high, and the like. After waypoints and routes are planned on the bridge three-dimensional model, the routes are guided into unmanned aerial vehicle equipment, an unmanned aerial vehicle can execute the high-precision routes according to the set routes, infrared images of the main cable are automatically shot by carrying an infrared camera, the detection task is completed, sub-surface diseases of the main cable are automatically identified through a deep learning algorithm, and the automation degree of main cable inspection of the unmanned aerial vehicle is greatly improved.
Drawings
Fig. 1 is a flow chart of a route planning of a main cable of a suspension bridge in an implementation example.
Fig. 2 is an infrared light camera shooting lower suspension bridge main cable damage marking map in an implementation example.
FIG. 3 is a schematic flow diagram of the method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
First, referring to fig. 3, the specific process of the present invention is as follows:
and S1, bridge model reconstruction. The invention aims to ensure that the path planning of the unmanned aerial vehicle is more reliable and well documented. The bridge three-dimensional model is established based on unmanned aerial vehicle oblique photogrammetry and comprises two steps of field oblique photogrammetry image acquisition and interior three-dimensional model reconstruction.
S1.1, field oblique photogrammetry image acquisition. The method comprises the steps that an environment model of a bridge needs to be established before planning of a main cable inspection path of the unmanned aerial vehicle, the unmanned aerial vehicle is used for carrying an optical camera to collect environmental information of a bridge structure and the periphery of the structure, then data processing is carried out, a practical physical environment space is abstracted into a mathematical model space which can be processed by a calculation method, and mapping from the environment to the model is achieved.
S1.2, rebuilding an internal industry three-dimensional model mainly comprises five steps: aerial photography data downloading and image preprocessing; encrypting the aerial triangulation control points; generating dense point cloud and constructing a model; slicing the texture and automatically mapping; and (5) reconstructing a three-dimensional model.
And S2, routing inspection path planning. After a three-dimensional model of the suspension bridge is established, the characteristic points of the main cable are manually marked, and a main cable inspection route is generated, wherein the course overlapping rate is preferably over 50%.
The main cable characteristic points have the characteristic of summarizing the shape and the structure of the main cable, the main cable approximately accords with linear distribution on the spatial characteristic, the upper points of the main cable are manually selected as the main cable characteristic points, and in order to ensure that the characteristic points can better summarize the line shape of the main cable, the distance between the adjacent characteristic points is not too large. The generation of the inspection route mainly comprises three steps:
s2.1, interpolating a navigation point, wherein the upper point and the radius of the main cable are characteristic elements of path planning, and the upper point of the main cable is marked as𝑄 1 , 𝑄 2 , 𝑄 3 ,…, 𝑄 𝑘 ,…, 𝑄 𝑚 ，（𝑄 𝑘 (𝑥 𝑘 , 𝑦 𝑘 , 𝑧 𝑘 )，𝑘∊{1,2,3,…,𝑚}). Feature points𝑄 1 Set as waypoints𝑃 1 Sequentially calculating the coordinates of the interpolated waypoints among the characteristic points according to the horizontal and vertical overlapping rates of the course
。
S2.2, expanding the route, namely expanding the route to generate the route after the route points are inserted, expanding the route on two sides of the main cable, and considering the offset distance of the upper characteristic point to the center of the main cable.
And S2.3, generating a path planning file, and finally adjusting the posture of the unmanned aerial vehicle after generating a route by expanding a waypoint, and outputting a path planning kml file of the unmanned aerial vehicle by a tripod head pitch angle. The main cable path planning process is shown in fig. 1.
And S3, field infrared data acquisition. The unmanned aerial vehicle flies according to a specific route and automatically completes a specified task, a response instruction needs to be transmitted to the unmanned aerial vehicle, the instruction is a path planning kml file, the file is a coding specification used for describing and storing geographic information, and when the file is used for route planning, parameters of the unmanned aerial vehicle, such as flying speed, pan-tilt angle, unmanned aerial vehicle yaw angle, waypoint task and the like, are added. The unmanned aerial vehicle path planning kml file is led into the unmanned aerial vehicle, the infrared camera and the visible light camera are carried on the unmanned aerial vehicle, and the unmanned aerial vehicle can fly according to a specific air route and execute a corresponding task by acquiring waypoint and task information in the kml file. When the unmanned aerial vehicle shoots the waypoint photos from the two sides of the main cable, the pitch angle of the holder is adjusted to be 0 degrees, and the waypoint task is set to shoot the infrared photos and the visible photos simultaneously.
And S4, disease identification. When apparent diseases exist in the main cable of the suspension bridge, rainwater can be accumulated at the diseased part and seep into the main cable, and the surface temperature of the defective part is abnormal due to solar radiation or air temperature rise and fall. Performing abnormal detection on the surface temperature of the main cable by infrared imaging according to the infrared radiation principle, and identifying the position and the size of the subsurface defect; aiming at background thermal noise and edge blurring phenomena which inevitably exist in radiation imaging, infrared image enhancement processing is carried out, the size of subsurface diseases or the area of seeper is accurately evaluated, and the degree of seeper is quantified; carrying out unmanned aerial vehicle inspection under various weather and environmental temperatures, and researching and suggesting the optimal inspection opportunity for detecting seeper; aiming at the challenge that infrared image training samples for a deep learning algorithm are few, researching a seeped water detection method based on an unsupervised or semi-supervised learning algorithm; the temperature distribution characteristics of the inner side, the outer side, the upstream and the downstream and the middle side of the circular section of the protective layer of the main cable in the service life are analyzed, and the degradation characteristics and the degradation rules of the anticorrosive coating and the cable clamp caulking along with the change of seasons and temperature are researched. And marking the part with abnormal disease temperature. An example of a marking map of the damage of the main cable of the suspension bridge under infrared imaging is shown in figure 2.
The invention also provides a suspension bridge main cable subsurface disease recognition device based on infrared light camera shooting, which comprises:
a bridge model reconstruction module configured to perform the following actions: establishing a bridge three-dimensional model based on unmanned aerial vehicle oblique photography measurement;
a tour path planning module configured to perform the following actions: manually marking the characteristic points of the main cable and generating a main cable inspection route;
an external infrared data acquisition module configured to perform the following actions: importing a path planning kml file of the unmanned aerial vehicle into the unmanned aerial vehicle, carrying an infrared camera and a visible light camera on the unmanned aerial vehicle at the same time, and enabling the unmanned aerial vehicle to fly according to a specific route and execute a corresponding task by acquiring waypoint and task information in the kml file; when the unmanned aerial vehicle shoots the waypoint photos from the two sides of the main cable, the pitch angle of the holder is adjusted to be 0 degrees, and the waypoint task is set to shoot the infrared photos and the visible photos simultaneously;
a disease identification module configured to perform the following actions: and (3) carrying out abnormal detection on the surface temperature of the main cable by utilizing an infrared radiation principle, identifying the position and the size of the subsurface defect, and marking the part with abnormal disease temperature.
It should be noted that the description of the apparatus in the embodiment of the present application is similar to the description of the method embodiment, and has similar beneficial effects to the method embodiment, and therefore, the description is not repeated.
Further, the present invention provides an electronic device, which includes: the device comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to realize the method for identifying the subsurface diseases of the main cable of the suspension bridge based on infrared light camera shooting.
Finally, the invention provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is read and executed, the method for identifying the subsurface disease of the main cable of the suspension bridge based on the infrared light camera shooting is realized.
Program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and embellishments can be made without departing from the principle of the present invention, and these should also be construed as the scope of the present invention.
Claims (10)
1. A suspension bridge main cable subsurface disease identification method based on infrared light camera shooting is characterized by comprising the following steps:
s1, bridge model reconstruction: establishing a bridge three-dimensional model based on unmanned aerial vehicle oblique photogrammetry;
s2, routing inspection planning: manually marking the characteristic points of the main cable and generating a main cable inspection route;
s3, field infrared data acquisition: importing a path planning kml file of the unmanned aerial vehicle into the unmanned aerial vehicle, carrying an infrared camera and a visible light camera on the unmanned aerial vehicle at the same time, and enabling the unmanned aerial vehicle to fly according to a specific route and execute a corresponding task by acquiring waypoint and task information in the kml file; when the unmanned aerial vehicle shoots the waypoint photos from the two sides of the main cable, the pitch angle of the holder is adjusted to be 0 degrees, and the waypoint task is set to shoot the infrared photos and the visible photos simultaneously;
s4, disease identification: and (3) carrying out abnormal detection on the surface temperature of the main cable by utilizing an infrared radiation principle, identifying the position and the size of the subsurface defect, and marking the part with abnormal disease temperature.
2. The method for identifying the sub-surface diseases of the main cable of the suspension bridge based on the infrared light camera shooting is characterized by comprising the following steps: step S1 includes the following substeps:
s1.1, field oblique photogrammetry image acquisition: the unmanned aerial vehicle is used for carrying an optical camera to acquire environmental information of the bridge structure and the periphery of the structure, then data processing is carried out, the actual physical environment space is abstracted into a mathematical model space which can be processed by a calculation method, and the mapping from the environment to the model is realized;
s1.2, rebuilding an internal industry three-dimensional model, comprising the following steps: aerial photography data downloading and image preprocessing; encrypting the aerial triangulation control points; generating dense point cloud and constructing a model; slicing texture and automatically mapping; and (5) reconstructing a three-dimensional model.
3. The method for identifying the subsurface disease of the main cable of the suspension bridge based on the infrared light camera shooting as claimed in claim 2, wherein the step S1.2 of reconstructing the interior three-dimensional model comprises the following specific steps:
aerial photography data downloading and image preprocessing: downloading aerial photography data from unmanned aerial vehicle equipment, checking the integrity of the data, and exporting flight attitude and coordinate information into a POS file;
aerial triangulation control point encryption, comprising: loading data, extracting image feature points, matching same-name feature points and reversely calculating external orientation elements of the image;
dense point cloud generation and model construction: according to the image exterior orientation elements calculated by aerial triangulation, obtaining high-density digital point cloud through multi-view image dense matching, and building Tin models at different levels of detail degrees after data is partitioned;
texture slicing and automatic mapping: simplifying the Tin model data according to the curvature change of the curved surface formed by the triangular net, and finally registering and mapping the optimized Tin model and the texture image;
and (3) reconstructing a three-dimensional model: and generating a three-dimensional virtual scene model.
4. The method for identifying the sub-surface diseases of the main cable of the suspension bridge based on the infrared light camera shooting is characterized in that when the main cable inspection route is generated in the step S2, the course overlapping rate is more than 50%.
5. The method for identifying the sub-surface diseases of the main cable of the suspension bridge based on the infrared light camera shooting is characterized in that in the step S2, the patrol route generation comprises three steps: interpolating a waypoint in the feature points; carrying out route expansion on two sides of the main cable; and generating a path planning file.
6. The method for identifying the sub-surface diseases of the main cable of the suspension bridge based on the infrared light camera shooting is characterized by comprising the following steps: interpolating navigation points in the characteristic points, and manually marking the upper part of the main cable as a point𝑄 1 , 𝑄 2 , 𝑄 3 ,…, 𝑄 𝑘 ,…, 𝑄 𝑚 Wherein𝑄 𝑘 (𝑥 𝑘 , 𝑦 𝑘 , 𝑧 𝑘 )，𝑘∊{1,2,3,…,𝑚}; feature points𝑄 1 Set as waypoints𝑃 1 Sequentially calculating the coordinates of the interpolated waypoints among the characteristic points according to the horizontal and vertical overlapping rates of the course
。
7. The method for identifying the sub-surface diseases of the main cable of the suspension bridge based on infrared light camera shooting is characterized by comprising the following steps: when the air route is expanded on two sides of the main cable, the offset distance of the upper characteristic point to the center of the main cable is considered, and the offset distance is the radius of the main cable of the suspension bridge.
8. The utility model provides a suspension bridge main push-towing rope subsurface disease recognition device based on infrared light is made a video recording which characterized in that includes:
a bridge model reconstruction module configured to perform the actions of: establishing a bridge three-dimensional model based on unmanned aerial vehicle oblique photogrammetry;
a tour path planning module configured to perform the following actions: manually marking the characteristic points of the main cable and generating a main cable inspection route;
an field infrared data acquisition module configured to perform the following actions: importing a path planning kml file of the unmanned aerial vehicle into the unmanned aerial vehicle, carrying an infrared camera and a visible light camera on the unmanned aerial vehicle at the same time, and enabling the unmanned aerial vehicle to fly according to a specific route and execute a corresponding task by acquiring waypoint and task information in the kml file; when the unmanned aerial vehicle shoots the waypoint photos from the two sides of the main cable, the pitch angle of the holder is adjusted to be 0 degrees, and the waypoint task is set to shoot the infrared photos and the visible photos simultaneously;
a disease identification module configured to perform the following actions: and (3) carrying out abnormal detection on the surface temperature of the main cable by utilizing an infrared radiation principle, identifying the position and the size of the subsurface defect, and marking the part with abnormal disease temperature.
9. An electronic device, comprising: a memory storing a computer program executable by the processor, and a processor implementing the method for identifying the subsurface defect of the main cable of the suspension bridge based on infrared light camera shooting according to any one of claims 1 to 7 when the computer program is executed by the processor.
10. A storage medium having stored thereon a computer program which, when read and executed, implements the method for identifying a sub-surface defect in a main cable of a suspension bridge based on infrared light photography according to any one of claims 1 to 7.
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