CN111105401B - Concrete crack detection and repair method and device based on image processing and electronic equipment - Google Patents
Concrete crack detection and repair method and device based on image processing and electronic equipment Download PDFInfo
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Abstract
The invention discloses a concrete crack detection and repair method, a concrete crack detection and repair device and electronic equipment.A crack edge at two sides is obtained by identifying two opposite sides of a crack of concrete based on edge information, wherein the crack edge at two sides comprises a first edge and a second edge, and the first edge corresponds to the second edge; based on a mask, obtaining a plurality of first features in the first edge and a plurality of second features in the second edge, wherein in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence; if the first characteristic information is not matched with the second characteristic information, the fact that the concrete cracks is caused by the fact that the mixing proportion of the cement and river sand is not proper is determined, the concrete is repaired in a targeted mode, the service life of the repaired concrete is long, the strength of the repaired concrete is enhanced, and meanwhile the resistance performance of the concrete to expansion with heat and contraction with cold is kept.
Description
Technical Field
The invention relates to the technical field of concrete, in particular to a concrete crack detection and repair method and device based on image processing and electronic equipment.
Background
Nowadays, the application of concrete is very common, and the application in the fields of building, road and the like is ubiquitous. Concrete has the characteristic of firm structure, but the toughness of the concrete structure is poor, and the concrete structure is easy to crack and damage due to expansion with heat and contraction with cold, and after the concrete structure has cracks, the safety of the whole road and a building structure can be affected, so that potential safety hazards are brought to people. Therefore, timely crack inspection and repair of the concrete structure are important measures for ensuring the safety of the concrete structure.
In order to ensure normal use of concrete and save cost, the concrete with cracks needs to be repaired frequently. In the prior art, when concrete cracks usually occur, the cracks are only known, and the reason for the generation of the cracks is not analyzed, so that the cracks are directly filled with filling materials with uniform density, however, the following problems can be caused in the mode: for the concrete with uneven density set for enhancing the reaction to expansion with heat and contraction with cold, when cracks occur, the filling materials with uniform density are adopted to fill the cracks, so that the resistance of the concrete to expansion with heat and contraction with cold can be reduced; for concrete with poor quality, if the crack is only filled, the quality of the concrete after filling the crack is still not too high and is still damaged for too long, the concrete is not effectively repaired, and manpower, financial resources and material resources are wasted.
Therefore, a crack repairing method with good effect and high accuracy is needed.
Disclosure of Invention
The embodiment of the invention provides a concrete crack detection and repair method and device based on image processing and electronic equipment, and aims to solve the technical problems.
In a first aspect, an embodiment of the present invention provides a method for detecting and repairing a concrete crack based on image processing, where the method includes:
acquiring a concrete image through a binocular camera system; the concrete image comprises a left concrete image and a right concrete image;
obtaining edge information of a crack in the concrete image according to the left concrete image and the right concrete image;
identifying two opposite sides of the crack of the concrete based on the edge information to obtain two-side crack edges, wherein the two-side crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge;
based on a mask, obtaining a plurality of first features in the first edge, wherein each first feature comprises a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge;
based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence;
judging whether the first characteristic information is matched with the second characteristic information;
if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the whole quality of the concrete is not over-quality;
if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not;
if more than half of the second characteristics are not matched with the first characteristics, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete;
if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure;
if the crack of the concrete is caused by the fact that the quality of the concrete is not over-quality, the generated restoration information is replaced integrally; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete.
Optionally, the identifying the two opposite sides of the crack based on the edge information to obtain two-side crack edges includes:
dividing the edge information to obtain two groups of edge information;
if the two groups of edge information correspond to each other, determining two groups of crack edges as the two groups of edge information;
if the two groups of edge information do not correspond to each other, rotating a dividing line by 1 degree clockwise, and dividing the edge information again, wherein the dividing line is a straight line segment with the center at the gravity center of the pair of edge information;
and if two groups of edge information obtained by re-dividing the edge information correspond to each other, determining the two groups of crack edges as the two groups of re-divided edge information.
Optionally, the determining whether the first feature information and the second feature information are matched includes:
performing curve fitting on the first characteristic information to obtain a first fitting curve;
performing curve fitting on the second characteristic information to obtain a second fitting curve;
determining that the first feature information and the second feature information match if a difference in radius of curvature between the first fitted curve and the second fitted curve is within 0.01;
otherwise, determining that the first characteristic information and the second characteristic information are not matched.
Optionally, the determining whether the second features and the first features corresponding to each group one to one are matched includes:
judging whether a difference value between a first feature point in the first feature and a second feature point corresponding to the first feature point is within a set value, if so, determining that the first feature point and the second feature point are successfully matched;
in the first feature, if more than half of first feature points are successfully matched with the second feature points corresponding to the first feature points, determining that the second feature is matched with the first feature;
otherwise, determining that the second feature and the first feature do not match.
Optionally, the difference value is a euclidean distance between the first feature point and the second feature point corresponding to the first feature point.
Optionally, the determining whether the second features and the first features corresponding to each group one to one are matched includes:
obtaining Euclidean distance between each first feature point in the first features and a second feature point corresponding to the first feature point;
obtaining the variance of the Euclidean distance, if the variance is smaller than a threshold value,
determining that the second feature matches the first feature;
otherwise, determining that the second feature and the first feature do not match.
Optionally, generating repair information for repairing the crack according to the cause of the crack, where the repair information includes:
if the fact that the concrete cracks is determined to be that the quality of the concrete is not over-quality, generating the repair information as integral replacement;
if the cause of the concrete cracks is that the quality of the local parts of the concrete is different, the repair information is generated by locally repairing the concrete with different quality according to the quality of different parts;
and if the reason that the concrete cracks is determined to be that the whole quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure, generating the repair information as local repair according to the quality of the concrete.
Optionally, the mask is a matrix with a diagonal 1 and the rest 0.
In a second aspect, an embodiment of the present invention provides an image processing-based concrete crack detection and repair apparatus, where the apparatus includes:
the image acquisition module is used for acquiring a concrete image through a binocular camera system; the concrete image comprises a left concrete image and a right concrete image;
the edge extraction module is used for obtaining edge information of cracks in the concrete image according to the left concrete image and the right concrete image;
the edge segmentation module is used for identifying two opposite sides of the crack of the concrete based on the edge information to obtain two crack edges, wherein the two crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge;
a feature point obtaining module, configured to obtain, based on a mask, a plurality of first features in the first edge, where each first feature includes a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge; based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence;
the analysis module is used for judging whether the first characteristic information is matched with the second characteristic information; if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the whole quality of the concrete is not over; if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not; if more than half of the second characteristics are not matched with the first characteristics, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete; if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure;
the repairing module is used for generating repairing information which is replaced as a whole if the concrete cracks are caused because the quality of the concrete is not over-qualified; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the methods when executing the program.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a concrete crack detection and repair method and device based on image processing and an electronic device, wherein the method comprises the following steps: acquiring a concrete image through a binocular camera system; the concrete image comprises a left concrete image and a right concrete image; obtaining edge information of a crack in the concrete image according to the left concrete image and the right concrete image; identifying two opposite sides of the crack of the concrete based on the edge information to obtain two-side crack edges, wherein the two-side crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge; based on a mask, obtaining a plurality of first features in the first edge, wherein each first feature comprises a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge; based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence; judging whether the first characteristic information is matched with the second characteristic information; if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the whole quality of the concrete is not over-quality; if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not; if more than half of the second characteristics are not matched with the first characteristics, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete; if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure; if the crack of the concrete is caused by the fact that the quality of the concrete is not over-quality, the generated restoration information is replaced integrally; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete. Therefore, the concrete is repaired in a targeted manner, the service life of the repaired concrete is long, the strength of the repaired concrete is enhanced, and the resistance of the concrete to expansion with heat and contraction with cold is kept.
Drawings
Fig. 1 shows a flowchart of a concrete crack detection and repair method based on image processing according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram illustrating an image processing-based concrete crack detection and repair apparatus 200 according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of an electronic device according to an embodiment of the present invention.
Icon: 200-detecting and repairing concrete cracks; 210-an acquire image module; 220-extracting an edge module; 230-split edge module; 240-get feature points module; 250-an analysis module; 260-a repair module; 500-a bus; 501-a receiver; 502-a processor; 503-a transmitter; 504-a memory; 505-bus interface.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The embodiment of the invention provides a concrete crack detection and repair method based on image processing, and please refer to fig. 1, the concrete crack detection and repair method includes steps S201 to S210 shown in fig. 1. S201 to S210 are explained below with reference to fig. 1.
S101: acquiring a concrete image through a binocular camera system; the concrete image includes a left concrete image and a right concrete image. The binocular camera system comprises a left camera and a right camera, wherein the left concrete image and the right concrete image are obtained by shooting through the left camera and the right camera respectively, and the left camera and the right camera are CCD cameras.
S102: and obtaining edge information of cracks in the concrete image according to the left concrete image and the right concrete image.
S103: identifying two opposite sides of the crack of the concrete based on the edge information, and obtaining two-side crack edges, wherein the two-side crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge.
S104: based on a mask, obtaining a plurality of first features in the first edge, wherein each first feature comprises a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge.
S105: based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to a sequence.
S106: and judging whether the first characteristic information is matched with the second characteristic information.
S107: and if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the whole quality of the concrete is not over.
S108: if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not; if more than half of the second features are not matched with the first features, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete.
S109: and if more than half of the second characteristics are matched with the first characteristics, determining that the reason why the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure.
S110: if the crack of the concrete is caused by the fact that the quality of the concrete is not over-quality, the generated restoration information is replaced integrally; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete.
By adopting the scheme, the concrete can be repaired in a targeted manner, the repaired concrete has long service life, the strength of the repaired concrete is enhanced, and the resistance of the concrete to expansion with heat and contraction with cold is kept.
As an optional implementation, the identifying opposite sides of the crack based on the edge information and obtaining two-sided crack edges includes: dividing the edge information to obtain two groups of edge information; if the two groups of edge information correspond to each other, determining the two groups of crack edges as the two groups of edge information; if the two groups of edge information do not correspond to each other, rotating a dividing line by 1 degree clockwise, and dividing the edge information again, wherein the dividing line is a straight line segment with the center at the gravity center of the pair of edge information; and if two groups of edge information obtained by re-dividing the edge information correspond to each other, determining the two groups of crack edges as the two groups of re-divided edge information.
Further, the determining whether the first feature information and the second feature information are matched includes:
performing curve fitting on the first characteristic information to obtain a first fitting curve; performing curve fitting on the second characteristic information to obtain a second fitting curve; determining that the first feature information and the second feature information match if a difference in radius of curvature between the first fitted curve and the second fitted curve is within 0.01; otherwise, determining that the first characteristic information and the second characteristic information are not matched. In this way, the accuracy of determining whether the first feature information and the second feature information match is improved.
Optionally, the determining whether the second features and the first features corresponding to each group one to one are matched includes: judging whether a difference value between a first feature point in the first feature and a second feature point corresponding to the first feature point is within a set value, if so, determining that the first feature point and the second feature point are successfully matched; in the first feature, if more than half of first feature points are successfully matched with the second feature points corresponding to the first feature points, determining that the second feature is matched with the first feature; otherwise, determining that the second feature and the first feature do not match.
Optionally, the difference value is a euclidean distance between the first feature point and the second feature point corresponding to the first feature point.
Optionally, the determining whether the second features and the first features corresponding to each group one to one are matched includes: obtaining Euclidean distance between each first feature point in the first features and a second feature point corresponding to the first feature point; obtaining the variance of the Euclidean distance, and if the variance is smaller than a threshold value, determining that the second feature is matched with the first feature;
otherwise, determining that the second feature and the first feature do not match.
Optionally, generating repair information for repairing the crack according to the cause of the crack, where the repair information includes: if the fact that the concrete cracks is determined to be that the quality of the concrete is not over-quality, generating the repair information as integral replacement; if the cause of the concrete cracks is that the quality of the local parts of the concrete is different, the repair information is generated by locally repairing the concrete with different quality according to the quality of different parts; and if the reason that the concrete cracks is determined to be that the whole quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure, generating the repair information as local repair according to the quality of the concrete.
Optionally, the mask is a matrix with a diagonal 1 and the rest 0. Therefore, the first feature and the second feature obtained by the mask can accurately represent the shape feature of the crack edge, the situation that the shape feature of the crack edge does not exist, and the completeness of the obtained shape feature of the first feature and the second feature representing the crack edge is guaranteed.
The specific way to obtain the edge information of the crack in the concrete image according to the left concrete image and the right concrete image may be: performing edge extraction on the left concrete image or the right concrete image to obtain first edge information; performing stereo matching on the left concrete image and the right concrete image to obtain a depth image of the concrete; and layering the depth image based on the depth to obtain a depth layered image. The depth layered image comprises a plurality of depth layers, and the depth value of a pixel point of each depth layer is the same; covering the first edge information into the depth layered image to obtain a fusion depth image; obtaining a target depth layer, wherein the target depth layer is covered by the first edge information and comprises the depth layer with the most pixel points of the first edge information; separating pixel points of the first edge information falling on the target depth layer to obtain second edge information; and performing expansion processing on the second edge information, and performing sharpening processing on the second edge information after the expansion processing to obtain the edge of the crack in the concrete image, wherein the information representing the shape, the color and the discrete distribution condition of the edge of the crack is the edge information of the crack.
By adopting the above scheme, since some gaps may exist in the cracks of the concrete, and the gaps are displayed in the left concrete image and the right concrete image, the first edge information obtained by performing edge extraction on the left concrete image or the right concrete image includes the gap information, however, the gap information is not edge information of the cracks, that is, more noise exists in the first edge information, and the edges of the cracks cannot be accurately represented in the first edge information. Therefore, in order to remove noise and improve the accuracy of crack edge detection, the left concrete image and the right concrete image are subjected to stereo matching to obtain a depth image of concrete, the depth image is layered based on depth to obtain a depth layered image, and the depth of each layer in the depth layered image is different, so that texture information of different depths can be separated, namely the edge information of the crack of the concrete and other noises can be separated in different depth layers. In order to separate the edges of the crack, covering the first edge information into the depth layered image to obtain a fusion depth image and obtain a target depth layer, wherein the target depth layer is the depth layer which is covered by the first edge information and comprises the largest pixel points of the first edge information; and separating the pixel points of the first edge information falling on the target depth layer to obtain second edge information, so that the edge information of different depths can be separated, namely the second edge information is the edge information of the crack, performing expansion processing on the second edge information, and performing sharpening processing on the expanded second edge information to obtain the edge of the crack in the concrete image, thereby improving the precision and the usability of the crack edge information. Therefore, the problems of low detection efficiency and poor detection accuracy of the concrete cracks in the prior art are solved, and the technical effect of improving the detection accuracy of the concrete cracks is achieved.
The method comprises the following steps of carrying out three-dimensional matching on a left concrete image and a right concrete image to obtain a depth image of concrete, and specifically comprises the following steps:
A. performing feature extraction on the left concrete image to obtain left image features, wherein the left image features comprise a plurality of feature points; and performing feature extraction on the right concrete image to obtain right image features, wherein the right image features comprise a plurality of feature points.
B. And obtaining a matching factor between the left image characteristic point and the right image characteristic point. Specifically, the matching factor is calculated according to formula (1):
wherein, c represents a matching factor,
a pixel value representing the nth feature point in the left image feature,
the pixel value of the nth feature point in the right image feature is represented, and N represents the number of feature points having the right image feature. By adopting the scheme, the pixel value of the n-th characteristic point in the left image characteristic is multiplied by n to be the sine value of the phase angle factor, the pixel value of the n-th characteristic point in the right image characteristic is multiplied by the cosine value of the phase angle factor, and the tangent value of the quotient of the two is used as the matching factor to judge whether the two characteristic points are matched, so that the accuracy of matching judgment can be improved.
C. And judging whether the absolute value of the matching factor c is less than 0.5, and if the absolute value of the matching factor c is less than 0.5, determining that the nth feature point in the left image feature is matched with the nth feature point in the right image feature.
D. And if the nth characteristic point in the left image characteristic is matched with the nth characteristic point in the right image characteristic, obtaining the difference between the pixel value of the nth characteristic point in the left image characteristic and the pixel value of the nth characteristic point in the right image characteristic, and obtaining the parallax value. It should be noted that, the feature points in the left image feature and the feature points in the right image feature are sorted in sequence by rows according to the positions of the images.
E. And obtaining the depth value of the nth characteristic point according to the parallax value, the base line of the binocular camera system and the focal length of the camera. The specific calculation formula of the depth value is as follows:
wherein D is the depth value, D is the parallax value, b is the baseline length of the binocular camera system, and f is the camera focal length.
F. And converting the depth value into a color value to obtain a depth image pixel value, wherein the depth image has a plurality of depth image pixel values. Thus, a depth map is obtained.
Optionally, after performing feature extraction on the left concrete image to obtain a left image feature, performing feature extraction on the right concrete image to obtain a right image feature, and before obtaining a matching factor between the left image feature point and the right image feature point, the method further includes: the relative position between the left image feature and the right image feature is adjusted such that the center of gravity of the left image feature coincides with the center of gravity of the right image feature.
Therefore, the gravity center coincidence of the left image feature and the right image feature reduces the failure rate of matching, and meanwhile, the accuracy of high matching of the feature points can be improved.
As a further example, the relative position between the left image feature and the right image feature is adjusted so that the centers of gravity of the left image feature and the right image feature coincide, specifically, the following may be used: generating a first circumscribed circle of the left image feature based on the feature points in the left image feature, and generating a second circumscribed circle of the right image feature based on the feature points in the right image feature; calculating the moving values of the first circumscribed circle and the second circumscribed circle; and adjusting the relative position of the first circumscribed circle and the second circumscribed circle according to the movement value to obtain the adjusted left image characteristic and right image characteristic.
All the characteristic points are included in the circumscribed circle, the center of the circumscribed circle is used as the gravity center of all the characteristic points, and the gravity center is moved to the center of the circumscribed circle formed by another group of the characteristic points based on the gravity center, so that the possibility of superposition of the two groups of the characteristic points is improved, the calculated amount of matched characteristic points is reduced, and the accuracy of the matched characteristic points is improved.
In the embodiment of the present invention, feature points (referred to as a set of feature points) in a concrete image may be connected by a polyline to obtain a polygon including a set of feature points, such that the left concrete image and the right concrete image respectively correspond to a polygon including their respective feature points. The gravity center of the polygon is used as the gravity center of the group of feature points, and then the two polygons are translated to the gravity centers to be overlapped, so that the possibility of overlapping the two groups of feature points is improved, and the matching accuracy of the two groups of feature points is improved.
Wherein the distance of movement may be the distance between the two centers of gravity. That is, the moving values of the first circumscribed circle and the second circumscribed circle are obtained, specifically: the center distance between the first circumscribed circle and the second circumscribed circle is obtained; the center distance is used as a movement value. The center of the circle is the center of gravity of the circumscribed circle, and the distance between the centers of the circle is the distance between the two centers of gravity.
Therefore, the accuracy of characteristic point matching is improved, and the sequentially obtained depth maps can accurately distinguish characteristic points at different depths, for example, noise such as gullies in cracks and stones protruding at the edges of the cracks is distinguished, so that accurate edge information of the cracks can be obtained, and the accuracy of crack detection is improved.
After obtaining the edges of the cracks of the ravines, the method of detecting concrete cracks may further include: and obtaining the reason of the concrete crack according to the crack analysis, and further effectively repairing the crack according to the reason.
In the prior art, when concrete cracks usually occur, the cracks are only known, and the reason for the generation of the cracks is not analyzed, so that the cracks are directly filled with filling materials with uniform density, however, the following problems can be caused in the mode: for the concrete with uneven density set for enhancing the reaction to expansion with heat and contraction with cold, when cracks occur, the filling materials with uniform density are adopted to fill the cracks, so that the resistance of the concrete to expansion with heat and contraction with cold can be reduced; for concrete with poor quality, if the crack is only filled, the quality of the concrete after filling the crack is still not too high and is still damaged for too long, the concrete is not effectively repaired, and manpower, financial resources and material resources are wasted.
In order to solve the above problems, the embodiment of the present invention obtains the cause of the concrete crack according to the crack analysis, specifically including:
and A1, identifying two opposite sides of the crack based on the edge information, and obtaining two-side crack edges, wherein the two-side crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge.
And A2, obtaining a plurality of first features in the first edge based on the mask, wherein each first feature comprises a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge. Wherein the mask may be a matrix with 1 diagonal and 0 remaining.
And A3, obtaining a plurality of second features in the second edge based on the mask, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge. In the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sorting.
And A4, judging whether the first characteristic information is matched with the second characteristic information.
A5, if the first characteristic information is not matched with the second characteristic information, determining that the reason that the concrete cracks is that the mixing proportion of the cement and river sand is not proper, and concluding that the integral quality of the concrete is not over-limit.
A6, if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic;
a7, if more than half of the second features are not matched with the first features, determining that the crack of the concrete is caused by the quality difference between the local parts of the concrete. For example, if there are 5 groups of second features, 5 groups of first features, and 3 groups of second features that do not match the first features, respectively, it is determined that the cause of the concrete crack is a difference in quality between the parts of the concrete. In this case, the process influence in the concrete processing process may be caused, and the density of some parts of the concrete may be specially set to be low in order to improve the resistance of the concrete to thermal expansion and cold contraction.
A8, if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure.
Therefore, different repairing measures can be taken according to different reasons, the service life of the repaired concrete is prolonged, and the performance of the concrete can be maintained.
Wherein, discern based on edge information the relative both sides of fracture obtain both sides fracture edge, specifically do: dividing the edge information to obtain two groups of edge information; if the two groups of edge information correspond to each other, determining two groups of crack edges as two groups of edge information; if the two groups of edge information do not correspond to each other, rotating the dividing line by 1 degree clockwise, and re-dividing the edge information, wherein the dividing line is a straight line segment with the center at the center of gravity of the edge information; and if the two groups of edge information obtained by re-dividing the edge information correspond to each other, determining the two groups of crack edges as the two groups of edge information after re-dividing. Therefore, the method improves the correspondence between the two groups of split crack edges, reduces the calculated amount of crack reason analysis, and improves the accuracy of crack reason analysis results.
Optionally, determining whether the first feature information and the second feature information are matched includes: performing curve fitting on the first characteristic information to obtain a first fitting curve; performing curve fitting on the second characteristic information to obtain a second fitting curve; determining that the first characteristic information and the second characteristic information are matched if the difference between the curvature radii of the first fitted curve and the second fitted curve is within 0.01; otherwise, the first characteristic information and the second characteristic information are determined to be not matched.
Wherein, judge whether every group one-to-one's second characteristic and first characteristic match, specifically do: judging whether the difference value between a first feature point in the first feature and a second feature point corresponding to the first feature point is within a set value, if so, determining that the first feature point and the second feature point are successfully matched; and in the first characteristic, if more than half of first characteristic points are successfully matched with second characteristic points corresponding to the first characteristic points, determining that the second characteristic is matched with the first characteristic. Otherwise, the second feature is determined to be unmatched with the first feature.
And the difference value is the Euclidean distance between the first characteristic point and the second characteristic point corresponding to the first characteristic point.
Optionally, determining whether each group of one-to-one corresponding second features and the first features are matched includes:
obtaining Euclidean distance between each first characteristic point in the first characteristics and a second characteristic point corresponding to the first characteristic point; obtaining the variance of the Euclidean distance, and if the variance is smaller than a threshold value, determining that the second feature is matched with the first feature; otherwise, the second feature is determined to be unmatched with the first feature. Namely, each first feature point corresponds to one Euclidean distance, the plurality of feature points correspond to the plurality of Euclidean distances, the variance of the plurality of Euclidean distances is obtained, the matching degree between two groups of feature points (the first feature point and the second feature point) can be obtained, the variance is used as the matching degree, and the matching accuracy of the two groups of feature points (the two groups of features) is improved.
After determining the cause of the occurrence of the crack, the method further comprises: and generating repair information for repairing the crack according to the crack. Generating repair information for repairing the crack according to the crack occurrence reason, wherein the repair information comprises: if the fact that the concrete cracks is determined to be that the quality of the concrete is not over-quality, the generated repairing information is replaced integrally; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete. Therefore, the repaired concrete has long service life, the strength of the repaired concrete is enhanced, and the resistance of the concrete to expansion with heat and contraction with cold is kept.
The embodiment of the present application further correspondingly provides an execution main body for executing the above steps, and the execution main body may be the concrete crack detection and repair device 200 in fig. 2. Referring to fig. 2, the apparatus includes:
an image obtaining module 210, configured to obtain a concrete image through a binocular camera system; the concrete image comprises a left concrete image and a right concrete image;
an edge extracting module 220, configured to obtain edge information of a crack in the concrete image according to the left concrete image and the right concrete image;
a dividing edge module 230, configured to identify two opposite sides of the crack of the concrete based on the edge information, and obtain two crack edges, where the two crack edges include a first edge and a second edge, and the first edge corresponds to the second edge;
an obtaining feature point module 240, configured to obtain, based on a mask, a plurality of first features in the first edge, where each first feature includes a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge; based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence;
an analysis module 250, configured to determine whether the first feature information matches the second feature information; if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the whole quality of the concrete is not over; if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not; if more than half of the second characteristics are not matched with the first characteristics, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete; if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure;
the repairing module 260, if the concrete crack is caused by the fact that the quality of the concrete is not over, the generated repairing information is replaced as a whole; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete.
Optionally, the concrete crack detection and repair device is further used for performing all the steps of the concrete crack detection and repair method, and the specific manner in which each module performs the operation is described in detail in the embodiment of the method, and will not be described in detail herein.
An embodiment of the present invention further provides an electronic device, as shown in fig. 3, including a memory 504, a processor 502, and a computer program stored on the memory 504 and executable on the processor 502, where the processor 502 executes the program to implement the steps of any one of the foregoing image processing-based concrete crack detection and repair methods.
Where in fig. 3 a bus architecture (represented by bus 500) is shown, bus 500 may include any number of interconnected buses and bridges, and bus 500 links together various circuits including one or more processors, represented by processor 502, and memory, represented by memory 504. The bus 500 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 505 provides an interface between the bus 500 and the receiver 501 and transmitter 503. The receiver 501 and the transmitter 503 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, and the memory 504 may be used for storing data used by the processor 502 in performing operations.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of any one of the methods for detecting and repairing concrete cracks based on image processing.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus according to an embodiment of the invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A concrete crack detection and repair method based on image processing is characterized by comprising the following steps:
acquiring a concrete image through a binocular camera system; the concrete image comprises a left concrete image and a right concrete image;
obtaining edge information of a crack in the concrete image according to the left concrete image and the right concrete image;
identifying two opposite sides of the crack of the concrete based on the edge information to obtain two-side crack edges, wherein the two-side crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge;
based on a mask, obtaining a plurality of first features in the first edge, wherein each first feature comprises a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge;
based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence;
judging whether the first characteristic information is matched with the second characteristic information;
if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the whole quality of the concrete is not over-quality;
if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not;
if more than half of the second characteristics are not matched with the first characteristics, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete;
if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure;
if the crack of the concrete is caused by the fact that the quality of the concrete is not over-quality, the generated restoration information is replaced integrally; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete.
2. The method of claim 1, wherein the identifying opposing sides of the crack based on the edge information, obtaining two-sided crack edges, comprises:
dividing the edge information to obtain two groups of edge information;
if the two groups of edge information correspond to each other, determining two groups of crack edges as the two groups of edge information;
if the two groups of edge information do not correspond to each other, rotating a dividing line by 1 degree clockwise, and dividing the edge information again, wherein the dividing line is a straight line segment with the center at the gravity center of the edge information;
and if two groups of edge information obtained by re-dividing the edge information correspond to each other, determining the two groups of crack edges as the two groups of re-divided edge information.
3. The method of claim 1, wherein the determining whether the first feature information and the second feature information match comprises:
performing curve fitting on the first characteristic information to obtain a first fitting curve;
performing curve fitting on the second characteristic information to obtain a second fitting curve;
determining that the first feature information and the second feature information match if a difference in radius of curvature between the first fitted curve and the second fitted curve is within 0.01;
otherwise, determining that the first characteristic information and the second characteristic information are not matched.
4. The method of claim 1, wherein the determining whether the second feature and the first feature corresponding to each group in a one-to-one correspondence are matched comprises:
judging whether a difference value between a first feature point in the first feature and a second feature point corresponding to the first feature point is within a set value, if so, determining that the first feature point and the second feature point are successfully matched;
in the first feature, if more than half of first feature points are successfully matched with the second feature points corresponding to the first feature points, determining that the second feature is matched with the first feature;
otherwise, determining that the second feature and the first feature do not match.
5. The method of claim 1, wherein the difference value is a Euclidean distance between a first feature point and a second feature point corresponding to the first feature point.
6. The method of claim 1, wherein the determining whether the second feature and the first feature corresponding to each group in a one-to-one correspondence are matched comprises:
obtaining Euclidean distance between each first feature point in the first features and a second feature point corresponding to the first feature point;
obtaining the variance of the Euclidean distance, if the variance is smaller than a threshold value,
determining that the second feature matches the first feature;
otherwise, determining that the second feature and the first feature do not match.
7. The method of claim 1, wherein generating repair information for repairing the fracture based on the cause of the occurrence of the fracture comprises:
if the fact that the concrete cracks is determined to be that the quality of the concrete is not over, generating the repair information as integral replacement;
if the cause of the concrete cracks is that the quality of the local parts of the concrete is different, the repair information is generated by locally repairing the concrete with different quality according to the quality of different parts;
and if the reason that the concrete cracks is determined to be that the whole quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure, generating the repair information as local repair according to the quality of the concrete.
8. The method of claim 1, wherein the mask is a matrix with a diagonal of 1 and the remainder of 0.
9. A concrete crack detection and repair device based on image processing is characterized in that the device comprises:
the image acquisition module is used for acquiring a concrete image through a binocular camera system; the concrete image comprises a left concrete image and a right concrete image;
the edge extraction module is used for obtaining edge information of cracks in the concrete image according to the left concrete image and the right concrete image;
the edge segmentation module is used for identifying two opposite sides of the crack of the concrete based on the edge information to obtain two crack edges, wherein the two crack edges comprise a first edge and a second edge, and the first edge corresponds to the second edge;
a feature point obtaining module, configured to obtain, based on a mask, a plurality of first features in the first edge, where each first feature includes a plurality of first feature points, the plurality of first feature points in each first feature are arranged in sequence, and the plurality of first features are arranged in sequence to form first feature information of the first edge; based on a mask, obtaining a plurality of second features in the second edge, wherein each second feature comprises a plurality of second feature points, the plurality of second feature points in each second feature are arranged in sequence, and the plurality of second features are arranged in sequence to form second feature information of the second edge; in the first feature information and the second feature information, the second features and the first features are in one-to-one correspondence according to the sequence;
the analysis module is used for judging whether the first characteristic information is matched with the second characteristic information; if the first characteristic information is not matched with the second characteristic information, determining that the reason of the concrete crack is that the mixing proportion of the cement and river sand is not proper, and concluding that the reason of the concrete crack is that the integral quality of the concrete is not over; if the first characteristic information is matched with the second characteristic information, judging whether the second characteristic corresponding to each group one to one is matched with the first characteristic or not; if more than half of the second characteristics are not matched with the first characteristics, determining that the crack of the concrete is caused by the quality difference between local parts of the concrete; if more than half of the second characteristics are matched with the first characteristics, determining that the reason that the concrete cracks is that the overall quality of the concrete is consistent and the concrete is subjected to external force or thermal expansion and cold contraction pressure;
the repairing module is used for generating repairing information which is replaced as a whole if the concrete cracks are caused because the quality of the concrete is not over-qualified; if the reason that the concrete cracks is that the local qualities of the concrete are different, the generated repair information is the local repair of the concrete with different qualities according to the qualities of different parts; and if the reason that the concrete cracks is determined to be that the concrete is consistent in overall quality and suffers from external force or thermal expansion and cold contraction pressure, the generated repair information is locally repaired according to the quality of the concrete.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 8 when executing the program.
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