CN118840318B - A nondestructive testing method and system for detecting the depth of concrete open cracks - Google Patents
A nondestructive testing method and system for detecting the depth of concrete open cracks Download PDFInfo
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Abstract
The application relates to the technical field of building construction crack detection, in particular to a nondestructive detection method and a nondestructive detection system for detecting the depth of a concrete opening crack, wherein the method comprises a database establishment step, an image acquisition step, an image processing step, a three-dimensional visual model establishment step, a depth initial acquisition step, a health judgment step, a comprehensive health index judgment step, a reminding step and an alarm step; the system comprises a database, an image acquisition module, an image processing module, a model construction module, a depth initial acquisition module, a health judgment module, a comprehensive health index judgment module, a reminding module and an alarm module. The application has the effects of being convenient for repairing the control cracks, reducing the accident rate and reducing the loss.
Description
Technical Field
The application relates to the technical field of detection of building construction cracks, in particular to a nondestructive detection method and a nondestructive detection system for detecting the depth of a concrete opening crack.
Background
At present, concrete is used as an important civil material and plays a vital role in controlling engineering quality. At present, a great deal of important infrastructure and large-scale civil engineering structure are under the interaction of factors such as structural load, environmental erosion and the like for a long time, and various concrete defects are necessarily generated in the concrete civil engineering structure successively, so that the capability and the normal working life of the concrete civil engineering for resisting sudden natural disasters are obviously reduced.
Among the various defects that cause damage to concrete structures, the most common one is cracking. Many of the cracks were initially microcracks and were invisible to the naked eye. While incipient microcracks often result in continued cracking, and macroscopic cracks appear to the naked eye. These cracks can have a significant impact on the durability and load bearing capacity of the concrete structure.
In the prior art, the university of Changan's university of Master potential theory, named "machine vision-based road surface crack three-dimensional modeling and repair parameter calculation", describes that a depth image is acquired through a depth camera, then internal and external parameters of the camera are acquired through calibrating the camera, then error sources and noise of the acquired original road surface crack depth image are analyzed, and the noise is processed by combining various algorithms, so that the contrast of the depth image is enhanced. After the depth of the crack reaches a set threshold value, the crack needs to be treated, however, the expansion of the crack is influenced by various factors, and a single judging element easily causes the overlarge concrete crack, so that the repair difficulty is overlarge, and accidents or other losses are caused.
Disclosure of Invention
In order to facilitate the control of the time for repairing the cracks, reduce the accident rate and reduce the loss, the application provides a nondestructive testing method and a nondestructive testing system for detecting the depth of the cracks of the concrete opening.
In a first aspect, the application provides a nondestructive testing method for detecting the depth of a concrete opening crack, which adopts the following technical scheme:
a nondestructive testing method for detecting the depth of a concrete opening crack comprises the following steps:
the method comprises the steps of establishing a three-dimensional coordinate system by using a world coordinate system, measuring based on the real position of a concrete building, obtaining the real coordinate of the concrete building through measurement, marking a measurement seat as a historical coordinate, setting a plurality of coordinate approval points and actual measurement points, and storing the information in the database;
calibrating a camera by using a tool, and acquiring a depth image of the crack by the camera;
Image processing, namely performing black cavity elimination and noise removal on the crack depth image, performing region segmentation on the image to obtain a binary image, and then performing mask processing;
the three-dimensional visual model is built, namely the coordinates of each point of the crack are obtained by carrying out coordinate transformation on the processed depth image, then the three-dimensional visual model is built, and the crack model is built in the three-dimensional visual model;
depth initial acquisition, namely acquiring coordinates at the position of a crack and forming a crack coordinate set Acquiring coordinates of a concrete surface and forming a concrete surface coordinate setFracture coordinate setCoordinate set with concrete surfaceMapping one by one, and recording the longitudinal coordinate difference value of the crack coordinates and the concrete coordinates corresponding to one by one as an initial depth set;
Health determination, determining an initial depth setWhether or not there is a threshold value greater than a preset safety depthIf yes, executing an alarm step, otherwise, executing a comprehensive health index judgment step;
the comprehensive health index judgment comprises a data acquisition step, an index calculation step and an index comparison step;
data acquisition, acquiring maximum width of crack Length ofMaximum depth;
Calculating the index, namely calculating the comprehensive health indexWherein the integrated health indexThe calculation model of (2) is as follows: In the formula (I), in the formula (II), ,In order to set the threshold value,Is a preset safety depth threshold;
Index comparison, judging comprehensive health index If the number is greater than 1, executing a reminding step, otherwise executing an alarming step;
generating a data report and reminding constructors to check;
alarming, namely alarming construction personnel and sending related information.
Through adopting the technical scheme, through the acquisition and the processing of the depth image, then through the construction of the three-dimensional visual model and the construction of the crack model, then calculate and obtain the initial depth set, then carry out the judgment of the depth, when the depth is greater than the preset safety depth threshold value, alarm is carried out, and when the depth is less than the preset safety depth threshold value, the calculation of the comprehensive health index is carried out, then judge whether the comprehensive health index is greater than 1, if yes, the reminding step is carried out, otherwise, the alarm step is carried out, through the setting of the health judgment step and the comprehensive health index judgment step, the harmfulness of the crack is judged and analyzed from multiple angles, the comprehensive judgment is carried out on the safety degree of the crack, so that the control of the crack repairing opportunity is more accurate, the probability of accident occurrence is reduced, and on the premise of ensuring the safe use, the subsequent repairing cost and other cost are reduced.
Optionally, a warning grading step is further arranged between the index comparison step and the reminding step;
Warning classification, namely classifying warning prompt grades into I, II and III, corresponding to comprehensive health indexes, and executing prompt steps according to the classification:
If it is <The warning reminding grade is I;
If it is <<The warning reminding grade is II;
If it is >And the warning reminding grade is III.
Through adopting above-mentioned technical scheme, through warning classifying, the maintenance personnel of being convenient for, according to warning grade, select suitable repair opportunity, the comparatively urgent maintenance task of priority handling can rationally arrange the task, reduces human cost and time cost.
Optionally, after the health index determination step, a periodic monitoring step and an abnormal growth determination step are further provided;
Periodically monitoring, namely setting in t period, and detecting cracks In a second time, the first time,The calculation model of (2) is as follows:;
The abnormal growth judgment comprises a primary judgment step, a secondary judgment step and a correction step;
primary judgment, namely calculating depth increase difference values of the same position detected by two adjacent times and forming a difference value set Judging whether multipoint continuous growth exists, if so, executing a secondary judging step, otherwise, executing a correcting step;
secondary judgment, counting the number of the points in the continuous position and forming a number set Judging the number setWhether or not there is a threshold value greater than the upper limitIf yes, executing an alarm step;
Correcting, namely, abnormal data points of the points are corrected, so that the depth value of the points is equal to the average value of two adjacent points, and the initial depth set is updated 。
Through adopting above-mentioned technical scheme, to the concrete building that can also use, monitor the extension state of concrete crack through the mode of regular monitoring, prolong the life of concrete building, reduce the maintenance frequency simultaneously, and can in time discover the extension of concrete building crack, and through the judgement of whether multiple spot continuously grows, can screen the abnormal data point, reduce the interference of this point to the maintenance opportunity, and then improve the accuracy of maintenance opportunity judgement.
Optionally, a period updating step is further provided after the index calculating step;
Periodically updating, namely acquiring data of cracks and updating The calculation model of (2) is as follows:
wherein " "Means getting big andAnd taking an integer.
Through adopting above-mentioned technical scheme, through the detection number of times that changes t period, to having the crack of expansion or extension, carry out the detection that density is bigger, reduce in the time quantum that does not have the detection, the crack is too big, leads to the emergence of accident, is convenient for in time discover crack hidden danger, can in time eliminate.
Optionally, after the depth initial acquisition step, a trend drawing step is further provided;
trend plotting from initial depth set Drawing a crack depth trend graph;
Acquiring actual coordinates by acquiring coordinates of two sides of the crack at z valleys according to the crack depth trend graph AndThen the actual coordinates of the two sides of the crack position at the z valleys are respectively recorded asAndAnd obtaining historical coordinates of two sides of the crack position at the z valleys when no crack occurs, respectively recording asAndMeasuring and obtaining coordinates of actual measurement points;
Correcting coordinates according to actual measurement point position coordinatesActual coordinates of both sides of crack position at z valleysAndCorrecting the three-dimensional coordinates formed by the depth image;
recalculating, namely forming a depth final value set according to the updated three-dimensional coordinates Order-makingUpdating an initial depth set。
Through adopting above-mentioned technical scheme, through manual detection and world coordinate's approval, obtain three-dimensional coordinate through the depth image and calibrate for the data after the detection calculation is more accurate, is convenient for in time discover the limit value of crack extension, and is more accurate to the accuse of crack maintenance opportunity.
Optionally, a crack environment detection step is further provided after the recalculation step;
Judging whether water or ice exists in the crack, if so, executing a depth estimation calculation step, otherwise, executing a health judgment step;
Depth estimation calculation by estimating the actual coordinates of the two sides of the crack position at the z valleys to obtain depth estimation ;
Depth value update, orderWherein, the method comprises the steps of, wherein,For the initial depth value of the crack position at the z-th valley, the updated depth value is updatedUpdating to the initial depth set。
Through adopting above-mentioned technical scheme, to more or moist district of rainwater or winter, probably there is water or ice in the crack, water or ice can cause the influence to the collection of depth image, can also cause the influence to traditional ultrasonic detection, leads to actual data inaccuracy that obtains, influences the judgement of crack repair opportunity, and when repairing, is inconvenient for the preparation of repair material, causes the waste of time, probably causes the emergence of accident, perhaps leads to cost of maintenance to increase.
Optionally, a crack property judging step is further arranged between the crack environment detecting step and the depth estimation calculating step;
Judging the crack property, namely extracting vertical sections of a plurality of crack positions from the three-dimensional visual model, judging whether the vertical sections are uniformly changed or not through geometric parameters of the vertical sections, if so, executing a depth estimation calculation step, otherwise, executing a re-judgment step;
judging whether the change is gradually reduced or not through the geometric parameters of the vertical section, if so, executing the adjustment step;
the adjustment comprises an initial acquisition step and a depth recalculation step;
initial acquisition, namely obtaining edge depth coordinates of two sides in cracks at z valleys AndObtaining the depth of f positions in the depth directionCorresponding width;
Depth recalculation, calculating to obtain a depth estimateAnd executing a depth value updating step;
the calculation model of (2) is as follows:
In the formula (I), in the formula (II), Depth of f positionIs used for the average value of (a),For f positions corresponding to widthIs a mean value of (c).
By adopting the technical scheme, the estimation of the depth is different for different types of cracks, when the cracks are uniform cracks, the development of the cracks can be expected, so that the estimation is carried out through the coordinates on the two sides of the cracks and the historical coordinates, the reliability is higher, the calculation is enabled to obtain the depth more accurately than the calculation obtained by simply relying on depth image processing, when the width of the cracks is reduced along with the increase of the depth, the estimation is carried out on the underwater or under-ice cracks through the establishment of a three-dimensional model, the accuracy is more reliable than the depth value obtained by relying on depth image processing, the maintenance opportunity is further more accurate, the preparation of maintenance materials is more sufficient and accurate, the safety is improved, and the service time of the current concrete building is prolonged.
Optionally, an environmental monitoring step is further provided between the periodic monitoring step and the depth value updating step;
The environment monitoring is that the rainwater condition is obtained, whether the crack liquid level rises or not is judged, if yes, the actual coordinate obtaining step is executed, and otherwise, the value increasing step is executed;
Increment value, calculating to obtain value increment Wherein, the method comprises the steps of, wherein,The calculation model of (2) is as follows:
Order-making 。
By adopting the technical scheme, when raining does not exist, an obvious water level rising phenomenon does not exist, a difference value can be obtained through historical calculation, a numerical increment is obtained, the water level or the approximate height of ice is obtained, further calculation of the depth of a calculated crack is facilitated, the crack expansion can be irregular, the water level can change or fluctuate, the calculated numerical increment can only be used for approximate estimation, and compared with an original algorithm, the method is more accurate, further the maintenance opportunity is more accurate, the preparation of maintenance materials is more sufficient and accurate, meanwhile, the safety can be improved, and the service time of a current concrete building is prolonged.
In a second aspect, the application provides a nondestructive testing system for detecting the depth of a concrete opening crack, which adopts the following technical scheme:
A nondestructive testing system for detecting the depth of a concrete opening crack comprises the following modules.
The database stores concrete building historical real coordinates, coordinate approval points and actual measurement points information and historical detection data;
The output end of the image acquisition module is connected with the input end of the database and is used for acquiring the depth image of the crack and uploading the depth image to the database;
the input end of the image processing module is connected with the output end of the database and the output end of the image acquisition module and is used for processing the depth image;
The input end of the model construction module is connected with the output end of the image processing module and is used for constructing a three-dimensional visual model, converting the three-dimensional visual model into world coordinates according to the processed depth image and constructing a crack model in the three-dimensional visual model;
The input end of the depth initial acquisition module is connected with the output end of the model construction module and is used for calculating and acquiring an initial depth set ;
The input end of the health judging module is connected with the output end of the depth initial acquisition module and is used for judging an initial depth setWhether or not there is a threshold value greater than a preset safety depthIs the case in (2);
The input end of the comprehensive health index judging module is connected with the output end of the health judging module and is used for judging whether the comprehensive health index needs to trigger the reminding module or the alarming module;
The reminding module is used for generating a data report and reminding constructors to check, and the input end of the reminding module is connected with the output end of the comprehensive health index judging module;
and the input end is connected with the output end of the comprehensive health index judging module, alarms the constructor and sends related information.
By adopting the technical scheme, the database is built by acquiring world coordinates, establishing a three-dimensional coordinate system, setting coordinate calibration points and storing historical data, the image acquisition module is used for acquiring depth images, the model building module is used for executing the image processing and the crack model building, the depth initial depth is obtained through calculation, the comprehensive health index is obtained through calculation according to the initial depth, the length and the width, and then the judgment is carried out, and whether an alarm module or a reminding module is needed to be executed or not.
In summary, the present application includes at least one of the following beneficial technical effects:
1. Acquiring and processing a depth image, constructing a three-dimensional visual model and constructing a crack model, calculating to obtain an initial depth set, judging the depth, alarming when the depth is larger than a preset safety depth threshold value, executing calculation of a comprehensive health index when the depth is smaller than the preset safety depth threshold value, judging whether the comprehensive health index is larger than 1, executing a reminding step if the comprehensive health index is larger than 1, otherwise executing an alarming step, judging and analyzing the harmfulness of the crack from multiple angles through setting of the health judging step and the comprehensive health index judging step, comprehensively judging the safety degree of the crack, enabling the control of crack repairing time to be more accurate, reducing the probability of accident occurrence, facilitating subsequent repairing and reducing repairing cost and other cost on the premise of guaranteeing safe use;
2. the maintenance personnel can conveniently select proper repair time according to the warning grade by warning grading, and the urgent maintenance tasks are preferentially processed, so that the tasks can be reasonably arranged, and the labor cost and the time cost are reduced;
3. For the concrete building that can also use, through the mode of regular monitoring, monitor the extension state of concrete crack, extension concrete building's life reduces the maintenance frequency simultaneously, and can discover the extension of concrete building crack in time, and through the judgement of whether multiple spot continuously grows, can screen the abnormal data point, reduce the interference of this point to the maintenance opportunity, and then improve the accuracy of maintenance opportunity judgement.
Drawings
FIG. 1 is a flow chart of a nondestructive testing method in embodiment 1 of the present application;
FIG. 2 is a flowchart showing the steps of periodic monitoring and abnormal growth judgment in the embodiment 2 of the present application;
FIG. 3 is a flowchart showing the steps from trend plotting to recalculating in embodiment 2 of the present application;
fig. 4 is a flowchart of the crack environment detection step to the depth value update step in embodiment 2 of the present application.
Detailed Description
The application is described in further detail below in connection with fig. 1 to 4.
The embodiment discloses a nondestructive testing method for detecting the depth of a concrete opening crack.
Example 1 referring to fig. 1, a nondestructive testing method for testing the depth of a concrete opening crack comprises the steps of:
the method comprises the steps of S1, establishing a three-dimensional coordinate system by using a world coordinate system, measuring based on the real position of a concrete building, obtaining the real coordinate of the concrete building through measurement, marking a measurement seat as a historical coordinate, setting a plurality of coordinate approval points and actual measurement points, and storing the information in the database;
Specifically, the world coordinates of the historical concrete building are stored in the database, a three-dimensional coordinate system is built according to the world coordinates, the coordinates are simplified, calculation is convenient, and a plurality of coordinate approval points, actual measurement points and historical measurement data are arranged on the concrete building.
S2, image acquisition, namely calibrating a camera by using a tool, and acquiring a depth image of the crack by the camera;
s3, image processing, namely performing black cavity elimination and noise removal on the crack depth image, performing region segmentation on the image to obtain a binary image, and then performing mask processing;
s4, building a three-dimensional visual model, namely performing coordinate transformation on the processed depth image to obtain coordinates of each point of the crack, building the three-dimensional visual model, and building the crack model in the three-dimensional visual model;
s5, obtaining the initial depth, namely obtaining coordinates at the crack position and forming a crack coordinate set Acquiring coordinates of a concrete surface and forming a concrete surface coordinate setFracture coordinate setCoordinate set with concrete surfaceMapping one by one, and recording the longitudinal coordinate difference value of the crack coordinates and the concrete coordinates corresponding to one by one as an initial depth set;
Specifically, the method comprises the steps of image acquisition, image processing, establishment of a three-dimensional visualization model and establishment of a crack model, wherein the acquisition and calculation of initial depth, width and length are all in the prior art, and can refer to the ' machine vision-based pavement crack three-dimensional modeling and repair parameter calculation ' of a university of Change ' by means of a master thesis, wherein the image acquisition depends on a Kinect camera, the image processing firstly carries out black cavity elimination, the black cavity elimination adopts a black cavity filling method, each column of data of a depth image is judged, then the zero elimination is carried out by combining with pixel points around the zero point, then the noise is removed through filtering, the filtering is carried out, the filtering adopts any one of mean filtering, median filtering, gaussian filtering and bilateral filtering, preferably bilateral filtering, the gray value range of the acquired depth image is between 0 and 255, the gray value of the acquired depth image is corresponding to 25.6 cm in Matlab, the gray value of a certain point in the image is recorded as g, the actual distance between the point and the Kinect is equal to the ground and the whole number H between the camera is divided by 25.6, the gray value of the whole number H is multiplied by the gray value of the real gray value of the Matlab, and the gray value of the real gray value is calculated in the coordinate system is obtained by the following equation:
;
the method comprises the steps of a, obtaining a coordinate value in a real world coordinate system through a mutual conversion relation between the image coordinate system and the real world coordinate system which are deduced in camera calibration, establishing a three-dimensional visual model, preprocessing three-dimensional reconstruction, carrying out region segmentation on a crack depth image by a watershed segmentation algorithm after uniform illumination of the crack image to obtain a mask image, eliminating the influence of non-damaged pavement concave-convex according to the combination of the mask image and the crack depth image, and establishing the three-dimensional visual model of the crack.
S6, health judgment, namely judging the initial depth setWhether or not there is a threshold value greater than a preset safety depthIf yes, executing an alarm step, otherwise, executing a comprehensive health index judgment step;
Specifically, firstly comparing the initial depth with a preset safety depth threshold, when the depth of a crack is too deep, triggering an alarm step in time, and when the depth is within a safety range, performing a comprehensive health index judgment step to perform multi-dimensional judgment on the expansion of the crack, wherein the preset safety depth threshold is set The value of (2) is determined by parameters such as the material of the concrete, the mixing ratio of mortar, the working environment and the like, for example, in a dam, the working environment is a water environment, and when cracks are too deep, water leakage can be caused.
S7, judging the comprehensive health index, wherein the comprehensive health index comprises a data acquisition step S7-1, an index calculation step S7-2 and an index comparison step S7-3;
S7-1, data acquisition, namely acquiring the maximum width of the crack Length ofMaximum depth;
S7-2, calculating an index, and calculating a comprehensive health indexWherein the integrated health indexThe calculation model of (2) is as follows: In the formula (I), in the formula (II), ,In order to set the threshold value,Is a preset safety depth threshold;
In particular, the method comprises the steps of, The value of the concrete can be obtained through historical damage data of the same type of concrete building or can be determined through parameters such as the material of the concrete, the mixing ratio of mortar, the working environment and the like.
S7-3, comparing indexes, and judging comprehensive health indexesIf the number is greater than 1, executing a warning grading step, otherwise executing an alarming step;
And S8, warning classification, namely classifying warning prompt grades into I, II and III, corresponding to comprehensive health indexes, and executing the prompting steps according to the classification:
If it is <The warning reminding grade is I;
If it is <<The warning reminding grade is II;
If it is >And the warning reminding grade is III.
S9, reminding, namely generating a data report and reminding constructors to check;
And S10, alarming, namely alarming construction personnel and sending related information.
Specifically, when the comprehensive health index is judged, the crack length is firstly carried outThe length can be obtained by calculating the product of the total number of pixels and the actual length value of each pixel in the real world, and the width calculation comprises performing point corrosion elimination on the crack by an image corrosion algorithm to obtain the width of the crack,The calculation model of (2) is as follows:
In the formula (I), in the formula (II), For the width of each cancellation,Obtaining maximum width of the crack by counting the crack at the point of maximum eliminationThe method comprises the steps of obtaining maximum depth by calculating Z value of depth coordinate at the deepest position of the crack and Z value of ground coordinate, calculating index and judging health index by the product of maximum width, maximum depth and maximum length of the crack, when the health index is larger than 1, the greater the health index is, the higher the safety of the crack is, thus grading the health index larger than 1,,,AndThe concrete crack processing method comprises the steps of determining according to the external environment of concrete, using conditions or calculating according to historical data, judging whether processing is urgent or not according to warning reminding levels, when the warning reminding levels are I, preparing for processing cracks or processing preferentially when no other emergency work is carried out, when the warning reminding levels are II, preparing for processing the cracks in advance or increasing attention, processing other cracks preferentially, when the warning reminding levels are III, not paying attention to the cracks too much, not affecting normal use of a concrete building, not expanding rapidly, and giving an alarm when the health index is smaller than 1.
The embodiment 1 of the application has the implementation principle that the coordinate conversion is completed through camera calibration, then crack image acquisition, image processing and three-dimensional visual model establishment, the crack model is built in the three-dimensional visual model, then the depth, the width and the length are acquired, the initial judgment is carried out on the crack depth, whether the crack is excessively deep or not is judged, repair intervention is carried out in time, and when the crack depth is smaller than a safety threshold value, the treatment grade of the crack is judged through calculation of a health index, the treatment time is reasonably arranged, and the repair opportunity is controlled.
Example 2 referring to fig. 2, this example differs from example 1 in that,
After the database creation step, a periodic monitoring step S11 and an abnormal growth judgment step S12 are further provided;
s11, periodically monitoring, namely setting in a t period, and detecting cracks In a second time, the first time,The calculation model of (2) is as follows:;
Specifically, T is the detection period when no crack is initially generated, or the detection period when a crack is initially generated, The value of (2) is related to the requirements of the design construction organization, or is determined according to parameters such as the material of concrete, the mixing ratio of mortar, the working environment and the like, or is determined according to the hazard degree and the expansion speed of cracks with different depths, lengths and widths in historical data.
S12, judging abnormal growth, namely, a primary judging step S12-1, a secondary judging step S12-2 and a correcting step S12-3;
s12-1, primarily judging, calculating depth increase difference values of two adjacent detection identical positions and forming a difference value set Judging whether multipoint continuous growth exists, if so, executing a secondary judging step, otherwise, executing a correcting step;
s12-2, secondary judgment, namely counting the number of the points of the continuous positions and forming a number set Judging the number setWhether or not there is a threshold value greater than the upper limitIf yes, executing an alarm step;
In particular, the method comprises the steps of, Is calculated according to historical data, or,The total number of the detection points is the crack length.
S12-3, correcting, namely, abnormal data points of the points are corrected, enabling the depth value of the points to be equal to the average value of two adjacent points, and updating the initial depth set。
The method comprises the steps of setting the detection times in T period, namely, detecting T times in a period of time T, periodically detecting cracks, conveniently finding out the change of the cracks in time and the possible occurrence of problems of a concrete building under the condition of ensuring that the use is not influenced as much as possible, ensuring the safety, periodically monitoring, determining whether the cracks are continuously enlarged and the enlarged range is larger by judging whether continuous growth occurs, performing timely intervention, reducing the occurrence of safety accidents, correcting data by judging abnormal points of the data, reducing the influence of environmental factors or camera factors on actual depth results or health indexes,Is calculated as the depth value of the c-1 th time of m-position detection minus the depth value of the c-1 th time of m-position detection.
In other embodiments, a period updating step S13 is further provided after the index calculating step;
S13, periodically updating, namely acquiring data of cracks and updating The calculation model of (2) is as follows:
wherein " "Means getting big andAnd taking an integer.
Specifically, along with the attenuation of the health index, the possibility of expanding the crack or generating safety problems is enhanced, the detection frequency of the crack is increased by correspondingly increasing the detection times, the crack problem can be timely found and timely repaired, and in other embodiments, the method is also provided with period comparison and judgmentWhether or not it is greater than the set period maximum valueIf yes, executing an alarm step, wherein,And (2) andThe value of (2) is related to the application environment and the hazard degree of the concrete building.
Referring to fig. 3, in other embodiments, a trend drawing step S14 is further provided after the depth initial acquisition step;
s14, trend drawing according to the initial depth set Drawing a crack depth trend graph;
s15, acquiring actual coordinates, namely acquiring coordinates of two sides of the crack at the z low valleys according to the crack depth trend graph AndThen the actual coordinates of the two sides of the crack position at the z valleys are respectively recorded asAndAnd obtaining historical coordinates of two sides of the crack position at the z valleys when no crack occurs, respectively recording asAndMeasuring and obtaining coordinates of actual measurement points;
S16, correcting the coordinates according to the actual measurement point position coordinatesActual coordinates of both sides of crack position at z valleysAndCorrecting the three-dimensional coordinates formed by the depth image;
s17, recalculating, namely forming a depth final value set according to the updated three-dimensional coordinates Order-makingUpdating an initial depth set。
Specifically, although the depth camera is calibrated, there may be a problem in the coordinates of the acquired depth image caused by abnormal parameters or other reasons, the three-dimensional coordinates of the depth image are corrected by actually acquiring coordinates of approval points and historical coordinates of both sides of the crack, then the depth is recalculated, the initial depth set is updated, and the health determination step and the comprehensive health index determination step are continuously executed.
Referring to fig. 4, in other embodiments, a crack environment detection step S18 is further provided after the recalculation step;
S18, detecting the crack environment, namely judging whether water or ice exists in the crack, if so, executing a crack property judging step, otherwise, executing a health judging step;
S19, judging the crack properties, namely extracting vertical sections of a plurality of crack positions from the three-dimensional visual model, judging whether the vertical sections are uniformly changed or not through geometric parameters of the vertical sections, if so, executing a depth estimation calculation step, otherwise, executing a re-judgment step;
S20, calculating depth estimation, namely estimating and obtaining the depth estimation through actual coordinates of two sides of crack positions at z valleys ;
S21, updating depth value, and orderWherein, the method comprises the steps of, wherein,For the initial depth value of the crack position at the z-th valley, the updated depth value is updatedUpdating to the initial depth set。
S22, judging whether the change is gradually reduced or not through the geometric parameters of the vertical section, and if so, executing an adjustment step;
s23, adjusting, wherein the method comprises an initial acquisition step S23-1 and a depth recalculation step S23-2;
s23-1, initially acquiring edge depth coordinates of two sides in cracks at z valleys AndObtaining the depth of f positions in the depth directionCorresponding width;
S23-2, depth recalculation, calculating to obtain a depth estimated valueAnd executing a depth value updating step;
the calculation model of (2) is as follows:
In the formula (I), in the formula (II), Depth of f positionIs used for the average value of (a),For f positions corresponding to widthIs a mean value of (c).
Specifically, when water or ice exists in the crack, the depth image shot by the depth camera is interfered, and the ultrasonic detection is interfered, so that inaccurate obtaining of the depth can be caused, and possibly, because inaccurate depth calculation can be caused, the situation that the repairing time of the crack is delayed or the prepared material is insufficient can occur, in order to increase the accuracy, whether the crack is uniform or gradually smaller is judged by analyzing the section of the constructed crack model, then calculation is carried out separately, and when the uniform crack is estimated, a depth estimation calculation model and a depth estimation calculation model can be establishedThe calculation model of (2) is as follows:
In the formula (I), in the formula (II), Is thatThe coordinate value of the x-direction of the point,Is thatThe coordinate value of the x-direction of the point,Is thatThe coordinate value of the y-direction of the point,Is thatThe coordinate value of the y-direction of the point,Is thatThe coordinate value of the point in the x direction is calculated by the above formula, or the depth of the crack is estimated by manually extending into the crack by a tool, or the detection influence is less by adopting other water levels, when the crack is gradually reduced, the approximate change rule of the crack is obtained by calculation, the depth estimation calculation model is established by a function fitting mode, the depth estimation calculation is performed, the detection result is optimized by the intervention, the influence of water on the analysis of the depth image is reduced, the accuracy of the depth and health index calculation is improved, the probability of timely finding the change of the crack is further improved, and the actual control of the repair is more accurate.
In other embodiments, an environmental monitoring step S26 is further provided between the periodic monitoring step and the depth value updating step;
s24, environment monitoring, namely acquiring rainwater conditions, judging whether crack liquid level rises, if so, executing an actual coordinate acquisition step, otherwise, executing a value-added step;
S25, adding value, namely calculating to obtain a numerical increment Wherein, the method comprises the steps of, wherein,The calculation model of (2) is as follows:
Order-making 。
Specifically, by judging whether the liquid level changes again, when the liquid level changes, manual intervention is needed again to correct the detection precision, otherwise, the current liquid level is calculated approximately according to the numerical increment obtained by historical calculation, then the depth value is obtained by new calculation, and intervention is performed, so that the calculation of the health index and the depth value are more accurate, and the safety of cracks is convenient to judge.
The embodiment 2 of the application has the implementation principle that the real-time safety of the crack is monitored by setting period detection, and the monitoring period is updated in time according to the damage degree of the crack, so that the expansion of the crack can be found in time, and the repair treatment can be performed in time.
When rainy or cracked water exists in other conditions, the depth data obtained according to image analysis is corrected through manual correction and depth estimation, and then the health index is corrected, so that the control of the repairing time and the control of the material consumption condition are more accurate.
On the premise of no temporary rainfall or other conditions, the liquid level may be lowered, but most conditions do not have rising phenomenon, so that the depth of the crack obtained by image analysis is corrected through liquid level estimation, the depth of the crack is more approximate to the actual value, the harmfulness of the crack is conveniently found in time, and repair treatment is timely carried out.
The embodiment of the application also discloses a nondestructive testing system for detecting the depth of the concrete opening crack.
Referring to FIG. 2, a nondestructive inspection system for inspecting the depth of a concrete opening crack includes the following modules.
The database stores concrete building historical real coordinates, coordinate approval points and actual measurement points information and historical detection data;
The output end of the image acquisition module is connected with the input end of the database and is used for acquiring the depth image of the crack and uploading the depth image to the database;
the input end of the image processing module is connected with the output end of the database and the output end of the image acquisition module and is used for processing the depth image;
The input end of the model construction module is connected with the output end of the image processing module and is used for constructing a three-dimensional visual model, converting the three-dimensional visual model into world coordinates according to the processed depth image and constructing a crack model in the three-dimensional visual model;
The input end of the depth initial acquisition module is connected with the output end of the model construction module and is used for calculating and acquiring an initial depth set ;
The input end of the health judging module is connected with the output end of the depth initial acquisition module and is used for judging an initial depth setWhether or not there is a threshold value greater than a preset safety depthIs the case in (2);
The input end of the comprehensive health index judging module is connected with the output end of the health judging module and is used for judging whether the comprehensive health index needs to trigger the reminding module or the alarming module;
the input end of the warning grading module is connected with the output end of the comprehensive health index judging module, and is used for carrying out grading reminding on the cracks according to the health index, so that repairmen can intuitively determine the repairing urgency;
The input end of the regular monitoring module is connected with the output end of the comprehensive health index judging module and is used for controlling the depth camera to regularly monitor the cracks;
the input end of the period updating module is connected with the output end of the comprehensive health index judging module and is used for adjusting the period according to the damage degree of the crack;
the abnormal growth judging module is connected with the output end of the comprehensive health index judging module and is used for judging whether multipoint continuous growth, large-range growth or abnormal points of data occur or not, and correcting the depth value or executing the alarm module;
The reminding module is used for generating a data report and reminding constructors to check, and the input end of the reminding module is connected with the output end of the comprehensive health index judging module;
and the input end of the alarm module is connected with the output end of the comprehensive health index judging module, alarms construction staff and sends related information.
The input end of the trend drawing module is connected with the output end of the depth initial acquisition module and is used for determining the valley position of the depth according to the depth value;
The input end of the actual coordinate acquisition module is connected with the output end of the trend drawing module and is used for manually detecting coordinates;
The input end of the coordinate correcting module is connected with the output end of the actual coordinate acquiring module and is used for updating the coordinate of the depth image according to the manually detected coordinate;
The input end of the recalculation module is connected with the output end of the coordinate correction module and is used for recalculating the depth, width and length of the crack according to the updated depth image coordinates;
The input end of the crack environment detection module is connected with the output end of the database and is used for judging whether water or ice exists in the crack;
The input end of the crack property judging module is connected with the output end of the crack environment detecting module and the output end of the model building module, and is used for judging the development condition of the crack according to the section of the crack model;
The input end of the depth estimation calculation module is connected with the output end of the crack property judgment module, and is used for carrying out manual estimation on uniform cracks or estimating a depth value according to the historical coordinates and the actual coordinates of the cracks and updating an initial depth set;
The depth recalculation module is used for judging whether the crack is gradually reduced or not, and carrying out depth estimation according to the change trend of the crack after judging that the crack is gradually reduced;
The environment judging module is connected with the output end of the period monitoring module and is used for judging whether the liquid level rises or not, and increasing the value of the situation that the liquid level does not rise, and estimating the depth according to the depth obtained by image analysis.
The implementation principle of the nondestructive testing system for detecting the depth of the concrete opening crack is that crack image information is acquired through an image acquisition module, then an image processing module, a model construction module and a depth initial acquisition module are sequentially executed to obtain a depth value, then a health judgment module is executed to judge whether an alarm module or a comprehensive health index judgment module is executed, when the comprehensive health index judgment module is executed, a warning grading module is executed to grade according to the health index, and a reminding module is executed according to the grade.
When a crack occurs, a period monitoring module is required to be executed to monitor the period of the crack, a period updating module is executed through the obtained data to update the monitoring period, and an abnormal growth judging module is executed to judge whether an abnormal growth point exists.
And executing a trend drawing module by acquiring an initial depth set, determining the valley position according to the trend, then executing an actual coordinate acquisition module, executing a coordinate correction module and a recalculation module according to the actual obtained coordinates, and updating the initial depth set.
And when the period monitoring module is executed, the environment judging module is executed at the same time to judge whether the liquid level rise exists in the crack or not, the obtained image analysis depth value is subjected to value-added calculation, a new depth value at the valley is obtained, and the initial depth set is updated.
The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.
Claims (9)
1. A nondestructive testing method for detecting the depth of a concrete opening crack is characterized by comprising the following steps:
the method comprises the steps of establishing a three-dimensional coordinate system by using a world coordinate system, measuring based on the real position of a concrete building, obtaining the real coordinate of the concrete building through measurement, marking a measurement seat as a historical coordinate, setting a plurality of coordinate approval points and actual measurement points, and storing the information in the database;
calibrating a camera by using a tool, and acquiring a depth image of the crack by the camera;
Image processing, namely performing black cavity elimination and noise removal on the crack depth image, performing region segmentation on the image to obtain a binary image, and then performing mask processing;
the three-dimensional visual model is built, namely the coordinates of each point of the crack are obtained by carrying out coordinate transformation on the processed depth image, then the three-dimensional visual model is built, and the crack model is built in the three-dimensional visual model;
depth initial acquisition, namely acquiring coordinates at the position of a crack and forming a crack coordinate set Acquiring coordinates of a concrete surface and forming a concrete surface coordinate setFracture coordinate setCoordinate set with concrete surfaceMapping one by one, and recording the longitudinal coordinate difference value of the crack coordinates and the concrete coordinates corresponding to one by one as an initial depth set;
Health determination, determining an initial depth setWhether or not there is a threshold value greater than a preset safety depthIf yes, executing an alarm step, otherwise, executing a comprehensive health index judgment step;
the comprehensive health index judgment comprises a data acquisition step, an index calculation step and an index comparison step;
data acquisition, acquiring maximum width of crack Length ofMaximum depth;
Calculating the index, namely calculating the comprehensive health indexWherein the integrated health indexThe calculation model of (2) is as follows: In the formula (I), in the formula (II), ,In order to set the threshold value,Is a preset safety depth threshold;
Index comparison, judging comprehensive health index If the number is greater than 1, executing a reminding step, otherwise executing an alarming step;
generating a data report and reminding constructors to check;
alarming, namely alarming construction personnel and sending related information.
2. The nondestructive testing method for detecting the depth of a concrete opening crack according to claim 1, wherein a warning grading step is further provided between the index comparison step and the warning step;
Warning classification, namely classifying warning prompt grades into I, II and III, corresponding to comprehensive health indexes, and executing prompt steps according to the classification:
If it is <The warning reminding grade is I;
If it is <<The warning reminding grade is II;
If it is >The alert class III, in the formula,AndFor the classification threshold value,,。
3. The nondestructive testing method for detecting the depth of a concrete opening crack according to claim 2, wherein after the health index judging step, a periodic monitoring step and an abnormal growth judging step are further provided;
Periodically monitoring, namely setting in t period, and detecting cracks In a second time, the first time,The calculation model of (2) is as follows:;
The abnormal growth judgment comprises a primary judgment step, a secondary judgment step and a correction step;
primary judgment, namely calculating depth increase difference values of the same position detected by two adjacent times and forming a difference value set Judging whether multipoint continuous growth exists, if so, executing a secondary judging step, otherwise, executing a correcting step;
secondary judgment, counting the number of the points in the continuous position and forming a number set Judging the number setWhether or not there is a threshold value greater than the upper limitIf yes, executing an alarm step;
Correcting, namely, abnormal data points of the points are corrected, so that the depth value of the points is equal to the average value of two adjacent points, and the initial depth set is updated 。
4. The nondestructive testing method for the depth of a concrete opening crack according to claim 3, wherein a periodic updating step is further provided after the index calculating step;
Periodically updating, namely acquiring data of cracks and updating The calculation model of (2) is as follows:
wherein " "Means getting big andAnd taking an integer.
5. The nondestructive testing method for detecting the depth of a concrete opening crack according to any one of claims 1 to 4, wherein a trend drawing step is further provided after the initial depth acquisition step;
trend plotting from initial depth set Drawing a crack depth trend graph;
Acquiring actual coordinates by acquiring coordinates of two sides of the crack at z valleys according to the crack depth trend graph AndThen the actual coordinates of the two sides of the crack position at the z valleys are respectively recorded asAndAnd obtaining historical coordinates of two sides of the crack position at the z valleys when no crack occurs, respectively recording asAndMeasuring and obtaining coordinates of actual measurement points;
Correcting coordinates according to actual measurement point position coordinatesActual coordinates of both sides of crack position at z valleysAndCorrecting the three-dimensional coordinates formed by the depth image;
recalculating, namely forming a depth final value set according to the updated three-dimensional coordinates Order-makingUpdating an initial depth set。
6. The nondestructive testing method for detecting the depth of a concrete opening crack according to claim 5, wherein a crack environment detecting step is further provided after the recalculating step;
Judging whether water or ice exists in the crack, if so, executing a depth estimation calculation step, otherwise, executing a health judgment step;
Depth estimation calculation by estimating the actual coordinates of the two sides of the crack position at the z valleys to obtain depth estimation ;
Depth value update, orderWherein, the method comprises the steps of, wherein,For the initial depth value of the crack position at the z-th valley, the updated depth value is updatedUpdating to the initial depth set。
7. The nondestructive testing method for detecting the depth of a concrete opening crack according to claim 6, wherein a crack property judging step is further provided between the crack environment detecting step and the depth estimation calculating step;
Judging the crack property, namely extracting vertical sections of a plurality of crack positions from the three-dimensional visual model, judging whether the vertical sections are uniformly changed or not through geometric parameters of the vertical sections, if so, executing a depth estimation calculation step, otherwise, executing a re-judgment step;
judging whether the change is gradually reduced or not through the geometric parameters of the vertical section, if so, executing the adjustment step;
the adjustment comprises an initial acquisition step and a depth recalculation step;
initial acquisition, namely obtaining edge depth coordinates of two sides in cracks at z valleys AndObtaining the depth of f positions in the depth directionCorresponding width;
Depth recalculation, calculating to obtain a depth estimateAnd executing a depth value updating step;
the calculation model of (2) is as follows:
In the formula (I), in the formula (II), Depth of f positionIs used for the average value of (a),For f positions corresponding to widthIs a mean value of (c).
8. The nondestructive testing method for detecting the depth of a concrete opening crack according to claim 7, wherein an environmental monitoring step is further provided between the periodic monitoring step and the depth value updating step;
The environment monitoring is that the rainwater condition is obtained, whether the crack liquid level rises or not is judged, if yes, the actual coordinate obtaining step is executed, and otherwise, the value increasing step is executed;
Increment value, calculating to obtain value increment Wherein, the method comprises the steps of, wherein,The calculation model of (2) is as follows:
Order-making 。
9. A nondestructive testing system for testing the depth of concrete opening cracks, which is characterized by realizing the nondestructive testing method for testing the depth of concrete opening cracks according to any one of claims 1-8, comprising the following modules:
The database stores concrete building historical real coordinates, coordinate approval points and actual measurement points information and historical detection data;
The output end of the image acquisition module is connected with the input end of the database and is used for acquiring the depth image of the crack and uploading the depth image to the database;
the input end of the image processing module is connected with the output end of the database and the output end of the image acquisition module and is used for processing the depth image;
The input end of the model construction module is connected with the output end of the image processing module and is used for constructing a three-dimensional visual model, converting the three-dimensional visual model into world coordinates according to the processed depth image and constructing a crack model in the three-dimensional visual model;
The input end of the depth initial acquisition module is connected with the output end of the model construction module and is used for calculating and acquiring an initial depth set ;
The input end of the health judging module is connected with the output end of the depth initial acquisition module and is used for judging an initial depth setWhether or not there is a threshold value greater than a preset safety depthIs the case in (2);
The input end of the comprehensive health index judging module is connected with the output end of the health judging module and is used for judging whether the comprehensive health index needs to trigger the reminding module or the alarming module;
The reminding module is used for generating a data report and reminding constructors to check, and the input end of the reminding module is connected with the output end of the comprehensive health index judging module;
and the input end of the alarm module is connected with the output end of the comprehensive health index judging module, alarms construction staff and sends related information.
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