基于环视多通道图像采集的桥墩病害检测  

Pier Disease Detection Based on Multi-Channel Image Acquisition

作　　者：仝亚雄 王会峰[1] 何波 杨蓓 宋尚真 黄鹤[1] TONG Yaxiong;WANG Huifeng;HE Bo;YANG Bei;SONG Shangzhen;HUANG He(School of Electronic and Control Engineering,Chang’an University,Xi’an Shaanxi 710064,China)

机构地区：[1]长安大学电子与控制工程学院,陕西西安710064

出　　处：《电子器件》2023年第4期1134-1139,共6页Chinese Journal of Electron Devices

基　　金：国家自然科学基金(52172324);陕西省重点研发计划项目(2021GY-285,2021SF-483);陕西省交通运输厅科技项目(20-38T,21-20K)。

摘　　要：针对传统桥墩病害检测过程中的局限性,通过对桥墩病害的采集机制进行研究,提出了一种基于环形攀爬机器人的桥墩病害检测方法。设计了一种能够适配环形攀爬机器人的环视多通道桥墩病害图像采集系统。采集时先驱动机器人爬行至目标区域,之后通过上位机对核心板进行寻址并发送相应的指令,控制指定的摄像头进行图像的采集工作。为了实现传输过程中的速度匹配,采集到的数据会先暂时存放到SDRAM中,之后按以太网的传输格式对数据进行打包处理,通过捕捉摄像头输出的帧同步信号来判断每一帧图像的开始,并为其添加相应的对齐帧头,由此建立严格的时序电路,来确保采集过程中图像数据的有序传输。该系统可以快速实现对桥墩表面病害信息的采集,病害的检测精度可以达到0.3 mm~0.4 mm,能够满足大部分病害的检测要求。Aiming at the limitations of traditional bridge pier disease detection process,a method of bridge pier disease detection based on circular climbing robot is proposed by studying the collection mechanism of bridge pier diseases.A multi-channel bridge pier disease image acquisition system suitable for circular climbing robot is designed.When collecting,the robot is first driven to crawl to the target area,and then the core board is addressed through the upper computer and corresponding instructions are sent to control the designated camera to collect images.In order to achieve speed matching during transmission,the collected data will be temporarily stored in SDRAM,and then the data will be packaged according to the Ethernet transmission format.By capturing the frame synchronization sig-nal output by the camera to judge the beginning of each frame image,and adding the corresponding alignment frame header,a strict se-quential circuit is established to ensure the orderly transmission of image data in the acquisition process.The system can quickly collect the disease information on the pier surface,and the detection accuracy of the disease can reach 0.3 mm-0.4 mm,which can meet the detection requirements of most diseases.

关 键 词：桥墩病害检测 环形攀爬机器人 多通道采集 时序控制 数据封装 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP247.2[自动化与计算机技术—控制科学与工程]