CN106442151A - Automatic control device for bridge static load test and detection method - Google Patents
Automatic control device for bridge static load test and detection method Download PDFInfo
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- CN106442151A CN106442151A CN201610799684.5A CN201610799684A CN106442151A CN 106442151 A CN106442151 A CN 106442151A CN 201610799684 A CN201610799684 A CN 201610799684A CN 106442151 A CN106442151 A CN 106442151A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses an automatic control device for a bridge static load test and a detection method. The automatic control device for the bridge static load test comprises multiple loading execution devices, multiple load measurement devices, a control device and an automatic crack detection device, wherein the multiple loading execution devices are arranged between a component and a reaction frame and used for applying test load equivalent to stress of the reaction frame to the component when loading force is applied to the reaction frame; the multiple load measurement devices are correspondingly arranged between the component and the loading execution devices and used for detecting test load values applied by the loading execution devices to loading points of the component; the control device is connected with each loading execution device and each load measurement device and used for adjusting loading force of the corresponding loading execution device according to the test load value of each load measurement device, so that the stress at the loading points of the component is balanced; the automatic crack detection device is arranged at the bottom of the component and used for detecting the crack change condition of the component. The stress at the loading points of the component is balanced by the aid of the automatic control device for the bridge static load test.
Description
Technical field
The present invention relates to Automatic Measurement Technique field, more particularly to a kind of bridge static loading test automaton and inspection
Survey method.
Background technology
As shown in figure 1, there being a kind of bridge static loading test automaton in prior art, including for controlling whole examination
Test the test master control set of process, also include with test master control set be connected loading actuator, load measurement device, amount of deflection
Measurement apparatus, deviation capacity checking device and anomaly alarming device.Test master control set is also configured with uploading for data and image is remote
The long-distance monitorng device of range monitoring, manual-operated emergent device, full-automatic/semiautomatic plant and for completing to test by a key operation
One key control device of overall process.It is impossible to effectively guarantee bridge when but this device loads to bridge during static test
Each load(ing) point stress balance, thus cause testing result inaccurate.
Content of the invention
It is an object of the invention to provide a kind of bridge static loading test automaton, component can be guaranteed in detection process
Each load(ing) point stress balance.
For achieving the above object, the invention provides following scheme：
A kind of bridge static loading test automaton, described bridge static loading test automaton includes：
Multiple loading actuators, are arranged between component and reaction frame, for applying loading force to described reaction frame
When, the finder charge equivalent with reaction frame stress is applied to component simultaneously；
Multiple load measurement devices, are correspondingly arranged between described component and each described loading actuator, for detecting
The Test Loading Value for Loading that described loading actuator applies to each load(ing) point of described component；
Control device, described control device connects each described loading actuator and each described load measurement device respectively,
For adjusting the loading force of corresponding loading actuator according to the Test Loading Value for Loading that each described load measurement device detects, make institute
State component each load(ing) point stress balance；
Crack automatic detection device, is arranged on the bottom of described component, for the crack situation of change of detection means.
Optionally, described loading actuator includes：
Mechanical jack assembly, described mechanical jack assembly includes housing, described housing have working chamber with
And drive cavity, described work intracavity is provided with cylinder sleeve, described cylinder sleeve is slidably matched with described housing, one end of described cylinder sleeve is stretched
Go out described working chamber, the other end of described cylinder sleeve is set with transmission nut, described drive cavity is located at the bottom of described working chamber simultaneously
Communicate therewith, be rotationally provided with drive screw in described transmission intracavity, one end of described drive screw is connected with described housing,
The other end of described drive screw is inserted into described cylinder sleeve inside and is connected with described transmission nut；
Transmission component, described transmission component includes turbine and the worm screw being adapted to described turbine, described turbine suit
On described drive screw and with its power connector, described turbine can drive described drive screw to rotate, one end of described worm screw
It is inserted in described housing and is connected with described turbine, the other end of described worm screw is provided with biography positioned at the outside of described housing
Moving gear；
Power set, described power set and described travelling gear power connector, described power set are by described transmission
Gear and described worm screw power connector；
Self adaptation assembly, described self adaptation assembly includes universal pressure cap, and described universal pressure cap is arranged at described cylinder sleeve and stretches
Go out one end of described housing, described universal pressure cap and described cylinder sleeve sliding connection.
Optionally, described loading actuator also includes reductor, described reductor respectively with described travelling gear with
And described power set connect.
Optionally, described load measurement device be force cell, wherein, described force cell include an elastomer and
Multiple foil gauges, described foil gauge is arranged on described elastomer, and described foil gauge includes detecting foil gauge and verification foil gauge,
Described detection foil gauge is used for detecting Test Loading Value for Loading, and described verification foil gauge is used for the examination that described detection strain measurement is arrived
Test payload values to be verified.
Optionally, described elastomer includes even number bar spoke, and described strain gauge adhesion is in the both sides of described spoke.
Optionally, described crack automatic detection device includes：
Image collecting device, for gathering the image of described member bottom section；
Image processing apparatus, described image processing meanss are connected with described image harvester and control device respectively,
For identifying the crack in described image, and send to described control device；
Moving bearing device, for carrying described image harvester, and described moving bearing device can be along described structure
At least one face to be detected of part bottom is moved.
Optionally, described moving bearing device includes moving track, and described image harvester is located at described moving track
Upper and described image harvester can move on described moving track, and described image harvester is on described moving track
The angle of the moving direction of moving direction and described moving track be more than 0 ° and be less than 180 °.
Optionally, described moving track and described member bottom section contact position are provided with travel mechanism, and described moving track sets
There is climbing robot, the top surface of described climbing robot is adsorbed in the surface of described member bottom section, and described climbing robot is along institute
State the surface creep of member bottom section and drive described moving track to move along described component；Described mobile member is included located at described
The roller at moving track two ends, described roller is contacted with described component.
The specific embodiment being provided according to the present invention, the invention discloses following technique effect：
Bridge static loading test automaton of the present invention passes through to arrange multiple loading actuators, multiple load measurement dress
Put, crack automatic detection device and control device, corresponded to according to the Test Loading Value for Loading adjustment that each described load measurement device detects
Loading actuator loading force, make described component each load(ing) point stress balance, and each load(ing) point stress in described component
After balance, the crack of detection means changes the accuracy it is ensured that detecting.
It is a further object of the present invention to provide a kind of detection method of bridge static loading test, structure can be guaranteed in detection process
Part each load(ing) point stress balance.
For achieving the above object, the invention provides following scheme：
A kind of detection method of bridge static loading test, described detection method includes：
Loading force is applied to reaction frame, the finder charge equivalent with reaction frame stress is applied to component simultaneously；
The Test Loading Value for Loading that each load(ing) point of detection means is subject to；
The loading force described reaction frame being applied according to the Test Loading Value for Loading adjustment that each load(ing) point of described component is subject to, makes institute
State component each load(ing) point stress balance；
After described component each load(ing) point stress balance, when stress reaches preset value, restart and detect splitting of described component
Seam situation of change.
Optionally, the described method applying loading force to reaction frame includes：
Preload force is continuously applied to described reaction frame；
After reaching setting time, second load power is applied to described reaction frame, to increase the test lotus that described component is subject to
Carry.
With respect to prior art, the detection method of bridge static loading test of the present invention is automatically controlled with above-mentioned bridge static loading test
The beneficial effect of device is identical, will not be described here.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Need use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only the present invention some enforcement
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of prior art Bridge static test automaton；
Fig. 2 is the modular structure schematic diagram of bridge static loading test automaton of the present invention；
Fig. 3 is the structural representation of loading actuator in the present invention；
Fig. 4 is the top view of described loading actuator；
Fig. 5 is the side view of embodiment of the present invention force cell；
Fig. 6 is the top view of embodiment of the present invention force cell；
Fig. 7 is the schematic diagram of embodiment of the present invention foil gauge mounting means；
Fig. 8 is the schematic diagram of embodiment of the present invention foil gauge packet mode；
Fig. 9 is the top view of embodiment of the present invention foil gauge packet mode；
Figure 10 is the embodiment of the present invention the first foil gauge signal output apparatus schematic diagram；
Figure 11 is the embodiment of the present invention the second foil gauge signal output apparatus schematic diagram；
Figure 12 is the side view of embodiment of the present invention foil gauge packet mode；
Figure 13 is the top view of embodiment of the present invention foil gauge packet mode；
Figure 14 is the embodiment of the present invention the first foil gauge redundant signals output circuit schematic diagram；
Figure 15 is the embodiment of the present invention the second foil gauge redundant signals output circuit schematic diagram；
Figure 16 is the structural representation of embodiment of the present invention strain rosette；
Figure 17 is the structural representation of the crack automatic detection device in the present invention；
Figure 18 is the structural representation of small rail car provided in an embodiment of the present invention；
Figure 19 is the structural representation of climbing robot provided in an embodiment of the present invention；
Figure 20 is the structural representation of image collecting device provided in an embodiment of the present invention；
Figure 21 is the structural representation of component far infrared cruise target point provided in an embodiment of the present invention；
Figure 22 is the flow chart of the detection method of bridge static loading test of the present invention；
Figure 23 is the flow chart of crack provided in an embodiment of the present invention automatic testing method；
Figure 24 is the flow chart of secondary detection in the automatic testing method of crack provided in an embodiment of the present invention；
Figure 25 is the flow chart in the crack based on dark area identification means provided in an embodiment of the present invention；
Figure 26 is the flow chart extracting the directional information in crack in error image provided in an embodiment of the present invention；
Figure 27 is the spuious point rejected in binary image provided in an embodiment of the present invention and agglomerate, extracts crack and marks
The flow chart in crack.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
It is an object of the invention to provide a kind of bridge static loading test automaton, by arranging multiple load and execution dresses
Put, multiple load measurement device, crack automatic detection device and control device, the examination being detected according to each described load measurement device
Test the loading force that payload values adjust corresponding loading actuator, make described component each load(ing) point stress balance, and in described structure
After part each load(ing) point stress balance, the crack of detection means changes the accuracy it is ensured that detecting.
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings and specifically real
The present invention is further detailed explanation to apply mode.
As shown in Fig. 2 bridge static loading test automaton of the present invention includes multiple loading actuators 1, Duo Gehe
Carry measurement apparatus 2, crack automatic detection device 3 and control device 4.Wherein, each described loading actuator 1 be arranged on component with
Between reaction frame, for when loading force is applied to described reaction frame, the examination equivalent with reaction frame stress being applied to component simultaneously
Test load；Each described load measurement device 2 is correspondingly arranged between described component and each described loading actuator 1, for examining
Survey described loading actuator 1 Test Loading Value for Loading that each load(ing) point applies to described component；Described control device 4 connects respectively respectively
Described loading actuator 1 and each described load measurement device 2, for the test being detected according to each described load measurement device 2
Payload values adjust the loading force of corresponding loading actuator 1, make described component each load(ing) point stress balance, described crack is automatic
Detection means 3 is arranged on the bottom of described component, for the crack situation of change of detection means, and sends to described control device
Carry out storage to update.Wherein, described component can be bridge, but is not limited thereto.
Wherein, as shown in Figure 3 and Figure 4, described loading actuator 1 includes：Mechanical jack assembly, transmission component,
Power set 17 and self adaptation assembly 18.
Mechanical jack assembly includes housing 11, and housing 11 has working chamber and drive cavity, sets in work intracavity
It is equipped with cylinder sleeve 12, cylinder sleeve 12 is slidably matched with housing 11, working chamber is stretched out in one end of cylinder sleeve 12, and the other end of cylinder sleeve 12 is set with
Transmission nut 13, drive cavity be located at working chamber bottom and with connect, in transmission intracavity rotatably arranged with there being drive screw 14,
One end of drive screw 14 is connected with housing 11, the other end of drive screw 14 be inserted into cylinder sleeve 12 internal and with transmission nut 13
It is connected.
In the present invention, housing 11 can be made using titanium magnesium alloy or cast iron is made, or other have relatively
The metal material of high structural strength is made.Offer an extending port at the top of housing 11, this extending port preferably employs circle
Open architecture design.There are inside housing 11 two cavitys communicating, be working chamber positioned at upside, working chamber is tied for straight barrel type
Structure, is drive cavity positioned at downside, and drive cavity is used for installing driving parts.Work intracavity is provided with cylinder sleeve 12, cylinder sleeve 12 is adopted
Made with wear-resisting metal material, cylinder sleeve 12 can slide up and down in work intracavity, in order to avoid cylinder sleeve 12 is in the process slided
Middle rotation and reduce its elevating control precision, and the present invention is provided with a positioning strip in work intracavity, outer in cylinder sleeve 12
One positioning runner with positioning strip cooperation is provided with face.Positioning strip can be arranged on working chamber inside it is also possible to be arranged on
The edge of opening position of extending port.Cylinder sleeve 12 stretches out housing 11 using circular tube-in-tube structure, its one end, and its other end then inserts
To housing 11.One end that cylinder sleeve 12 is inserted in housing 11 is open ended structure, is set with one and has biography in cylinder sleeve 12
The transmission nut 13 of dynamic function.Based on said structure, it is inserted into a drive screw 14, drive screw 14 and transmission in cylinder sleeve 12
Nut 13 coordinates, so, when drive screw 14 rotates, because cylinder sleeve 12 cannot rotate together with transmission nut 13, therefore, transmission
Nut 13 just can drive cylinder sleeve 12 that the rotary motion of drive screw 14 is converted to linear motion, and it is embodied in：Cylinder sleeve
12 rising or decline.
Described transmission component includes turbine 15 and the worm screw 16 being adapted to turbine 15, and turbine 15 is set in drive screw
Drive screw 14 is driven to rotate on 14 and with its power connector, one end of worm screw 16 is inserted in housing 11 and is connected with turbine 15,
The outside that the other end of worm screw 16 is located at housing 11 is provided with travelling gear.Turbine 15 is sleeved on drive screw 14, its
Drive screw 14 can be driven to rotate.
Described power set 17 and travelling gear power connector, power set 17 pass through travelling gear with worm screw 16 power even
Connect.In the present invention, power set 17 are frequency conversion motor, servomotor or motor.Above-mentioned three kinds of motors are respectively provided with
Higher control accuracy.
Described self adaptation assembly 18 includes universal pressure cap, and universal pressure cap is arranged at one end that cylinder sleeve 12 stretches out housing 11,
Universal pressure cap and cylinder sleeve 12 sliding connection.
To those skilled in the art, in experimentation, the load of applying is very big, once the axis of cylinder sleeve 12
Not all right with pressure transmission direction flat, then can cause the deformation of cylinder sleeve 12, so not only easily cause the inaccurate, also of experimental data
It is likely to result in the damage of equipment.
In order to avoid above-mentioned situation occurs, invention especially provides self adaptation assembly 18, self adaptation assembly 18 is universal
Pressure cap, so can remain the parallel shape between the axis of cylinder sleeve 12 and pressure transmission direction by self adaptation assembly 18
State.
By said structure design, the present invention is provided with cylinder sleeve 12 in housing 11, and cylinder sleeve 12 passes through bolt screw arbor assembly
Can achieve its up and down motion with respect to housing 11, the dynamical stability of power set 17 can be transmitted by worm and gear 16 assembly
To on cylinder sleeve 12 it is ensured that the present invention has abundant power.It is provided with axis and the pressure that universal pressure cap then can ensure that cylinder sleeve 12
Remain parallel between power transmitting.The present invention is based on mechanical jack structure, be can achieve big using worm and gear 16
The input of power, it is ensured that experiment is smoothed out, controls adjustable height using bolt transmission nut 13, its control accuracy is higher.
And, whole mechanism structure is simple, and the wear extent between part is also less.The present invention for traditional hydraulic means,
It realizes self-locking using transmission nut 13 screw mechanism, and its pressurize is realized simply, and control operation is also very easy.
Specifically, in the present embodiment, this load load maintainer also includes reductor 19, reductor 19 respectively with transmission
Gear and power set 17 connect.
In the present invention, the bottom in housing 11 is provided with mounting seat, is provided with bearing, drive screw 14 in mounting seat
It is rotatablely arranged in mounting seat by bearing.
Specifically, one end that cylinder sleeve 12 stretches out housing 11 is Closed End, and Closed End is smooth, song outwardly
Face structure, self adaptation assembly 18 has the groove of the contact with Closed End shape adaptation, and self adaptation assembly 18 passes through to contact groove
It is fastened on the termination of cylinder sleeve 12.
In order to improve the stability of jack whole mechanism setting in pressure, present invention also offers steadying plate, stable
Plate is sheet metal, and steadying plate is arranged at the bottom of housing 11.By steadying plate, can increase between whole mechanism and ground
Contact area, not only reduces unit area pressure, and its stability is also obtained raising.
Further, described load measurement device 2 is force cell.Wherein, described force cell includes：One elasticity
Body and multiple foil gauge, described foil gauge is arranged on described elastomer, and described foil gauge includes detecting that foil gauge and verification should
Become piece, described detection foil gauge is used for detecting Test Loading Value for Loading, described verification foil gauge is used for described detection strain measurement
To Test Loading Value for Loading verified.
As shown in figure 5, force cell is an elastomer, outer ring is supporting surface 102, and inner ring is loading end 101, outer ring
Bottom surface is slightly prominent compared with the bottom surface of inner ring, forms a gap, and this gap is deformation preset clearance, and when overload, deflection is more than
After deformation preset clearance, inner ring bottom contacts installed surface and cannot deform, and that is, inner ring bottom design is safeguard protection supporting surface
103.
As shown in fig. 6, covers disposed on sensor is equipped with a plurality of spoke 201, the number of spoke can take the even number between 6-18, one
As integer several times for 4, the number of the present embodiment spoke is 8, and the both sides of every spoke are provided with foil gauge, for measuring
The pressure that bridge is subject to.
As shown in fig. 7, strain gauge adhesion is in the both sides of spoke, foil gauge 301 is affixed on the center of spoke side, and with
Spoke side vertical centrage becomes 45 degree of overturning angle arrangements, and when there is multiple foil gauge spoke side, multiple foil gauges are in spoke
It is arranged in parallel on thickness direction, the foil gauge of the both sides of spoke is mutually perpendicular to.The center of spoke is strain center, is affixed on spoke
The strain gauge at center answers tension stress or compressive stress, drives strain gauge deformation, causes the resistance value of strain gauge to increase or reduce, and
The voltage signal that output is matched with suffered stress intensity.
As shown in figure 8,8 spoke uniform intervals settings, wherein, spoke 401,403,405,407 is detection spoke, spoke
402nd, 4041,406,408 is verification spoke, and all detection foil gauges of arrangement on detection spoke verify the complete of spoke arrangement
Portion is verification foil gauge, and the data that the data that detection foil gauge records is recorded with verification foil gauge is separate, and verification data is used
In verifying to detection data.
As the another embodiment of foil gauge of the present invention packet, Fig. 9 is embodiment of the present invention foil gauge packet mode
Top view, the side of every spoke is pasted with two foil gauges, as shown in figure 9, foil gauge 501-2,502-1,503-1,
504-2、505-2、506-1、507-1、508-2、509-2、510-1、511-1、512-2、513-2、514-1、515-1、516-2
Number foil gauge forms road signal output apparatus, and (Figure 10 is the embodiment of the present invention first foil gauge to its circuit diagram as shown in Figure 10
Signal output apparatus schematic diagram), and foil gauge 501-1,502-2,503-1,505-1,506-2,507-2,508-1,509-1,
510-2,511-2,512-1,513-1,514-2,515-2,516-1 foil gauge forms another road signal output apparatus, its electricity
Road figure is as shown in figure 11 (Figure 11 is the embodiment of the present invention the first foil gauge signal output apparatus schematic diagram).Two groups of signals are mutually only
Vertical, using one of which as detection signal, another set is as checking signal.
Figure 12 is the side view of embodiment of the present invention foil gauge packet mode, and as shown in figure 12, the side of every spoke is glued
Post 3 foil gauges, Figure 13 is the top view of embodiment of the present invention foil gauge packet mode, foil gauge 801-2,802-1,803-
1、804-2、805-2、806-1、807-1、808-2、809-2、810-1、811-1、812-2、813-2、814-1、815-1、
816-2 foil gauge form road signal output apparatus, foil gauge 801-1,802-2,803-2,805-1,806-2,807-2,
It is defeated that 808-1,809-1,810-2,811-2,812-1,813-1,814-2,815-2,816-1 foil gauge forms another road signal
Go out circuit, wherein, one group as detection signal, another set as checking signal, and 801-3,802-3,805-3,806-3,
809-3,810-3,813-3,814-3 and 803-3,804-3,807-3,808-3,811-3,812-3,815-3,816-3 are respectively
Have and can the relatively low redundancy model of output accuracy export, as shown in Figure 14 and Figure 15, each group signal is separate for its circuit diagram.
As shown in figure 16, foil gauge is installed among foil gauge bearing structure 121, and foil gauge bearing structure 121 is pasted on
The both sides of spoke.
Data measured by detection foil gauge and verification foil gauge guides to the data of sensor external respectively by holding wire
Processor, two groups of data are separate, and the verification data that verification foil gauge records is used for the detection number that detection foil gauge is recorded
According to being verified, if the difference guarantee of detection data and verification data in the range of 0.1% then it is assumed that this group data has
Effect, otherwise it is assumed that this group data invalid, if sensor continuous several times record invalid data, system prompt operator,
This sensor there is a problem, needs to overhaul.
The sensing element foil gauge of the force cell that the present invention provides is divided into detection foil gauge and verification foil gauge, can
The data that foil gauge records is verified, has ensured the accuracy of surveyed data, meanwhile, detection foil gauge and with verification foil gauge
Uniform intervals are arranged, and make detection foil gauge and verification foil gauge have identical reflection effect to bridge pressure so that school
Test the standard that foil gauge meets the calibration tool as detection foil gauge, ensure the accuracy of surveyed data further.
As shown in figure 17, described crack automatic detection device 3 includes image collecting device 32, for gathering described component bottom
The image in portion；Image processing apparatus, described image processing meanss are connected with described image harvester and control device 4 respectively
Connect, for identifying the crack in described image, and send carry out to described control device 4 storage update；Moving bearing device
31, for carrying described image harvester, and described moving bearing device can be treated along at least one of described member bottom section
Detection faces move.
Present embodiment be using can on member bottom section movement image collecting device 32 acquisition member lower surface
Image, through image processing apparatus process after, obtain image in crack composition, thus realizing the Crack Detection of component.Logical
Cross the present invention crack automatic detection device carry out Crack Detection avoid manual observation judge crack exist potential safety hazard, and
And can objective, true, accurate acquisition crack information, improve the verity of mechanism load test data, correctness, reliability
Property.
As a kind of optional embodiment, from unlike other embodiment, as shown in Figure 17 and Figure 19, movement is held
Carry and put 31 and include moving track 33, on moving track 33 and image collecting device 32 can move image collecting device 32
Move on dynamic rail road 33, the moving direction of moving direction on moving track 33 for the image collecting device 32 and moving track 33
Angle is more than 0 ° and is less than 180 °.Specifically, moving track 33 and member bottom section contact position are provided with travel mechanism, on moving track
It is provided with climbing robot 34, the top surface of climbing robot 34 is adsorbed in member bottom surface, and climbing robot 34 is adsorbed in component 1
And moving track 33 can be driven to vertically move along member bottom section along the impetus that member bottom surface is creeped, thus realize holding
The image collecting device 32 carrying vertically moves along component, realizes the collection of longitudinal member image.
Travel mechanism in present embodiment can be provided in the roller 36 at moving track two ends, by roller 36 and structure
Part bottom contacts, and rolls along member bottom section, realizes the movement of moving track 33.
Slide block (not shown) that travel mechanism in present embodiment can be provided on moving track and setting
The slide rail (not shown) being adapted with slide block is put on component, such moving track can prolong this slide rail and move, and secure
Motion track on component for the moving track, simultaneously also it can be avoided that moving track deviates the problem of the detection faces of component, can
Improve accuracy of detection.
As a kind of optional embodiment, from unlike other embodiment, as shown in Figure 18 and Figure 19, image is adopted
Acquisition means 32 include camera lens 37.This camera lens 37 include line-scan digital camera, in area array cameras one or two, also include industrial lens
373.Optionally, this camera lens 37 is arranged on small rail car 35, and this small rail car 35 is arranged on moving track 33, can be along shifting
Dynamic rail road 33 is mobile, and the moving direction of small rail car 35 is different from the moving direction of moving track 33, so that camera lens 37 can
Photograph the whole detection faces of component, covering detection is wide, is not in missing inspection situation, and then improve the comprehensive of detection crack
Property and accuracy.Another kind of optional embodiment, camera lens 37 can also be arranged on climbing robot 34, by a shooting arm
38 are connected with this climbing robot 34, and this shooting arm 38 can be around 180 ° of climbing robot 34 horizontal hunting.This set-up mode
Camera lens be the image acquisition carrying out component detection faces with circular scanning process, this eliminate the knot of small rail car 35
Structure, simplifies harvester, realizes the collection of component detection faces image using the swing shooting arm 38 simultaneously, and in moving rail
When road 33 moves to a certain position, the camera lens 37 of this set-up mode can photograph larger range of image, improves collection effect
Rate.
As a kind of optional embodiment, from unlike other embodiment, image collecting device 3 also includes light filling
Lamp 371 (as shown in figure 20), light compensating lamp 371 is used for providing light source for camera lens 37 shooting image.Generally, bridge upper surface
Deformation can be bent downwardly by lower surface after load, in order to detect, after bridge lower surface stand under load, whether crack occurs, be all
Bridge lower surface carries out image acquisition, but bridge lower surface illumination is not enough, can have a strong impact on the definition of image acquisition, because
This, need this light compensating lamp to provide for camera lens and compensate light, to ensure the clear of image acquisition, and then improves the accuracy of crack identification
And precision.
Image collecting device includes kilomega network industry area array CCD (charge coupled in the present embodiment
Device) camera 372, industrial lens 373, machine vision LED bar graph light source.Using kilomega network industry area array CCD (charge
Coupled device) camera 372, industrial lens 373 as camera lens 37, using machine vision LED bar graph light source as light filling
Lamp.Kilomega network industry area array cameras adopt ccd sensor, realize high speed fine definition and are stable into picture, make camera applications in wider
General industrial occasions.This industrial camera have high-resolution, at high speed, in high precision, fine definition, low noise the features such as, gigabit
Net output, direct transmission range, up to 100m, is widely used in the field of machine vision of high-speed, high precision.Machine vision LED
Strip source is suitable for the surface illumination of tested object in machine vision, and the oblique fire that can provide matching object from any angle is shone
Bright, there is in strip structure the distribution of high brightness, be widely used in surface crack detection etc..Its brightness and setting angle
Adjust, there is the features such as high brightness, low temperature, equilibrium, flicker free.Make machine vision LED bar graph light source with maximum power output, adjust
The aperture of industrial lens, focal length, so that image is in best sharpness.The time of exposure of camera is also unsuitable excessive, prevents image from adopting
It is image blurring that image streaking during collection causes.
Each 2m bottom surface and lower flange about the detection range covering member box beam component span centre of this crack automatic detection device
The cambered surface of 15cm upwards at base angle.
As a kind of optional embodiment, and unlike other embodiment, crack as shown in figure 21 automatic detection
Device also includes far infrared cruise target point 39, control device respectively with climbing robot 34, image collecting device 32 and image
Processing meanss are connected, and it is mobile according to far infrared cruise target point 39 that control device controls climbing robot 34 to be adsorbed in component；
Image collecting device 3 is controlled to move according to far infrared cruise target point 39 on moving bearing device 31 and gather image；And
Image processing apparatus are controlled to identify the crack composition in image, and by the image transmitting after processing through image processing apparatus to railway
Engineering construction information management platform data center.The setting of this control device is capable of component image acquisition and the structure of automatization
The identification in part crack, it is to avoid the criterion that manual observation occurs is different and lead to information inaccurate problem in crack to produce,
Improve accuracy of detection and the detection efficiency of structure member crevices, improve the safety of engineering test.
As a kind of optional embodiment, from unlike other embodiment, this crack automatic detection device also wraps
Include alarm device, this alarm device includes acoustic alarm and light alarm, when image processing apparatus detect and there is crack in image,
This alarm device is reported to the police, to remind workman to determine crack and to take corresponding measure.
Another object of the present invention is to providing a kind of detection method of bridge static loading test.As shown in figure 22, this
Bright component load automatic testing method includes：
Step 91：Loading force is applied to reaction frame, the finder charge equivalent with reaction frame stress is applied to component simultaneously；
Step 92：The Test Loading Value for Loading that each load(ing) point of detection means is subject to；
Step 93：According to adding that the Test Loading Value for Loading adjustment that each load(ing) point of described component is subject to applies to described reaction frame
Load power, makes described component each load(ing) point stress balance；
Step 94：After described component each load(ing) point stress balance, when stress reaches preset value, restart the described structure of detection
The crack situation of change of part.
Wherein, in step 91, the described method applying loading force to reaction frame includes：Described reaction frame is continuously applied
Preload force；After reaching setting time, second load power is applied to described reaction frame, to increase the test lotus that described component is subject to
Carry.In the present invention, described component is bridge.
Wherein, the crack change feelings of described component in step 94, after described component each load(ing) point stress balance, are detected
The method of condition includes (as shown in figure 23)：
Step 101：Obtain the image of member bottom section；
Step 102：Extract half-tone information in image；
Step 103：Determine the dark area in image according to half-tone information；
Step 104：Crack based on dark area identification means.
Wherein, dark area is more than the region setting gray threshold for gray scale, and the crack in image is gray value in image
Larger region, therefore, when the region that gray scale is more than setting gray threshold is only possible to crack, reduces identification range, plus
Fast recognition rate.
Detected using above-mentioned crack automatic detection device, reciprocal on moving bearing device using image collecting device
Move, and moving bearing device moves on bridge, bridge box and beam component is born with larger moment of flexure position and is scanned, motion
Processing Algorithm in image processing apparatus identifies the crack composition in image, and records Crack Detection result.
As a kind of optional embodiment, after the crack based on dark area identification means, also include：
Obtain the angle of the horizontal place straight line of crack and component,
Judge whether angle is more than 45 °, obtain the first judged result；
When the first judged result represent be when, determine that crack is target crack；
When the first judged result represents no, determine that crack is non-targeted crack.
As a kind of optional embodiment, as shown in figure 24, after described component each load(ing) point stress balance, detect institute
The method stating the crack situation of change of component also includes：
Step 111：Obtain the image at the position of crack again, obtain secondary image；
Step 112：Secondary crack in identification secondary image；
Step 113：Secondary crack relatively in secondary image and the length in crack, obtain comparative result；
When the length that comparative result represents secondary crack is more than the length in crack, determine that the crack composition in secondary image is
Target crack, and send alarm signal；
When the length that comparative result represents secondary crack is not more than the length in crack, reject dark area, record detection knot
Really.
Before on-test, first the detection zone of component is scanned, detects once using above-mentioned crack detection method, note
The coordinate of the incipient crack of record member bottom section.In process of the test, need component is applied with 1.00 grades to 1.20 grades of load, control
Device control moving bearing device carrying image harvester component beam body key area is scanned, scanogram transmit to
Image processing apparatus are processed, are detected and extracted crack coordinate.1 is completed in imposed load 5min at different levels before 1.20 grades
Secondary, 1.20 grades hold and complete the collection of 4 view data, process and stress crack in lotus 20min and judge, wherein, obtains initial
Also obtain this initial pictures corresponding position coordinateses while figure, also obtain image corresponding position when obtaining image again and sit
Mark, and the image of same position coordinate twice is compared, compare the length of the crack composition in the image of both sides, if compared
Result represents：Crack composition length in secondary image is more than the length of the crack composition in previous image, then in secondary image
Crack composition be true crack, that is, after imposed load produce crack, extract and record secondary image, and report to the police, so that work
People confirms crack and positions.If when comparative result represents：Crack composition length in secondary image is not more than in previous image
Crack composition length, reject previous image and secondary image, record testing result, illustrate crack in initial pictures not
It is imposed load and produces, therefore reject, and record testing result.
Wherein, the position coordinateses of image are the far infrared cruise target point according to setting and the fortune controlling climbing robot
The movement locus of dynamic rail mark and image collecting device determine.
In the above-described embodiment, crack composition is detected from the bridge bottom diagram picture collecting, need to enter image
Row binary conversion treatment, belongs to the category of image segmentation.Then the composition after processing filters spuious point and sheet of region, extracts
Crack composition.In order to carry out the segmentation of image, and the grain distribution in view of crack by the way of dynamic threshold binaryzation
Characteristic excludes spuious point, the interference of agglomerate, proposes a kind of crack detection method of the local binarization based on fractuer direction distribution,
I.e. the step in the above-mentioned crack based on dark area identification means, as shown in figure 25, specifically includes：
Step 121：Using Gaussian smoothing filter method, low-pass filtering is carried out to the image comprising dark area；
Step 122：Obtain the error image of filtered image and the image of dark area；
Step 123：Extract the directional information in crack in filtered image；
Step 124：Bonding position information, carries out binary conversion treatment to filtered crack pattern picture, obtains binary image；
Step 125：Reject the spuious point in binary image and agglomerate, extract crack and mark crack.
Wherein, the image collecting is carried out obtaining single channel image after gray processing process.Due to illumination in gatherer process,
The problems such as shake, be mixed with noise in image so that in image part pixel value larger with its neighborhood territory pixel deviation.Therefore carrying out
Need before crack extract to carry out Gaussian smoothing to image, after low-pass filtering, obtain the low pass composition of image.Then lead to
After crossing artwork and low-pass filtering, image is poor, obtains the low pass composition of crack pattern picture.To ensure the accuracy of crack extract.
Wherein, in order to obtain the directional information of each point in image it is necessary first to obtain x, the direction gradient of y, Grad
Obtain the first differential adopting and obtain the gradient in both directionWithIn order that the direction of each pixel
Information is accurate as far as possible, employs regional area pixel in the present embodiment as a reference to being calculated.As Figure 26 institute
Show, specifically, the step extracting the directional information in crack in filtered crack pattern picture specifically includes：
Step 131：Choose a pixel (x, y) in filtered crack pattern picture；
Step 132：Centered on pixel (x, y), choosing height is h, and width is the rectangular area of w；
Step 133：Calculate the gradient mean value in x and y direction in rectangular area；
Step 134：Calculate the phase angle of arbitrarily pixel (i, j) in rectangular area according to gradient mean value.
Wherein, the computing formula of gradient mean value is：
Obtained after x, y direction gradient average in rectangular area by above formula, estimated by the average in rectangular area every
The phase place of individual point, the computing formula of phase place is：After obtaining the directional information in crack,
Multistage crack figure can be integrated into a crack, more can accurately determine crack location, improve the precision of Crack Detection.
The local binarization method of the dynamic threshold in present embodiment, is based on Niblack method, will
The algorithm that Niblack binarization method is combined with the phase place of each point in image.
A bit (i, j) in the picture, is first according to this point (i, j) phase place in the x and y direction and the coordinate of point is permissible
Obtain by this straight line I (i, j), take each N number of point of the poincare half plane of this straight line, lower half-plane, count 2N+ on this straight line
Average m (i, j) of 1 point and variance s (i, j)：
In this algorithm, the pixel in this phase place straight line I (i, j) is taken on impact point (i, j) as reference, with this straight line
As template, the threshold value obtaining is：T (x, y)=m (x, y)+k s (x, y)
In above formula, k is correction factor, is generally given by requirement of engineering.After obtaining the decision threshold of object pixel, just permissible
This point is judged：
Each pixel in image, after the calculating of this algorithm, just obtains the binary image of target image.In order to
Make narrow breach up, employ space closed operation, smooth binary image result.
As a kind of optional embodiment, as shown in figure 27, reject the spuious point in binary image and agglomerate, extract
Crack the step marking crack, specifically include：
Step 141：Obtain the outsourcing rectangle of gloomy composition in binary image；
Step 142：Calculate the length-width ratio of outsourcing rectangle；
Step 143：Judge that length-width ratio, whether more than setting length-width ratio, obtains judged result；
When judged result represent be when, determine that the gloomy composition that outsourcing rectangle surrounded is target crack；
When comparative result represents no, determine that the gloomy composition that outsourcing rectangle is surrounded is spuious point or agglomerate, and reject
Spuious point or agglomerate.
There is much spuious point, agglomerate in the image after binaryzation, in order to filter these compositions, present embodiment is adopted
With target outsourcing rectangular aspect ratio restriction, length limitation, area constraints etc., realize the automatic fitration of dirty point or agglomerate, screening
Go out long and narrow composition.Then pass through interstitial syntopy, reject isolated composition.
This structure member crevices detection method is detected using above-mentioned crack automatic detection device, using image collecting device
Moving bearing device moves back and forth, and moving bearing device moves on component, component tank beam is born larger
Moment of flexure position is scanned, and the Processing Algorithm in motion picture processing device identifies the crack composition in image, and records crack
Testing result.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle of the present invention and embodiment, the saying of above example
Bright it is only intended to help and understands the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, foundation
The thought of the present invention, all will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of bridge static loading test automaton is it is characterised in that described bridge static loading test automaton bag
Include：
Multiple loading actuators, are arranged between component and reaction frame, for when applying loading force to described reaction frame, same
When the finder charge equivalent with reaction frame stress is applied to component；
Multiple load measurement devices, are correspondingly arranged between described component and each described loading actuator, described for detecting
The Test Loading Value for Loading that loading actuator applies to each load(ing) point of described component；
Control device, described control device connects each described loading actuator and each described load measurement device respectively, is used for
Adjust the loading force of corresponding loading actuator according to the Test Loading Value for Loading that each described load measurement device detects, make described structure
Part each load(ing) point stress balance；
Crack automatic detection device, is arranged on the bottom of described component, for the crack situation of change of detection means.
2. bridge static loading test automaton according to claim 1 is it is characterised in that described loading actuator
Including：
Mechanical jack assembly, described mechanical jack assembly includes housing, and described housing has working chamber and biography
Dynamic chamber, is provided with cylinder sleeve in described work intracavity, described cylinder sleeve is slidably matched with described housing, and institute is stretched out in one end of described cylinder sleeve
State working chamber, the other end of described cylinder sleeve is set with transmission nut, described drive cavity be located at described working chamber bottom and and its
Connection, is rotationally provided with drive screw in described transmission intracavity, one end of described drive screw is connected with described housing, described
The other end of drive screw is inserted into described cylinder sleeve inside and is connected with described transmission nut；
Transmission component, described transmission component includes turbine and the worm screw being adapted to described turbine, and described turbine is set in institute
State on drive screw and with its power connector, described turbine drives described drive screw to rotate, and one end of described worm screw is inserted into
It is connected with described turbine in described housing, the other end of described worm screw is provided with driving cog positioned at the outside of described housing
Wheel；
Power set, described power set and described travelling gear power connector, described power set pass through described travelling gear
With described worm screw power connector；
Self adaptation assembly, described self adaptation assembly includes universal pressure cap, and described universal pressure cap is arranged at described cylinder sleeve and stretches out institute
State one end of housing, described universal pressure cap and described cylinder sleeve sliding connection.
3. bridge static loading test automaton according to claim 2 is it is characterised in that described loading actuator
Also include reductor, described reductor is connected with described travelling gear and described power set respectively.
4. bridge static loading test automaton according to claim 1 is it is characterised in that described load measurement device
For force cell, wherein, described force cell includes an elastomer and multiple foil gauge, and described foil gauge is arranged on described
On elastomer, described foil gauge includes detecting foil gauge and verification foil gauge, described detection foil gauge is used for detecting finder charge
Value, described verification foil gauge be used for described detection strain measurement to Test Loading Value for Loading verify.
5. bridge static loading test automaton according to claim 4 is it is characterised in that described elastomer includes idol
Several spokes, described strain gauge adhesion is in the both sides of described spoke.
6. bridge static loading test automaton according to claim 1 is it is characterised in that described crack automatic detection
Device includes：
Image collecting device, for gathering the image of described member bottom section；
Image processing apparatus, described image processing meanss are connected with described image harvester and control device respectively, are used for
Crack in identification described image, and send to described control device；
Moving bearing device, for carrying described image harvester, and described moving bearing device can be along described component bottom
At least one of portion face to be detected is moved.
7. bridge static loading test automaton according to claim 6 is it is characterised in that described moving bearing device
Including moving track, on described moving track and described image harvester can be in described shifting for described image harvester
Dynamic rail moves on road, the mobile side of moving direction on described moving track for the described image harvester and described moving track
To angle be more than 0 ° and be less than 180 °.
8. bridge static loading test automaton according to claim 7 is it is characterised in that described moving track and institute
State member bottom section contact position and be provided with travel mechanism, described moving track is provided with climbing robot, the top of described climbing robot
Face is adsorbed in the surface of described member bottom section, and described climbing robot along the surface creep of described member bottom section and drives described shifting
Dynamic rail road moves along described component；Described mobile member includes the roller located at described moving track two ends, described roller and institute
State component contact.
9. a kind of detection side using the bridge static loading test automaton according to any one of claim 1-8
Method is it is characterised in that described detection method includes：
Loading force is applied to reaction frame, the finder charge equivalent with reaction frame stress is applied to component simultaneously；
The Test Loading Value for Loading that each load(ing) point of detection means is subject to；
The loading force described reaction frame being applied according to the Test Loading Value for Loading adjustment that each load(ing) point of described component is subject to, makes described
Component each load(ing) point stress balance；
After described component each load(ing) point stress balance, when stress reaches preset value, restart and detect that the crack of described component becomes
Change situation.
10. bridge static loading test according to claim 9 detection method it is characterised in that described to reaction frame applying
The method of loading force includes：
Preload force is continuously applied to described reaction frame；
After reaching setting time, second load power is applied to described reaction frame, to increase the finder charge that described component is subject to.
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