The invention provides a bridge concrete surface crack identification method and system based on a wall-climbing robot, and relates to the technical field of concrete crack detection. Comprising the following steps: constructing a target detection and semantic segmentation integrated model, and identifying concrete surface cracks of a target bridge; according to a result of target detection and semantic segmentation integration, a crack data set is obtained, the crack data set is labeled, the labeled crack data set is used for crack recognition model training and verification, and an end-to-end real-time crack recognition model is obtained; performing mobile terminal quantitative deployment on the trained crack identification model; designing a wall-climbing robot suitable for climbing on the concrete surface of the bridge, and establishing remote connection between the wall-climbing robot and the mobile terminal; and the bridge crack identification result is displayed in real time through the mobile terminal. According to the invention, real-time end-to-end identification can be carried out on the surface crack of the bridge with high precision, time and cost can be saved, and the safety risk of personnel detection is reduced.
本发明提供了一种基于爬壁机器人的桥梁混凝土表面裂缝识别方法及系统,涉及混凝土裂缝检测技术领域。包括:构建目标检测与语义分割集成模型,对目标桥梁的混凝土表面裂缝进行识别;根据目标检测以及语义分割集成的结果,获取裂缝数据集,并对裂缝数据集进行标注,将标注好的裂缝数据集用于裂缝识别模型训练和验证,获得端到端实时识别裂缝的模型;将训练好的裂缝识别模型进行移动端量化部署;设计适用于桥梁混凝土表面爬行的爬壁机器人,将爬壁机器人与移动端建立远程连接;通过移动端实时显示桥梁裂缝识别结果。本发明不仅可以高精度地对桥梁表面裂缝进行实时端到端的识别,而且还能节约时间和成本,降低人员检测的安全风险。
Bridge concrete surface crack identification method and system based on wall-climbing robot
基于爬壁机器人的桥梁混凝土表面裂缝识别方法及系统
2023-06-09
Patent
Electronic Resource
Chinese
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