The invention discloses a bridge pier disease detection method based on a multifunctional underwater robot and stereoscopic vision, and the method comprises the steps: building an underwater binocular system and an inertial navigation system on a multifunctional underwater robot body, calibrating the position of a starting point, and formulating a robot detection path; performing image acquisition on the surface of the underwater pier by using a robot according to the detection path, and completing local three-dimensional point cloud reconstruction of the surface of the underwater pier; based on the actual position of the underwater robot and the local three-dimensional point clouds obtained through binocular vision measurement, splicing of all the local three-dimensional point clouds is achieved, and a global three-dimensional shape result of the pier surface is obtained; carrying out recognition and pixel positioning on diseases in the shot image by adopting a deep learning method; disease positioning is achieved by combining the three-dimensional shape result of the surface of the pier and inertial navigation position information of the underwater robot. And according to the underwater pier three-dimensional morphology result and the disease positioning result, a visual underwater pier three-dimensional disease library is established, and the efficiency and precision of underwater pier structure surface disease detection are improved.

    本发明公开了基于多功能水下机器人和立体视觉的桥墩病害检测方法,包括:在多功能水下机器人本体上搭建水下双目系统和惯性导航系统,标定起始点位置,制定机器人检测路径;根据检测路径使用机器人对水下桥墩表面进行图像采集,完成水下桥墩表面局部三维点云重建;基于水下机器人的实际位置和双目视觉测量获得的局部三维点云,实现所有局部三维点云的拼接,获得桥墩表面全局三维形貌结果;采用深度学习方法对拍摄图像中的病害进行识别和像素定位;结合桥墩表面三维形貌结果和水下机器人的惯性导航位置信息,实现病害定位;根据水下桥墩三维形貌结果和病害定位结果,建立可视化水下桥墩三维病害库,提高水下桥墩结构表面病害检测的效率和精度。


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    Title :

    Pier disease detection method based on multifunctional underwater robot and stereoscopic vision


    Additional title:

    基于多功能水下机器人和立体视觉的桥墩病害检测方法


    Contributors:
    WU GANG (author) / HOU SHITONG (author) / WU TAO (author) / SUN WEIHAO (author) / ZHANG JIAN (author) / WU ZHISHEN (author)

    Publication date :

    2023-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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