• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a method for recording measured data at points to be examined with a vehicle, wherein the vehicle (1) has a jib (2), - wherein a sensor (3) is arranged on the end region (22) of the jib (2) in which the vehicle is being moved and the position (B) and orientation (B ') of the vehicle (1) are determined with reference to a given reference system (A, A'), the position of the boom (2) being such is determined that the sensor (3) in each case to one of the points to be examined (41) is directed, - whereby the relative position (C) and relative orientation (C) of the sensor (3) relative to the vehicle (1) are determined, - on the basis of the determined position (B) and orientation (B ') of the vehicle (1) and the relative position (C) and relative orientation (C) of the sensor (3) relative to the vehicle (1), the measuring position (D) and the measuring orientation (D ') of the sensor (3) relative to the reference system (A, A') are determined, and - wherein Messd sets are generated, which contain the measured values determined with the sensor (3) as well as the measuring position (D) and measuring orientation (D ') in which the sensor (3) was located at the time of taking the measured value.
    公开号:AT510642A1
    申请号:T17652010
    申请日:2010-10-22
    公开日:2012-05-15
    发明作者:
    申请人:Fuxjaeger Gerald Dipl Ing；
    IPC主号:
    专利说明:

    * ·
    * · I * I • · * I «I» «41» ··
    The invention relates to a method for recording measured data according to the preamble of patent claim 1. Further, the invention relates to a vehicle according to the preamble of patent claim 9.
    The inventive method and Erflndungegemäßa vehicles are used in particular for checking the structural integrity of structures, preferably bridges.
    There are currently about 33,000 bridges in Austria, including about 6,000 railway bridges. All of these bridges must be tested for their capacity and fitness for purpose at six-year intervals due to legal regulations. This is usually done by measuring and inspecting the nature of the material of the bridge and is typically optically subjective, with test hammer and, if necessary, by ultrasound, strength measurements, density measurements, crack measurements, especially crack widths, crack lengths and tear shapes, temperature measurements, etc. If the bridges in Austria are in relatively good condition, estimates have shown that about 27.1% of the bridges in the USA are potentially defective and require urgent review.
    The need for a periodic review is further enhanced by the increased volume of traffic and the heavier vehicles.
    The technical background of the invention is the measurement and documentation of mechanical and physical properties of structures, in particular bridges. It should be recorded on a variety of parts of the building over the entire surface photographic measurements of different types. These readings shall be subjected to appropriate relevant analysis by an expert, providing information on the condition of the particular works. Frequently, those places where the measurements are to be made are difficult to access; the measurement of the relevant physical quantities is particularly difficult if the respective sensors are located in the immediate vicinity of the structure, in particular if they have to be applied directly to the relevant points or placed on the points.
    Another major disadvantage of the prior art is that for older bridges, which are in particular older than 20 years, often no plans' available.
    It is therefore impossible to grasp the position and dimensioning of the reinforcement and it is extremely difficult to create representations of the measurement data of the bridges or structures.
    Methods are known from the prior art, in which the measuring devices must be positioned by people on site. Particularly in the case of bridges, such methods are not only time-consuming and labor-intensive, but there is also a considerable risk of accidents, since the persons who position the sensors are located on a temporary framework below the bridge. Due to the dangers associated with the recording, the data are usually recorded only at those locations where errors are typically to be expected. The data is usually not digital and provides inhomogeneous, subjective, barely comprehensible results. If it turns out that problems occur on other parts of the bridge, then the measurement must be repeated, with hardly any data already being available being available.
    The object of the invention is therefore to provide a method which is easier to carry out, in particular with less expenditure of personnel and time, and which considerably reduces the risk of accident during the measurement. In particular, the invention has the object that an advantageous representation of the individual measured values is possible without a plan of the bridge must be specified.
    Walters has the object of the invention to provide a vehicle that allows the measurement and inspection of a building. It should be achieved that the inspection is simple and risk-free to perform and accurate adjustment of the measurement position, in particular by positioning of individual sensors, is possible. In addition, the measurement results should be stored and displayed in a simple manner.
    In the foreseeable future, the method according to the invention of structural surveying, in particular concrete testing, should make it possible to record, comprehensibly document and make accessible the entire tangible assets of transport infrastructure companies across the board and in a resource-saving manner.
    The invention solves this problem in a method of the type mentioned by the characterizing features of claim 1. The invention solves this problem in a vehicle of the type mentioned by the characterizing features of claim 9,
    According to the invention, in a method for acquiring measurement data on points to be examined along a road at a bridge or on a structure, the vehicle has a boom comprising a number of articulated beam elements Bn connected to joints, the position of the joints Is adjustable by adjusting elements. At least one sensor is arranged on the end region of the jib remote from the vehicle. The vehicle is moved along the road or over the bridge and the position and orientation of the vehicle are determined with respect to a given reference system having a predetermined fixed reference point and a reference orientation. The position of the boom is determined by adjusting the Stelleiemente such that the sensor is directed to one of the along the road or bridge, to be examined points, Based on the selected setting of the control elements, the relative position and relative orientation of the sensor are determined relative to the vehicle. Based on the determined position and orientation of the vehicle relative to the reference system and the Relatlposposlon and relative orientation of the sensor relative to the vehicle, the measurement position and the measurement orientation of the sensor relative to the reference system are determined. Measurement records are created that contain the measurements obtained with the sensor as well as the measurement position and orientation in which the sensor was at the time the measurements were taken.
    Vorteilhaftewelse arises here that the hard to reach places can be achieved with much less staff and time and that the measurement can be performed more easily. In addition, there is the advantage that the risk to the persons performing the measurement is significantly reduced. With the invention it is possible to carry out the data acquisition independently of the availability of a construction plan of the respective structure, in particular of the respective bridge, wherein a simple representation of the measured values is possible, in which the measured values are displayed at the point at which they were recorded are. A further significant advantage results from the fact that measurements can be repeated after a few years and the measurements can be easily compared with one another. In addition, it is advantageous that locations with diagnosed damage in the course of a repair process can be controlled easily and precisely. If necessary, the damage can be re-diagnosed. Finally, detected damage can be easily controlled and rehabilitated. • • • • • • • I ► * • • * • * * # # «
    Furthermore, it is possible to repeat the process in several time-spaced runs with different and to create from the individual recordings of the individual measuring vehicles a common, composite overall picture. Thus, it is possible to use synergy effects and to capture several measurement parameters, which causes an increased measurement accuracy and validity. Due to the simple nature of the measurement, it is possible to obtain full-surface information, in particular it is possible by the invention möglloh to obtain a detailed representation of the measurement parameters of the entire bridge. Furthermore, a connection to existing database systems is readily possible.
    With the method according to the invention it is now no longer necessary to lock an entire motorway lane, since the vehicle can be moved independently on the road and no scaffolding must be mounted. Dis has caused significant traffic problems in prior art methods known in the art.
    Furthermore, the surveying work can now be carried out throughout the year, whereas the state of the art methods were possible for weather and traffic reasons, mainly in spring and autumn,
    The unsystematic and mostly based on personal experience manual measurements can be objectified with the method according to the invention and carried out with much less competence on site.
    With the invention, a complete, systematic, digital documentation of surfaces with crack patterns, crack widths, their changes and their roughness is possible.
    Advantageous embodiments of the method according to the invention are set forth in the dependent claims without limiting the scope of protection,
    Advantageously, it may be provided that the determination of the position and orientation of the vehicle with respect to the predetermined, fixed reference point by means of GPS and / or by means of a compass and / or by means of a tilt measuring device and / or other suitable methods and Sensorefnheiten is made. This achieves a better correlation between the recorded measured values and the respective position at which the measured values were determined.
    Furthermore, provision can be made for a camera to be arranged at the end region of the jib remote from the vehicle, which is directed at the points to be examined, - that a picture bandage is joined together on the basis of the pictures taken with the camera, each pixel of the picture band being exactly one Surface point of the structure or bridge corresponds to: - that the coordinates of the surface of the structure or bridge shown are assigned to each of the pixels of the association and - that the determination of the measurement position and measurement orientation of the sensors is based on the location of the corresponding spatial point current, created with the camera image in Blidverband done. , This allows a more accurate determination of the position of the respective sensor as well as the position in which the measured value has been determined.
    It can be provided that the boom arranged on the vehicle is controlled such that occurring vibrations of the boom are compensated. This additionally improves the determination of the position of the respective sensor as well as the position in which the measured value has been determined.
    Alternatively or additionally, it may be provided that the chassis of the vehicle and / or the connection between the vehicle and the boom is torque-compensated and / or vibration-damped.
    This allows a further improvement in the determination of the positron of the respective sensor as well as the position in which the measured value has been determined.
    Another aspect of the invention provides that the boom has more than five, preferably exactly or more than seven, independently controllable control elements. As a result, difficult to reach places can be easily achieved.
    It can further be provided that a plurality of sensors are provided on the end region of the jib remote from the vehicle, the respective measuring position and measuring accuracy of the individual sensors being stored together with the measured variable determined by a sensor in a measured data record. This improves the evaluation capability the data and simplifies the graphical representation of the recorded data records,
    It can also be provided that the sensor is designed with a number of sensor pixels arranged side by side or in a grid to receive cell or surface images, that for each sensor pixel of the sensor, that spatial area, surface area or spatial point in relation to a predetermined position on the sensor whose physical properties are determined by the respective sensor pixel in the form of a measured value, that the pixel position, and possibly the pixel orientation, of the space area recorded by the pixel relative to the reference point is determined on the basis of the measurement position and measurement orientation as well as the room area or region associated with the respective sensor pixel and that a measurement data set containing the measured value as well as the pixel position and, if appropriate, the pixel orientation is created for each measured value recorded with one sensor pixel each, This enables a simultaneous determination g of a large number of measured values and an improvement in the evaluation of the recorded data records. In particular, the measures mentioned create the combination of the method with imaging sensors.
    Furthermore, the invention relates to a vehicle comprising a boom with a number of joints and adjusting elements, wherein at least one sensor is arranged on the vehicle far end region of the boom, and wherein the vehicle is a position determining unit for determining the position and orientation of the vehicle with respect to a having predetermined, fixed reference point,
    The vehicle according to the invention comprises a sensor position determination unit which determines the position of the retainer and the relative orientation of the arm relative to the vehicle, a measuring position determining unit which, based on the determined position and orientation of the vehicle relative to the reference point and the relative position and relative orientation of the sensor determined by the position of the joints of the actuating elements Vehicle determines the measurement position and the measurement orientation of the sensor relative to the reference point and a Datenerfassungseinhelt with a memory that assigns the measured values determined with the sensor of that measurement position and also those measurement orientations in which the sensor is or was at the time of recording the measured value.
    With such a vehicle, the inventive method is easy to carry out. The vehicle also reaches hard-to-reach areas with much less personnel expenditure and time expenditure than the known temporary surveying scaffolding. The cost of re-performing a survey is very low. In addition, the risk to the person carrying out the measurement is significantly reduced.
    Advantageous embodiments of the vehicle according to the invention are represented in the dependent claims without limiting the scope of protection.
    According to a further advantageous embodiment of the invention can be provided that the Positlonsbestlmmungselnheit a GPS device, and optionally includes a compass and / or a tilt measuring device.
    This enables an improved position determination of the sensor which receives the measured values,
    Furthermore, provision may be made for a camera to be provided which is arranged on the end region of the jib remote from the vehicle, that an image memory is provided for storing an image association which is composed of the images recorded with the camera, that an image association unit is provided, where the individual images are fed and which creates an image association from the images, that the camera is followed by a positioning unit for determining the relative position, in which a "Structuro and Motion" algorithm is implemented, and the image association and the images created by the camera is fed to the positioning unit, and that the relative position determined by the positioning unit is fed to the measuring position determination unit. This simplifies the positioning of the sensors. Furthermore, a more accurate positioning of the sensors is achieved
    A further preferred aspect of the invention provides that the boom arranged on the vehicle has a torque compensation, which is designed such that occurring vibrations of the boom are compensated, and / or that the chassis of the vehicle and / or the connection between the vehicle and Dabai is particularly advantageous that a particularly accurate and independent of external environmental influences positioning of the sensors is possible.
    Alternatively or additionally, it may be provided that the boom has more than five, preferably exactly or more than seven, independently controllable actuating elements.
    This improves the range and increases the number of possible points to be measured, which are accessible by the vehicle.
    In addition, it may be provided that a plurality of sensors located on the end region of the boom remote from the vehicle are provided, and that the data acquisition unit stores the respective measurement position and measurement orientation of the individual sensors together with the respective measured variable determined by a sensor in a measurement data record in its memory. This additionally improves the accuracy of the measurement and enables a common representation of the recorded measured values in a common coordinate system.
    Finally, it can be provided that the sensor is designed with a number of sensor pixels arranged side by side or in a grid to receive cell or surface images, such that for each sensor pixel of the sensor, that spatial area, surface area or spatial point is predefined in relation to a predetermined position on the sensor whose physical properties are to be determined by the respective sensor pixel in the form of a measured value, and in that the data acquisition unit uses the measuring position and measuring orientation as well as the spatial area, surface area or spatial point associated with the respective sensor pixel to oppose the pixel position, and optionally and the pixel arrangement, of the spatial area received by the pixel The reference point is determined and for each measured value recorded with one sensor pixel a measurement data set is created which contains the measured value as well as the pixel position and optionally the pixel orientation. As a result, it is also possible to use different imaging sensors whose measurement data can be displayed in relation to a common reference system.
    The invention will be described in more detail with reference to two embodiments with reference to the figures without limiting the generality of the inventive concept.
    Fig. 1 shows an inventive vehicle on a road section of a bridge, Fig. 2 shows a particular Ausführungsfbrm a carrier.
    Flg. Figure 3 shows an alternative embodiment of a carrier.
    4 shows the vehicle according to the invention during a test of a tunnel.
    Fig. 5 shows a preferred procedure in the inspection of a tunnel.
    FIG. 6 shows a sensor designed as a surface sensor FIG. 7 shows a sensor designed as a line sensor.
    Fig. 8 shows an ultrasonic sensor.
    9 shows a schematic representation of a processing unit.
    Fig. 10 shows the creation of a composite image from a plurality of individual images and the creation of the three-dimensional image of a bridge to be measured.
    The in Flg. 1 illustrated vehicle 1 comprises a boom 2 with a number of connected via joints 21 boom elements 25 and 'steep elements 23. The adjusting elements 23 are driven by an actuator, not shown, and pivot the boom elements 25 against each other, each actuator 23, the position of each of the Gefenk 21 varies, in this embodiment it is provided that the position of each of the joints is determined by a respective Galanksstellungsmesseinheit 67, shown in Fig, 10,
    The individual cantilever elements 25 of the jib 2 are made of carbon fiber. Of course, other lightweight and torsionally rigid materials can be used for the formation of the boom elements 25,
    It is envisaged to form the adjusting elements 23 with servomotors, which are arranged in the respective joint 21 between two cantilever elements 25. Act on the two boom elements 25 forces exerting a torque on the joint 21 and thus on the actuator 23, so it comes to imprecise movements of the entire boom 2, which subsequently leads to imprecise measurement results. To report this, measures and devices for torque compensation are used. It is provided that a torque measuring device is provided for each joint 21, which determines daa torque that is exerted between the two adjacent to the joint 21 boom elements 25. This happens at very high frequency, about 2 kHz. If torques occur at the joints 21, a regulation ensures that the actuating elements 23 controlling the respective channels 21 initiate a corresponding counter-movement or build up a corresponding counter-torque, so that an adjustment of the actuating element 23 caused by the external force is suppressed. Such actuators 23 are already known in the art,
    In the present embodiment, the chassis of the vehicle 1 is also damped. The connection between the vehicle 1 and the boom 2, the individual located in the joints 21 adjusting elements 23 and the turntable 24 are vibration damped or formed with measures for torque compensation.
    In the in Flg. 1, the boom 2 comprises seven joints 21 and is mounted on a turntable 24 mounted on the vehicle 1. It is advantageous to use at least five joints 21 connected to one another via individual cantilever elements 25, since this makes possible particularly easy access to points 41 which are difficult to reach.
    On roads or bridges 4, at least those points 41 are to be checked at routine intervals, which are of considerable importance for the structural integrity of the entire structure 44. In the present embodiment, the entire surface of the structure to be inspected 44 is examined, by means of the sensors 3, measurement results are determined at regular intervals, In usually the entire structure 44 is examined over its entire surface.
    These are, for example, in the case of bridges 4 the substructure comprising the supporting parts of the bridge 4. At these points, the acquisition of measured values, in particular of crack frequencies, layer coverage, crack widths, Msterial strength, porosity, etc., is of immanent importance and is decisive for when a bridge 4 must be maintained or already represents a danger to the general public.
    The entire surface of the bridge 4 is to be subjected to a detailed inspection at intervals of time. The same applies of course to Straßenabschnftte, for road sections In tunnels 48 (Flg, 2) or In Parkhäusarn, but also for masonry paved road sections.
    The invention is used in the present Ausführungsbelspiei at points 41, which are very difficult to achieve. In the example shown in FIG. 1, the boom 2 of the vehicle 1 has seven joints 21 and eight boom elements 25. In the end region 22 of the jib 2 is a carrier 31, on which a number of sensors 3 and a camera 5 are arranged. Optionally, in addition to the sensors 3 further surface sensors and line sensors may be arranged, which comprise a plurality of grid-shaped, individual sensor pixels 33. Sensors 3 can determine different characteristics of the points 41 to be examined, for example the strength of the structure to be inspected or to be tested 44, such as a bridge 4 to be measured by means of a hardness measuring device or pressure gauge, but also other variables such as the temperature, the humidity, the electrical conductivity, the optical reflectivity at different frequencies, etc. In addition, the images recorded by the camera 5 can be used for the geometric determination or definition of the bridge 4. This can be reliably met by the methods of photogrammetry.
    Of course, the camera 5 used for measuring the building can also be used as the sensor 3.
    Flg. 2 shows in detail the carrier 31 used in the first embodiment in detail. The for the measurement of material properties of the bridge 4 or the road gepffdeten
    Sensors 3 are located in this particular embodiment of the invention on a common support 31, on which further the camera S is arranged, the camera 5 is depending on the purpose at a distance of 0.5 m to 3 m, in particular one meter from the building 44 spaced. The individual sensors 3 either depending on Msssprlnzfp directly on the building 44 or are spaced at a predetermined distance from the building 44.
    Flg. Figure 3 shows in more detail an alternative support 31 which can be used as it is with the illustrated first embodiment of the invention. The sensors 3 and the camera 5 designed for measuring material properties of the bridge 4 or the road are located on mutually offset plates. The camera 5 and the supporting plate are spaced at a distance of about one meter from the building 44. The individual sensors 3 are located on the other plate and are directly adjacent to the building 44. In the plate supporting the sensors 3, a recess is provided or transparent, which keeps the receiving area of the camera 5 free, so that part of the surface of the bridge 4 lies in the receiving area of the camera 5. The two plates of the carrier 31 are rigidly connected to each other via linkage.
    Of course, the invention will also be used in other types of structures 44. So shows Flg. 4 shows a further embodiment of a vehicle 1 according to the invention with a boom 2 with fewer than five joints 21. The points 41 to be inspected are easily accessible from the vehicle 1. The illustrated vehicle 1 has only four joints 21, wherein the individual Auslegereiemente 25 are formed shorter than in the first embodiment. The embodiment illustrated in FIG. 4 shows the measurement and inspection by means of such a vehicle 1 in a tunnel 46.
    Flg. 5 schematically shows the offense during a measurement and inspection of a bridge 4. Measurement In the course of the measurement, the carrier 31 with the sensors 3 and the camera 5 is guided over the entire surface of the bridge 4 along a path 42.
    In the course of surveying the properties of the bridge 4 to be determined, the vehicle 1 travels along the road or bridge 4, the boom 2 being controlled in such a way that the end portion 22 de3 jib 2 remote from the vehicle 1 is guided over the entire surface area of the bridge 4 , The camera 5 located on the carrier 31 is guided along a path 42 and supplies a digital optical image 51 of the bridge 4 for the persons or control units serving the delivery 2.
    The vehicle 1 moves onto the bridge 4 and stops at one point. A first measuring operation is carried out in which the carrier 31 with the sensors 3 and the camera 5 is guided over a partial region 47 of the bridge 4 which is within the operating radius of the Jib 2 is located. All partial areas 47 of the bridge 4 are detected, which lie within the operating radius of the jib 2. After carrying out the surveying and testing of the structure 44 described below, the vehicle 1 moves to a next location, stops again and performs a next measuring operation in a further sub-area 47 of the bridge 4. The two selected subregions 47 overlap. This procedure is repeated until all parts of the bridge 4 to be measured have been measured and checked.
    The sensors 3 and the camera 5 are guided along a path 42 over the points 41 to be checked. The points to be checked 41 can be specified at a point. Alternatively, it can also be specified that measurement data should be recorded along the path 42 at specific intervals, the exact position of the individual points 41 to be checked being irrelevant, and only their density, that is to say one measured value per centimeter, being predetermined. In addition, it can also be specified that the measurement distances are selected to be smaller for particularly conspicuous measured values in order to obtain a more accurate resolution in this area. Since the sensors 3 and the camera 5 are located on the same carrier 31, the points 41 to be checked are also located within the portion 47 received by the camera 5.
    In order to be able to make reliable statements about the condition of the bridge 4, it is necessary to obtain not only the actual measured values but also the position at which the respective measured value has been recorded. The procedure of determining the current position of the sensors 3 in the measurement Is In Flg. 1 schematically shows. For this purpose, the current position D and orientation D 'of the sensor 3 used with respect to a predetermined fixed reference system (A, A') is determined with a predetermined reference point A as the origin. In the present case, this is done by means of a number of isometric transformations which determines the relative positioning B, B1 of the vehicle 1 relative to the reference system (A, A ') and the relative positioning C, C' of the sensors 3 relative to the vehicle 1 and based thereon determines the relative positioning D, D1 of the sensor 3 with respect to the reference system (A, A1),
    In order to achieve a meaningful position indication, it is necessary to specify a reference point A, to which the measuring positions determined in the following are referred. Such a reference point (A) can be given arbitrarily. In the present exemplary embodiment, the determination of the measurement positions is carried out by means of a GPS device. Preferably, differential GPS techniques can be used to increase the accuracy of the positioning.
    As a reference point A of such a measurement can be specified any fixed point. For unambiguous definition of the reference system (A, A ') in addition to the reference point A nor a reference orientation A' is required. In the present embodiment, reference orientation A1 may be approximately specified such that the respective coordinate directions of the reference system are taken north, east, and vertically upward.
    In general, however, any other coordinate system can also be specified as the reference system <A, A '). A particularly advantageous alternative is to provide a reference system {A, A ') which coordinates the reference orientation (A) as being a horizontal first reference direction along the bridge 4, a vertical upwardly directed second reference direction, and a longitudinal direction the vertical reference direction has normal third reference direction. Such a specification of a reference system (A, A1) is particularly advantageous in the case of straight bridges 4, but also in the case of straight road sections and tunnels 46.
    On the vehicle 1 itself also a vehicle reference system (X, X ') is specified. This vehicle reference system (X, X *) has its origin ln a predetermined point X of the vehicle 1, as shown in FIGS. 1 and 2, for example, in the right rear portion of the vehicle 1. The specification of the vehicle reference system (X, X *) and the predetermined point X on the vehicle 1 can in turn be made arbitrarily. The vehicle reference system (X, X ') is set in the present embodiment so that a reference direction in the direction of travel of the vehicle 1, a second reference direction vertically upward and a third reference direction normal to the first and second reference directions, such that a right-handed oriented vehicle reference system (X, X ').
    By means of a GPS device arranged in the vehicle 1, the relative position B and the relative orientation B 'of the vehicle 1 relative to the reference system (A, A') are determined. The measurement of the GPS device is supplemented in the present exemplary embodiment by additional information. The direction of travel of the vehicle 1 e.g. is determined by means of an electronic compass. Furthermore, the lateral inclination and pitch of the vehicle 1 is determined. Finally, the coordinates of each point given with respect to the vehicle reference system (X, X1) of the vehicle 1 may also be indicated with respect to the vehicle reference system (X, X1). The transformation can be represented by the following notation: Y (A.A1 "β'Y {X, χ ·) + Β Υ" Α, Α ·) a Β (Υ (χ, χ ·>)
    Where Υ &lt; χ. ) ·) represents a point in coordinates of the vehicle reference system (X, X ') and Y (a, a') represents the same point in the reference system (A, A '). The relative orientation B' can be determined by a size format matrix F represents a transformation function which consists of a point Υ <χ, χ ·) given with respect to the vehicle reference system (X, X ') with respect to the reference system (A, A'). ) given point Y <a, α · &gt; supplies.
    By this measure, a transformation of the coordinate value of points Y can be easily made if their coordinate data with respect to the vehicle reference system (X, X ') are predetermined and their coordinate data with respect to the reference system is to be determined.
    In a further step, the positioning and orientation of the sensor 3 with respect to the predetermined by the vehicle 1 vehicle reference system (X, X ') is determined, each of the joints 21 and if available also the turntable 24 are independently adjustable and allow a position ® and alignment change of the sensor 3. By the joints 21, the individual boom elements 25 of the boom 2 are interconnected. Each of the Relatlwerstellungen a
    Jib element 25 with respect to its respectively closer to the vehicle 1 Ausiegerelement 25 is again represented by a transformation Lj ... Lq. On each of the cantilever elements 25, an element reference system (L1, L1 ') ... (Ln, Ln'} is given in each case, where L1 ... Ln Each reference point on the respective cantilever element 25 and Ln1 the respective orientation or orientation of the cantilever element 25th With three reference directions, approximately in the longitudinal direction and two normal directions, the carrier 31 is firmly connected to the last jib element 25, wherein a carrier reference system (S, S ') is predetermined on the carrier 31. The position of a sensor 3 with respect to the carrier reference system (S, S '), since the sensor 3 is fixedly connected to the carrier 31, it is constant and will be denoted Ys in the following: If one wishes to indicate the position Y® of the sensor 3 with respect to the vehicle reference system, Thus, in the case of a boom with five joints 21, it is necessary to proceed as follows: Υμχ, Χ ', *! *! (k (La (k (LS (Ys, (S, S'))))))
    Finally, the sensor position Ys can also be stated with reference to the reference system (A, A '):
    Ys, (a, ai = 5 (Li (Lg (Id (fcs (ks (Ya.is.s1)))))))
    If one summarizes dl © by relative position C and Reiatlvausrichtung C 'of the sensor 3 relative to the boom 2 effected coordinate transformation, so you get to; Y $, (X.X ') "S (Ys, (5.s>)) where C involves the coordinate transformation caused by the relative position C and relative orientation C of the sensor 3 relative to the cantilever 2. By means of a sensor position determination unit 61, the Position Ys, <x, xj of the sensor 3 relative to the cantilever 2. The sensor position determination unit 61 are the respective control variables of the individual actuating elements 23 and the previously known position Ys, (s, 8) of the sensor 3 with respect to the sensor coordinate system ( Each of the individual manipulated variables of the actuators 23 influences in each case one of the transformations L,... Lg. Finally, one obtains by combining;
    Ys, (Λ, A &quot;) = £ (£ (Y8, (5,5)) &gt; &quot; fi (Υβ, ίβ · β ·))
    The transformation function D converts a point Ys into a reference point (A, A ') to a point Ye represented with respect to the reference frame system (S, S).
    Flg. 9 shows a schematic representation of a processing unit. The transformation function D is performed by a measurement position determination unit 62. The measurement position determination unit 62 is the output value of the sensor position determination unit 61, namely, the position Ys. (χ, χ ·> of the sensor 3 with respect to the vehicle reference system (X, X ') supplied, and the respective values of the GPS receiver, the compass and the inclinometer supplied by means of the GPS data, the compass direction and the inclination of the vehicle 1, the transformation function B is determined, which is subsequently applied to the output value of the sensor position determination unit 61.
    By doing so, the position Ys (see s1) of each sensor 3 fixedly mounted on the carrier 31 with respect to the reference frame (A, A ') can be displayed. The transformation function D is isometric.
    The individual transformation instructions Li... L "depend on the one hand on the mutual positions of the adjusting elements 23 and on the other hand on the length of the individual cantilever elements 25. The selection of the specific coordinate directions as well as the origin points in the individual element reference systems (L1, L1 * &gt; ... (Ln, Ln ') is completely irrelevant.
    If a plurality of sensors 3 are arranged on the carrier 31, the positions of the sensors 3 can also be determined.
    The measured values supplied by the individual sensors 3 are stored together with the coordinate values of the position of the respective sensor 3 with respect to the reference system (A, A ') in individual data sets in a memory 64 of a data acquisition unit 63. An association between the measured values determined by the sensors 3 and the coordinate values of the position of the respective sensor 3 with respect to the reference system (A, A ') is created
    In order to achieve a further improvement of the positioning, in addition or as an alternative to positioning by means of OPS, conventional further optical triangulation methods with measurement images which have been recorded with the camera 5, for example, are also used.
    The individual images 51 of the bridge 4 recorded by the camera 5 are combined to form an image association 52 by the presence of common features 55, whereby the position and recording direction of the camera 5 and the individual spatial point a recorded with the camera 5 can be determined by photogrammetric methods (Fig, 10). If the individual images 51 differ in the individual measurements, it is with the methods known per se of photogrammetry, such as e.g. Structure and motion algorithms, possible to represent all determined in the course of the survey position data of the surface of the structure 44 in a common frame of reference (A, A '). For an improved determination of the 3D position of the camera 5, a &quot; Structure and Motion &quot; Software Uses This method is combined with the beam 2 kinematic analysis presented above, significantly improving the accuracy of relative position determination due to the much higher accuracy of the Structure and Motion method.
    To use "Structure & Motion &quot; Algorithms are performed an offllne camera calibration. Furthermore, the position of the camera 5 relative to the end 22 of the boom 2 is determined. This, so-called &quot; hand-eye &quot; Calibration is performed at different times, for example, before and after each measurement.
    According to "Structure and Matlon" algorithms, the relative position of the camera 5 is calculated on the basis of a series of strongly overlapping images 51. The GPS position and the position of the jib 2 and the carrier 31 for coarse positioning are taken into account. In addition to the position of the camera 5, a 3D point cloud is created containing surface points of the structure 44. This point cloud with the stored positions of the camera 5 and 3D points stored and correlated with the recorded measurement data.
    Imaging 52, taken and calculated at different times, can be overlaid and analyzed.
    The use of imaging sensors 3 is in the Flg. 6 to 8 shown. In imaging sensors 3, a sensor image 30 is created after each exposure. Each pixel 33 of the sensor image 30 is in each case assigned a spatial region 35 which is fixedly fixed in relation to the sensor 3, thus also to the sensor reference system (S, S '). By means of a transformation, when the pixel coordinates are output for each of the pixels of the sensor image 30, that spatial region 35 or spatial point 36 is determined with respect to the sensor coordinate system (S, S) whose measured value corresponds to the pixel value. For example, an ultrasound scan (FIG 8}, the ultrasound image 38 determines the pixel value of each pixel of the sound reflectivity of a spatial area 35 located in the reception area of the ultrasound scanner 37.
    In the case of a camera image (FIG. 6), the pixel value of each pixel also corresponds to the radiation emitted by a surface area located in the receiving area of the camera 5 at a given wavelength of light. A spatial region 35 or spatial point 36 with respect to the reference system (A, A ') can always be determined by means of a transformation starting from the pixel coordinates, the measurement of which supplies a measured value which is stored as the pixel value of the respective pixel. Each pixel is thus assigned a fixed spatial point 36 or spatial region 35 of the sensor coordinate system (S, S1).
    Flg. FIG. 6 shows a surface sensor comprising a plurality of sensor pixels 33 arranged in a raster pattern. Each of the sensor pixels 33 has a predetermined receiving area which defines a spatial area 35 fixed with respect to the sensor reference system (S, S '). The surface area located in the receiving area of the respective sensor pixel 33 is picked up by the respective sensor pixel 33, which is designed as a Hallfgkeitssensor.
    Receiving areas are recorded or imaged for a plurality of wavelength ranges, with irradiation of the receiving area taking place with a radiation source 39 mounted on the carrier 31.
    Instead of a surface sensor with grid-like arranged Sensorplxeln 33 can also be a line sensor, shown in Flg. 7, are used with cell-shaped or arranged in a row sensor pixels 33.
    Furthermore, it is also possible, as in Flg. 8, the sensor (3), for example an ultrasound head 37, can be placed directly on the points 41 to be examined. In this case, an ultrasound image 33 is recorded for each part 41 to be examined. In this case, the ultrasound image 38 comprises a multiplicity of different pixels, each of the pixels corresponding in each case to a spatial region 35 fixed with respect to the ultrasound head 37. These space regions 35 fixed with respect to the ultrasound head 37 can also be specified by using the transformation function D with respect to the reference system (A, A '), so that each individual density value stored in one pixel of the ultrasound image together with the respective space region 35, the value has been determined, is stored.
    In addition to the sensors 3 described so far, in principle all available sensors 3 suitable for the use of properties of the substance 43 of a construction 44 can be used according to the invention. For example, it is possible to carry out a test of the substance 43 of the structure 44, for example the concrete of the bridge 4, using a detection and locating method based on electromagnetic waves in the radio-frequency range. An alternative uptake can be achieved with microsphere-based methods. With such a sensor 3, the reflectivity of the substance 43 of the structure 44 is determined and indirectly inferred to certain material properties, such as the density. By the microwave method, the dielectric loss factor, the specific electrical resistance and magnetic losses can be determined frequency-dependent. Based on the determined measured values, it is possible to infer the type, quality and condition of the material. A microwave measurement can be used to determine the moisture distribution in structures 44 and thus the probability of corrosion.
    Another advantageously replaceable according to the invention sensor 3 determines over a part of the surface of the structure 44 or over the entire concrete surface of a reinforced concrete structure 44, the electrochemical potential between the steel and a set on the concrete Cu / CuS04 Halbzella (Kupfar / Kupfarsulfat-
    Reference electrode). Potential is the electrical voltage measured between the steel and the conductive, copper-made part of the reference electrode. Such sensors 3 are brought directly into contact with the structure 44 to be measured.
    Reinforced concrete poten- tial measurement is another non-destructive measuring method that can be used to determine where or where the reinforcement has corroded in concrete and which areas of reinforced concrete are affected or endangered by corrosion.
    The cathodic polarization resistance can preferably be used for determining the corrosion when a chlorine-induced macroelement corrosion occurs.
    The substance 43 of the structure 44 can also be tested by means of an acoustic method. To determine the material properties of the substance 43 ultrasonic waves are used, which are emitted by an ultrasonic source, which is placed directly on the building 44. The smallest discontinuity that can be represented is greater than half the wavelength of the sound, which is dependent on the speed of sound of the material and the frequency of the probe. At a frequency of 4 MHz, steel is used for resolutions of around 0.7 mm. The frequency height is limited, as the grain boundaries of the microstructure lead to scattering and absorption, which reduces the penetration depth.
    Furthermore, for the testing of structures 44, the impad-echo method is known, which in principle is very similar to the ultrasound measurement. In contrast to ultrasound, impact-echo sensors work in the audible range of sound,
    In addition, the following non-destructive measuring methods are generally known to the person skilled in the construction industry; Ultrasonic transit time method, ultrasonic echo method, impact-echo method, Schallemissionsanaiyae, radar and infrared thermography. Sensors 3 are available for all methods, which provide measured values or images for each measuring point.
    In the exemplary embodiment according to the invention, all types of sensors 3 described above are arranged on the support 31 in order to achieve the most complete measurement result of the building 44 to be inspected. Alternatively, however, individual sensors 3, the measured values of which are irrelevant to the subject considerations, can be omitted without this affecting the inventive method.
    20
    * · »♦
    In addition, a drill core can also be removed from the bridge at the predetermined points 41 if this does not impair the statics. By means of the core measurement, the chloride content and the pH of the substance 43 Bridge 4 can be determined.
    The statements that are shown in the example shown with respect to a bridge 4 and a tunnel 46, can be easily transferred to other structures 44 in the range of roads or rail lines about fortifications, masonry, avalanche barriers, etc., In each case the the Vehicle 1 distant end portion 22 of the boom 2 out to a predetermined point 41 of the respective structure 44 and then measured with the sensors 3, the properties of the respective structure 44.
    Of course, a vehicle 1 is to be understood as any type of road vehicle or rail vehicle.
    In both illustrated exemplary games, it is provided that the vehicle 1 is in contact with an evaluation computer via a radio network. The data is forwarded to an expert who can safely and graphically analyze and analyze the data on the computer.
    Repeat measurements can also be used to create time series that depict the bridge's tent behavior over one day, over a year or over several years.
    Another particular embodiment of the invention relates to a portable device for spatially remote or automatic nondestructive inspection of concrete, reinforced concrete (steel-wood) structures 44, consisting of a chassis 12, a boom 2, a carrier 31 and sensors 3. These Embodiment has the above-described measures for determining the measurement position D and measurement orientation D 'of the sensors relative to the reference system (A, A') and thus provides a one-to-one three-dimensional geo-referenced electronically positioning device, data storage, analysis and visualization of measurement data related to have been measured on a building.
    Photogrammetric methods have been well known to the skilled person for a long time and are described in the volumes "Photogram report 1 - 3", de Gruyter by Prof, Kar! Kraus are described in detail and are. Of course, the methods can be used within the scope of the invention to improve the accuracy.
    权利要求:
    Claims (15)
    [1]
    1, A method for recording measured data along a road at a bridge (4) or at a building (44) located to be examined points (41) with a vehicle (1) - wherein the vehicle (1) is a boom ( 2) comprising a number of jib elements (25) connected to joints (21), wherein the position of the joints (21) is adjustable by means of adjusting elements (23), - wherein on the vehicle (1) far end region (22) of the jib (2) at least one sensor (3) is arranged, - wherein the vehicle (1) along the road or over the bridge (4) is moved, and the position (B) and orientation (B ') of the vehicle (1) in With respect to a given reference system (A, A ') with a given fixed reference point (A) and a reference orientation (A1), - the position of the cantilever (2) being adjusted by adjusting the control elements (23) such that the Sensor (3) each on one of the along the road or bridge (4) arranged to be examined points (41) is directed, - based on the selected setting of StelleiBmente (23) the relative position (C) and Relatlvausrfchtung (C) of the sensor (3) relative to the vehicle (1) are determined, wherein, based on the determined position (B) and orientation (B ') of the vehicle (1) relative to the reference frame (A, A') and the relative position (C) and relative orientation (C1) of the sensor (3) relative to the vehicle (1) the measurement position (D) and the measurement orientation (θ ') of the sensor (3) relative to the reference system (A, A') are determined, and - wherein measurement data records are created which show the measured values determined with the sensor (3) and the measurement position (FIG. D) and measurement orientation (D ') in which the sensor (3) was located at the time the measurement was taken.
    [2]
    2.-A method according to claim 1, characterized in that the determination of the position (B) and orientation (B ') of the vehicle (1) with respect to the predetermined, fixed reference point (A) by means of GPS and / or by means of a compass and / or by means of an inclinometer and / or other suitable methods and sensor units.
    [3]
    3. The method according to claim 1 or 2, characterized in that • at dam the vehicle (1) far end portion (22) of the cantilever (2) a camera (5) is arranged, which is directed to the points to be examined (41) in that, on the basis of the images (51) taken with the camera (5), they are joined together to form an image bandage (52), each pixel of the image band (52) corresponding to exactly one surface point of the structure (44) or the bridge (4), that the coordinates of the imaged surface point of the structure (44) or the bridge (4) are assigned to each of the pixels of the image association (52), and - that the determination of the measurement position (D) and measurement orientation (D ') of the sensors (52) 3) by the localization of the respective associated spatial point on the basis of the current, with the camera (5) created image (51) in the image association (52).
    [4]
    4. The method according to any one of the preceding claims, characterized in that the on the vehicle (1) arranged boom (2) is driven such that aufzustende vibrations of the boom (2) are compensated.
    [5]
    5. The method according to any one of the preceding claims, characterized in that the Fahrgesteli (12) of the vehicle (1) and / ordle connection between the vehicle (1) and the boom (2) is torque-compensated and / or vibration damped.
    [6]
    6. The method according to any one of the preceding claims, characterized in that the boom (2) more than five, preferably exactly or more than seven, independently controllable adjusting elements (23).
    [7]
    7. The method according to any one of the preceding claims, characterized in that a plurality of the vehicle (1) far end region (22) of the cantilever (2) located sensors (3) are provided, wherein the respective measuring position (D) and measurement orientation (D ') of the individual sensors (3) together with the respectively determined by a sensor (3) measured variable are stored in a measurement data record.
    [8]
    8. The method according to any one of the preceding claims, characterized in that the sensor (3) is arranged with a number of side by side or grid-shaped sensor pixel (33) for receiving line or area images (34), - that for each sensor pixel ( 33) of the sensor (3) beforehand that spatial region (35), surface region or spatial point (36) With respect to a predetermined position (S) on the sensor (3) is determined, the physical properties of each sensor pixel (33) in the form of a measured value it is possible to determine that - based on the measuring position (D) and the measuring orientation (D1) and the spatial area (35), surface area or spatial point (36) assigned to the respective sensor pixel (33), the pixel position (E), and optionally the pixel orientation (E ') , the pixel area assumed space relative to the reference point (A) are determined, and that a measured data set is created for each with each one sensor pixel (33) measured value wi rd, the measurement value as well as the pixel position (E) and possibly the pixel orientation (E ') enthaft.
    [9]
    9. vehicle comprising - a boom (2) with a number of joints (21) and adjusting elements (23), - wherein at the vehicle (1) far end region (22) of the boom (2) at least one sensor (3) is, and - wherein the vehicle (1) has a position determination unit (60) for determining the position (B) and orientation (B ') of the vehicle (1) with respect to a predetermined, fixed reference point (A), characterized by - A sensor position determining unit (61), which determines the relative position (C) and relative orientation (C1) of the boom (2) relative to the vehicle (1), - a measuring position determining unit (62), which due to the determined position (B) and orientation (B ') of the vehicle (1) relative to the reference point (A) and the relative position (C) and relative orientation (C) of the sensor (3) relative to the vehicle (1) determined by the position of the joints (21) of the adjusting elements (23) Measuring position (D) and the measuring orientation (D1) of the sensor ( 3) relative to the reference point (A), and - a data acquisition unit (63) with a memory (64) which assigns the measured values determined with the sensor (3) to the measuring position (D) and also to those measuring orientations (D1) in which the sensor (3) is or was located at the time the measurement was taken.
    [10]
    10. Vehicle according to claim 9, characterized in that the position-determining unit (60) comprises a GPS device, as well as optionally a compass and / or inclinometer.
    [11]
    11. Vehicle according to claim 9 or 10, characterized in that a camera (5) is provided which is arranged on the vehicle (1) far end region (22) of the cantilever (2), that an image memory for storing an image association ( 52) composed of the images (51) taken with the camera (5), that an image band formation unit is provided, to which the individual images (51) are fed and which from the images (51) form an image bandage (52). in that the camera (5) is followed by a positioning unit for determining the relative position, in which a "structure and motion" algorithm is implemented, and the image association (52) and the images (51) produced by the camera (5) Positioning unit is supplied, and that the determined by the positioning unit Relatlvposition the Meesposttlonsbestlmmungselnhait is supplied
    [12]
    12, vehicle according to one of claims 9 to 11, characterized in that the vehicle (1) arranged boom (2) has upper torque compensation, which is designed such that occurring vibrations of the boom (2) are compensated, and / or that the chassis (12) of the vehicle (1) and / or the connection between the vehicle (1) and the boom (2) is vibration-damped.
    [13]
    13, vehicle according to one of claims 9 to 12, characterized in that the boom (2) more than five, preferably exactly or more than seven, independently controllable Steltelemente (23).
    [14]
    14. Vehicle according to one of claims 9 to 13, characterized in that a plurality of the vehicle (1) far end region (22) of the arm (2) located sensors (3) are provided, and that the data acquisition unit (63) the respective Measuring position (D) and measurement orientation (D1) of the individual sensors (3) together with the respectively determined by a sensor (3) measured variable in a measurement data set in its memory (64) stores
    [15]
    15. Vehicle according to one of claims 9 to 14, characterized in that - the sensor <3) with a number of juxtaposed or grid-shaped sensor pixels (33) for receiving line or avengers (34) is formed, - that for Each sensor pixel (33) of the sensor (3) is predetermined beforehand that spatial region (35), surface region or spatial point (36) with respect to a predetermined position (S) on the sensor (3) whose physical properties are dependent on the respective sensor pixel (33) 26 and 26 - that the data acquisition unit (63) based on the measurement position (D) and measurement orientation (D ') and the respective sensor pixel (33) associated space area (35), surface area or point of space (36) the pixel position (E), and if appropriate, and the pixel orientation (E '), of the space area (35) picked up by the pixel with respect to the reference point (A) and determined for each with a respective sensor pixel (33) Messw ert creates a measurement data set that contains the measured value as well as the pixel position (E) and possibly the pixel orientation (E '). Vienna, October 22, 2010
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    同族专利:
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    引用文献:
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    CN108570930A|2018-05-16|2018-09-25|中铁大桥科学研究院有限公司|A kind of intelligent detection equipment and detection method for bridge bottom|
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    法律状态:
    2020-01-15| PC| Change of the owner|Owner name: PALFINGER STRUCTURAL INSPECTION GMBH, AT Effective date: 20191118 |
    优先权:
    申请号 | 申请日 | 专利标题
    AT17652010A|AT510642B1|2010-10-22|2010-10-22|BRIDGE AT VIEWER|AT17652010A| AT510642B1|2010-10-22|2010-10-22|BRIDGE AT VIEWER|
    EP11450135.6A| EP2444361A3|2010-10-22|2011-10-21|Bridge bottom view device|
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