Research on Fatigue Crack Image Routing Inspection and Measurement System for Orthotropic Steel Bridge Decks
In order to enhance the inspection efficiency and accuracy of fatigue cracks in orthotropic steel bridge decks,a set of innovative routing inspection and measurement system combining magnetic absorbing climbing robot and crack image processing platform is developed.The magnetic absorbing device makes the robot be safely adhered to the surface of top plate,U-rib plate,and diaphragm plate,and then do the crack image capture flexibly according to the pre-set route or manual controlling route.The image processing platform,which is mainly composed of wireless industrial cameras and laser ranging self-calibration device,collects the crack images and calibration data so that the internal and external parameters of cameras can be calculated in real time.During the post-processing,the image processing platform can perform the crack identification and crack geometry measurement based on neural network training and homography matrix calculation,and the panorama picture of cracks can be further generated by using image stitching techniques.The developed system is used to collect and measure the fatigue cracks in a full-scale orthotropic steel bridge deck,and results show that all cracks in various locations can be accessibly measured.The relative errors of rule validation measurement are within 0.2％,and the average error is merely 0.14％,indicating that the crack resolving reached sub-millimeter level.Compared with traditional approach,the developed fatigue crack image routing inspection and measurement system has the advantages of high precision,automatic processing,and full coverage of inspection area,and can be applied in real bridge practice.
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