CN112733759A - Structural vibration measurement method and system based on visual image local binarization processing - Google Patents

Structural vibration measurement method and system based on visual image local binarization processing Download PDF

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CN112733759A
CN112733759A CN202110054020.7A CN202110054020A CN112733759A CN 112733759 A CN112733759 A CN 112733759A CN 202110054020 A CN202110054020 A CN 202110054020A CN 112733759 A CN112733759 A CN 112733759A
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张昭
刘胜春
齐翼
周立宪
张暕
刘臻
司佳钧
刘龙
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China Electric Power Research Institute Co Ltd CEPRI
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Abstract

A structural vibration measurement method based on visual image local binarization processing comprises the following steps: obtaining time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure; obtaining the frequency of the vibration of the measured structure through Fourier transform based on the time domain information; calculating the ratio of the size of a real object on the same plane in the vibration direction of the measured structure to the size of the real object in the video; and calculating the amplitude of the structural vibration based on the time domain information and the size ratio. The amplitude of the structural vibration can be accurately extracted, the phenomenon that frequency components are lost due to the fact that the average frequency is obtained by utilizing the vibration average period is avoided in the aspect of frequency calculation, and the vibration frequency can be accurately identified.

Description

Structural vibration measurement method and system based on visual image local binarization processing
Technical Field
The invention relates to the field of vibration measurement of hardware fittings or large-size structures in overhead transmission lines, in particular to a structural vibration measurement method and system based on visual image local binarization processing.
Background
In recent years, with the rise of voltage grades, the hardware structure of the transmission line is also enlarged, and presented dynamics problems are gradually highlighted, such as the vibration of a shielding ring and the vibration of an insulator string, and great hidden dangers are brought to the safe and stable operation of the transmission line. At present, most of measurement on field fault objects is contact measurement, the contact measurement needs an operation and maintenance management department to cooperate with power failure or needs workers to carry out hot-line work to install a sensor at a measurement position, and meanwhile, the installation of the contact sensor can also add extra weight to the measured object, so that the operation of a line and the accuracy of measurement are influenced to a certain degree.
Video monitoring is an important non-contact measurement means, and the method for applying video monitoring images to the vibration measurement of the structure generally only focuses on the extraction of vibration frequency and vibration mode at present, and has large calculation amount and low calculation speed.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a structural vibration measurement method based on local binarization processing of a visual image, comprising:
obtaining time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure;
obtaining the frequency of the vibration of the measured structure through Fourier transform based on the time domain information;
calculating the ratio of the size of a real object on the same plane in the vibration direction of the measured structure to the size of the real object in the video;
and calculating the amplitude of the structural vibration based on the time domain information and the size ratio.
Preferably, the obtaining the frequency of the vibration of the measured structure through fourier transform based on the time domain information includes:
performing direct current component removal processing on the time domain information to obtain vibration data with a real structure in the video image;
and performing Fourier transform on the real vibration data to calculate the structural vibration frequency.
Preferably, the step of performing dc component removal processing on the time domain information to obtain vibration data with a real structure includes:
calculating an average value of all pixels in the time series based on the time series;
and calculating the vibration data of the real structure in the video image based on the average value.
Preferably, the calculating the size ratio of the size of the real object in the same vibration direction as the measured structure to the size of the real object in the video includes:
calculating the number of pixels occupied by the projection of the real object on the image to determine the size of the real object in the video;
and calculating the ratio of the size of the real object to the size of the real object in the video.
Preferably, the calculating the amplitude of the structural vibration based on the time domain information and the size ratio comprises:
obtaining a vibration amplitude of the structure on the image based on the time domain information;
and calculating the amplitude of the structure edge vibration through a structure edge vibration amplitude calculation formula based on the vibration amplitude on the image and the size ratio.
Preferably, the calculation formula of the structural edge vibration amplitude is as follows:
Figure BDA0002900226240000021
wherein:
Figure BDA0002900226240000022
is the amplitude of vibration of the structure; n isBC: the size of the product is real object;
Figure BDA0002900226240000023
the number of pixels occupied by the projection of the vibration displacement on the image; n isDE: the number of pixels occupied by the projection of the real object on the image.
Preferably, the obtaining of the time domain information of the structural vibration by the vibration video based on the detected structure frame by using the image local binarization processing method includes:
converting the vibration video into a gray scale image frame by frame;
intercepting a local image containing one edge in the structural vibration direction and the neighborhood thereof in each gray scale image based on the gray scale image;
carrying out binarization processing on the basis of the local image to obtain a pixel gray level burst position;
and obtaining time domain information of the structural vibration on the image based on the pixel gray scale burst position.
Preferably, the obtaining of the pixel gray scale burst position by performing binarization processing based on the local image includes:
and (3) taking the gray value of a point on the edge of the gray map as a reference value, and performing binarization processing on pixels in rows or columns of all vertical edges of the point, or performing binarization processing on the intercepted image by using an edge detection operator to obtain a pixel gray burst position.
The invention provides a structural vibration measurement system based on local binarization processing of a visual image, which comprises: the device comprises a time domain information acquisition module, a frequency calculation module, a size ratio acquisition module and an amplitude acquisition module;
the time domain information acquisition module is used for acquiring time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure;
the frequency calculation module obtains the frequency of the vibration of the measured structure through Fourier transform based on the time domain information;
the size ratio acquisition module is used for calculating the ratio of the size of a real object on the same plane in the vibration direction of the structure to be measured to the size of the real object in the video;
the amplitude obtaining module is used for calculating the amplitude of the structural vibration based on the time domain information and the size ratio.
Preferably, the frequency calculation module includes: a vibration data acquisition submodule and a structural vibration frequency submodule;
the vibration data acquisition submodule is used for carrying out direct current component removal processing on the time domain information to obtain vibration data with a real structure in a video image;
and the structural vibration frequency submodule carries out Fourier transform on the basis of the real vibration data to calculate the structural vibration frequency.
Compared with the prior art, the invention has the beneficial effects that:
a structural vibration measurement method based on visual image local binarization processing comprises the following steps: obtaining time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure; obtaining the frequency of the vibration of the measured structure through Fourier transform based on the time domain information; calculating the ratio of the size of a real object on the same plane in the vibration direction of the measured structure to the size of the real object in the video; and calculating the amplitude of the structural vibration based on the time domain information and the size ratio. The amplitude of the structural vibration can be accurately extracted, the phenomenon that frequency components are lost due to the fact that the average frequency is obtained by utilizing the vibration average period is avoided in the aspect of frequency calculation, and the vibration frequency can be accurately identified.
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FIG. 1 is a flow chart of the steps of the present invention;
FIG. 2 is a flow chart of frequency and amplitude extraction according to the present invention;
FIG. 3 is a schematic of structural vibration data according to the present invention;
FIG. 4 is a schematic diagram of structural vibration data after DC removal according to the present invention;
FIG. 5 is a schematic view of a camera imaging;
FIG. 6 is a schematic diagram of image gray scale change after local binarization processing;
FIG. 7 is a graph of an initial pixel-time sequence P-t and its spectrum;
fig. 8 shows the vibration data Pr after the dc component is removed and the frequency spectrum thereof;
FIG. 9 is a spectrum of the true amplitude of vibration at the edge of a structure;
FIG. 10 is a partial schematic view of an alternative embodiment of the present invention;
fig. 11 is a schematic view of other alternatives that may be used with the present invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
Example 1:
a structural vibration measurement method based on local binarization processing of visual images is characterized by comprising the following steps as shown in figure 1:
step 1: obtaining time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure;
step 2: obtaining the frequency of the vibration of the measured structure through Fourier transform based on the time domain information;
and step 3: calculating the ratio of the size of a real object on the same plane of the measured structure in the same vibration direction to the size of the real object in the video;
and 4, step 4: and calculating the amplitude of the structural vibration based on the time domain information and the size ratio.
The structural vibration measurement method based on the local binarization of the visual image is specifically shown in fig. 2:
step 2: obtaining the frequency of the vibration of the measured structure through fourier transform based on the time domain information specifically includes:
suppose the array P ═ P1,P2,P3…,Pn]Is a set of pixel values of the structure edge on the image, and the recording time t ═ t1,t2,t3,…,tn]And correspond to each other. Array P-t forming structure edge pixelAs shown in fig. 3, the pixel-time series needs to be processed by "removing the dc component" to accurately obtain the frequency of the vibration, and the specific steps are as follows:
1) all P in array PiAverage value P ofm；
2) Calculating the vibration data P with real structurer＝P-PmAs shown in fig. 4;
3) to PrThe vibration frequency can be obtained by Fourier transform, and the specific process is as follows:
to PrTaking Fourier transform to obtain:
Figure BDA0002900226240000051
in formula (5):
Figure BDA0002900226240000052
Figure BDA0002900226240000053
Figure BDA0002900226240000054
at fundamental frequency of vibration, T0Is the period of vibration.
And 4, step 4: calculating the amplitude of the structural vibration based on the time domain information and the size ratio specifically includes:
the principle of "real object and image scale conversion" is shown in fig. 5. With fixed lens position, O and O1For a point on the object, O and its neighborhood (solid circle) move vertically downwards to form O1And its neighborhood (dotted circle), O' and O1'is the corresponding point of the object on the image, OO' is perpendicular to the projection plane, and A is the focal point of the lens. BC is equal to OO1On the same plane of the object surface, DE is BCProjection onto a surface. From the geometric theory, the triangular AOO1And triangle AO' O1Similarly, triangle ABC is similar to a triangle AED, then the sides of the triangle have the following relationships:
Figure BDA0002900226240000055
the amplitude is then calculated as follows:
1) when the length of BC is known to be nBCCalculating the number n of pixels occupied by the projection DE of BC on the imageDE，
2) Vibration displacement OO1Projection on image O' O1' number of occupied pixels nO’O1’That is, the vibration data P of the real structure is obtained from the above section (1)rAmplitude n ofO’O1’；
3) The structural edge vibration amplitude n can be obtained by the formula (6)OO1As shown in formula (7).
Figure BDA0002900226240000056
Example 2:
based on the same inventive concept, the invention also provides a structural vibration measurement system based on the local binarization processing of the visual image, which comprises: the device comprises a time domain information acquisition module, a frequency calculation module, a size ratio acquisition module and an amplitude acquisition module;
the time domain information acquisition module is used for acquiring time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure;
the frequency calculation module obtains the frequency of the vibration of the measured structure through Fourier transform based on the time domain information;
the size ratio acquisition module is used for calculating the ratio of the size of a real object on the same plane in the vibration direction of the structure to be measured to the size of the real object in the video;
the amplitude obtaining module is used for calculating the amplitude of the structural vibration based on the time domain information and the size ratio.
Preferably, the time domain information obtaining module includes: the system comprises a gray scale conversion sub-module, a local image acquisition sub-module, a binarization processing sub-module and a time domain information acquisition sub-module;
the gray level conversion sub-module is used for converting the vibration video into a gray level image frame by frame;
the local image acquisition submodule is used for intercepting a local image which comprises an edge in the structural vibration direction and a neighborhood of the edge in each gray image based on the gray image;
the binarization processing submodule is used for carrying out binarization processing on the basis of the local image to obtain a pixel gray level burst position;
and the time domain information acquisition submodule is used for acquiring the time domain information of the structural vibration on the image based on the pixel gray level burst position.
Preferably, the frequency calculation module includes: a vibration data acquisition submodule and a structural vibration frequency submodule;
the vibration data acquisition submodule is used for carrying out direct current component removal processing on the time domain information to obtain vibration data with a real structure in a video image;
and the structural vibration frequency submodule carries out Fourier transform on the basis of the real vibration data to calculate the structural vibration frequency.
Preferably, the amplitude obtaining module includes: the image amplitude vibration submodule and the structure actual vibration amplitude submodule;
the image amplitude vibration submodule calculates the number of pixels occupied by the projection of the real object on the image to determine the size of the real object in the video;
and the actual vibration amplitude submodule of the structure calculates the ratio of the size of the real object to the size of the real object in the video.
Example 3:
the vibration frequency of the object is 3.7Hz, the vibration amplitude is 8mm, the frame rate (sampling frequency) of the video image is 120 frames/s, and the video shooting time duration is 3 s. The sampling frequency is more than 2 times greater than the object vibration frequency, the sampling theorem is satisfied, and each step of calculating the vibration frequency and the amplitude is demonstrated by using the video, which is specifically as follows:
(1) intercepting each frame image of the video at a certain position of the video, so that the intercepted image can contain a local image of an edge and the neighborhood thereof in the structural vibration direction, wherein the intercepted area is a rectangular area, and the pixel positions of four corners are [ x ] respectively1,y1,x2,y2]＝[326,394,423,534]；
(2) Selecting an image edge reference location [ x ]1,y1]＝[69,48]Comparing the gray values of all the pixels in the column where the reference point is located on the image with the gray value of the reference point, setting the gray value of the pixel with the gray value larger than the gray value of the reference point to be 255 and the gray value of the pixel with the gray value smaller than the gray value of the reference point to be 0, and obtaining the position with the most obvious image change, wherein the gray change of the position from top to bottom is shown in fig. 6.
(3) Calculating the structure edge position of the area of each frame image, and combining the video recording time to form a pixel-time sequence P-t, as shown in FIG. 7, it can be seen that the peak value of the vibration frequency is not obvious;
(4) the pixel-time sequence P-t is processed to remove the direct current component to obtain the vibration data P with real structurerAnd Fourier transform is performed to obtain the vibration frequency f, as shown in FIG. 8;
(5) the structural vibration amplitude was obtained by the method described in section 3.2, subsection (2), section "amplitude calculation method", and as shown in fig. 9, it is easy to read out in fig. 9 that the vibration amplitude was 8.147mm, the frequency was 3.646Hz,
the prior art has the following disadvantages:
(1) the average period and the average frequency of the signal are calculated by utilizing each vibration period of the signal, so that the loss of low-frequency vibration frequency is easily caused, and important data can be lost;
(2) the amplitude is an important parameter of the structure vibration, has important significance for structure response analysis and fatigue failure analysis, and the actual amplitude of the structure cannot be measured in the prior art.
Compared with the prior art, the invention has the advantages that: (1) the amplitude of the structural vibration can be accurately extracted. (2) In the aspect of frequency calculation, the phenomenon of frequency component loss caused by averaging frequency by using a vibration averaging period is avoided, and the vibration frequency can be identified more accurately.
The invention extracts the edge of the image by using a local binarization processing method of the visual image based on the video meeting the data sampling theorem, and extracts the frequency and the amplitude of the structural vibration by using the fluctuation of the edge of the structure on the image and the actual size of an object in the image in the vibration direction.
The scheme is as shown in fig. 10, wherein the red circles are drawn for several steps to identify the image edge and record the image edge data Pi. The acquisition of the image edge data can also be realized by using edge detection operators such as Canny, Robert, Sobel, Log, Prewitt and the like for the intercepted image, and the specific steps are shown in fig. 11.
It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.

Claims (10)

1. A structural vibration measurement method based on visual image local binarization processing is characterized by comprising the following steps:
obtaining time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure;
obtaining the frequency of the vibration of the measured structure through Fourier transform based on the time domain information;
calculating the ratio of the size of a real object on the same plane in the vibration direction of the measured structure to the size of the real object in the video;
and calculating the amplitude of the structural vibration based on the time domain information and the size ratio.
2. The measurement method of claim 1, wherein the deriving the frequency of the vibration of the structure under test by fourier transform based on the time domain information comprises:
performing direct current component removal processing on the time domain information to obtain vibration data with a real structure in the video image;
and performing Fourier transform on the real vibration data to calculate the structural vibration frequency.
3. The measurement method according to claim 2, wherein the performing dc component removal processing on the time domain information to obtain vibration data with a true structure comprises:
calculating an average value of all pixels in the time series based on the time series;
and calculating the vibration data of the real structure in the video image based on the average value.
4. The measurement method according to claim 1, wherein calculating the size ratio between the size of the real object in the same vibration direction as the structure to be measured and the size of the real object in the video comprises:
calculating the number of pixels occupied by the projection of the real object on the image to determine the size of the real object in the video;
and calculating the ratio of the size of the real object to the size of the real object in the video.
5. The measurement method of claim 4, wherein the calculating the amplitude of the structural vibration based on the time domain information and the size ratio comprises:
obtaining a vibration amplitude of the structure on the image based on the time domain information;
and calculating the amplitude of the structure edge vibration through a structure edge vibration amplitude calculation formula based on the vibration amplitude on the image and the size ratio.
6. The method of measurement according to claim 5, wherein the structure edge vibration amplitude is calculated as follows:
Figure FDA0002900226230000011
wherein:
Figure FDA0002900226230000023
is the amplitude of the structural vibration; n isBC: the size of the product is real object;
Figure FDA0002900226230000022
the number of pixels occupied by the projection of the vibration displacement on the image; n isDE: the number of pixels occupied by the projection of the real object on the image.
7. The measurement method according to claim 1, wherein the obtaining time domain information of the structure vibration by the image local binarization processing method based on the vibration video of the structure to be measured frame by frame comprises:
converting the vibration video into a gray scale image frame by frame;
intercepting a local image containing one edge in the structural vibration direction and the neighborhood thereof in each gray scale image based on the gray scale image;
carrying out binarization processing on the basis of the local image to obtain a pixel gray level burst position;
and obtaining time domain information of the structural vibration on the image based on the pixel gray scale burst position.
8. The measurement method according to claim 7, wherein the binarizing based on the local image to obtain a pixel gray burst position comprises:
and (3) taking the gray value of a point on the edge of the gray map as a reference value, and performing binarization processing on pixels in rows or columns of all vertical edges of the point, or performing binarization processing on the intercepted image by using an edge detection operator to obtain a pixel gray burst position.
9. A structural vibration measurement system based on local binarization processing of visual images is characterized by comprising: the device comprises a time domain information acquisition module, a frequency calculation module, a size ratio acquisition module and an amplitude acquisition module;
the time domain information acquisition module is used for acquiring time domain information of structural vibration by utilizing an image local binarization processing method frame by frame based on a vibration video of a detected structure;
the frequency calculation module obtains the frequency of the vibration of the measured structure through Fourier transform based on the time domain information;
the size ratio acquisition module is used for calculating the ratio of the size of a real object on the same plane in the vibration direction of the structure to be measured to the size of the real object in the video;
the amplitude obtaining module is used for calculating the amplitude of the structural vibration based on the time domain information and the size ratio.
10. The measurement system of claim 9, wherein the frequency calculation module comprises: a vibration data acquisition submodule and a structural vibration frequency submodule;
the vibration data acquisition submodule is used for carrying out direct current component removal processing on the time domain information to obtain vibration data with a real structure in a video image;
and the structural vibration frequency submodule carries out Fourier transform on the basis of the real vibration data to calculate the structural vibration frequency.
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