CN100360898C - Small-displacement measuring method in long-distance plane - Google Patents

Small-displacement measuring method in long-distance plane Download PDF

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CN100360898C
CN100360898C CNB2006100339957A CN200610033995A CN100360898C CN 100360898 C CN100360898 C CN 100360898C CN B2006100339957 A CNB2006100339957 A CN B2006100339957A CN 200610033995 A CN200610033995 A CN 200610033995A CN 100360898 C CN100360898 C CN 100360898C
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cooperation
image
displacement
measured
distance
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CN1818546A (en
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浣石
于起峰
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Huan Shi
Yu Qifeng
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Abstract

The present invention discloses a small-displacement measuring method in a long-distance plane. The method comprises the following steps: firstly, a cooperation mark plate is prepared and cooperation marks Po, P< T > and/or P< B >, and P< L > and/or P< R > are respectively and plotted in the center of the cooperation mark plate, above and/or below the cooperation mark plate and on the left and/or on the right of the cooperation mark plate; secondly, the cooperation mark plate is connected with an entity to be measured; thirdly, a cooperation mark image is collected via a camera and a computer; fourthly, the imaging ratio of the image collected at the initial state is calculated; fifthly, the displacement of the cooperation mark Po on the image is measured; sixthly, the actual displacement of the position to be measured in the vertical and horizontal directions is calculated. The present invention can conveniently and exactly measure the displacement of a long-distance entity to be measured in the vertical and horizontal directions via non-contact measurement. The method of the present invention can be widely applied to actual measurement in various fields such as ordinary horizontal displacement, landslide, building subsiding and sloping, etc.

Description

Small-displacement measuring method in long-distance plane
Technical field
The present invention relates to a kind of small-displacement measuring method, particularly relate to a kind of small-displacement measuring method in long-distance plane.
Background technology
The method of the displacement of existing measurement building settlement etc. can be divided into contact measurement and non-cpntact measurement two classes.
The way of contact measurement is to paste foil gauge in position to be measured, directly measures strain, is converted to displacement again.In the operation, this method implements cumbersome in the open air, obtain high-precision result, and is very high to the requirement of mount technology.
Non-cpntact measurement is the method with flash ranging.Wherein a kind of total powerstation that is to use.Total powerstation can be read target direction and distance simultaneously, thereby can obtain Three-dimension Target displacement to be measured.But reach the high precision of telemeasurement, need to use high-grade equipment such as laser total station, not only price is high, and needs import.Another kind is to use many cameras to carry out the intersection of many orders.This needs prior high-precision calibrating camera, implements relatively difficulty for the field.Method of the present invention adopts one camera, with prior measure marker spacing be benchmark, calculate displacement in proportion, need not demarcate camera.
Summary of the invention
The objective of the invention is to for convenience, accurately non-cpntact measurement entity to be measured provides a kind of small-displacement measuring method in long-distance plane at the displacement of vertical and horizontal direction.
Purpose of the present invention is achieved by the following technical programs.
Small-displacement measuring method in long-distance plane of the present invention, it may further comprise the steps:
Make the cooperation identification plate---the center of cooperation identification plate, above and/or below, left and/or right-handly respectively draw a cooperation mark P o, P TAnd/or P B, P LAnd/or P R, wherein the distance between each cooperation sign is known, and this parasang is: millimeter;
Connect the cooperation identification plate and entity to be measured---cooperation identification plate and entity to be measured are connected, make upper and lower two cooperation signs along vertical direction, left and right two cooperation signs are along horizontal direction, and the displacement of entity to be measured is also along this both direction;
Gather the cooperation sign image---be erected at a distance camera collect and comprise above-mentioned five cooperation mark P under the various states o, P TAnd/or P B, P LAnd/or P RImage;
Imaging ratio---the image of gathering during to original state of the image of gathering when calculating original state, accurately extract each cooperation sign center, distance between the distance on the computed image between the cooperation sign of vertical direction and the cooperation sign of horizontal direction, this parasang is: pixel, then the imaging ratio on the both direction is respectively: the ratio between the pixel distance in actual range on the cooperation identification plate between vertical direction cooperation sign and the image between vertical direction cooperation sign, ratio between the pixel distance in actual range on the cooperation identification plate between horizontal direction cooperation sign and the image between horizontal direction cooperation sign, imaging ratio unit is: millimeter/pixel;
Record P on the image oDisplacement---the cooperation mark P of position to be measured when accurately extracting original state and follow-up each state oExact position on image; If the P that extracts when unloaded oThe picture position be x 0, y 0, the P that extracts during the i time loading oThe picture position be x i, y i, then can record P on the image oDisplacement, displacement unit is: pixel;
Calculate position to be measured and be in actual displacement amount on the vertical and horizontal both direction---with P on the image that records oDisplacement respectively to vertical direction and horizontal direction projection, the horizontal shift direction of corresponding entity to be measured wherein, with the x axle clamp angle of image coordinate system be ; The vertical displacement direction of corresponding entity to be measured, with the y axle clamp angle of image coordinate system be ψ, calculate P on the image oDisplacement on this both direction, and the actual displacement amount that position to be measured is on this both direction is respectively: imaging ratio and P on the vertical direction oThe product of in the vertical direction displacement; Imaging ratio and P on the horizontal direction oThe product of top offset in the horizontal direction.
The method of described making cooperation identification plate is: process a flat board that can be connected with entity to be measured, each is dull and stereotyped to go up to draw P o, P T, P B, P L, P RFive is one group cooperation sign.P o, P T, P B, P L, P RCoplane, P oBe P T, P BDefinite straight line of institute and P L, P RThe intersection point of definite straight line, be again line segment P simultaneously TP BWith line segment P LP RMid point.P T, P o, P BThe corresponding sense of displacement to be measured (being generally vertical direction) of the direction of determining, P L, P o, P RCorresponding another sense of displacement to be measured (being generally horizontal direction) of the direction of determining.During actual measurement, identification plate and position to be measured (point) is connected and is synchronized with the movement in loading procedure.If need simultaneously-measured position to have T on the entity to be measured, then need T cooperation identification plate, T combination to indicate altogether.
In like manner, but each dull and stereotyped also P of cooperation sign of drawing that goes up 0, P 1, P 2Three is one group, P 0, P 1, P 2Coplane, P 0Be line segment P 0P 1With line segment P 0P 2Intersection point, P 0, P 1The direction correspondence of determining one is treated side sense of displacement (being generally vertical direction), P 0, P 2Corresponding another sense of displacement to be measured (being generally horizontal direction) of the direction of determining.During actual measurement, identification plate and position to be measured (point) is connected and is synchronized with the movement in loading procedure.
If the selection of camera---need simultaneously-measured position to have T on the entity to be measured, then use T frame quality digital camera (image deformation and imaging noise are little), and be equipped with telephoto lens.Camera focus is adjustable or focus.Used focal length when determining each camera actual measurement in the imaging area of object distance and imaging ratio and camera.
The selection of camera support---need the firm camera support of T cover.Yin Ben experiment is very strict to the stability requirement of camera and support, according to the principle design of steadiness first, convenient, flexible property second with select camera support for use.
The selection of image pick-up card---need one to one or the one-to-many image pick-up card some.
The selection of computing machine---can use the computing machine of capture card some.
The precision analysis of the inventive method---cooperation sign adopts crosshair, the extraction precision of its center is made as the δ pixel on the image, because it is significant in this problem just with the relative position between same monumented point in unlike signal point and the different images in the width of cloth image, and the form basically identical of each cooperation sign, so when accurately locating with the template correlation method, the measuring accuracy of relative position is more excellent than the extraction precision of sign center between sign.
If l TBAnd l LRBe m pixel, L TBAnd L LRBe the M millimeter, the deviation of cooperation sign actual pitch is the Δ millimeter, and then the error estimate of measurement result is:
Figure C20061003399500061
Because m＞＞δ, M＞＞Δ, so if camera is enough stable and environmental baseline well (adopt plot quality is good, power supply is stablized, flow perturbation is little etc.), then measuring accuracy is mainly by enlargement factor
Figure C20061003399500062
Extract precision δ decision with monumented point.If be the digital camera of 768 * 576dpi with typical resolution, get m=400, M=300, Δ=1, δ=0.05, then the error estimate of the measurement result that calculates by formula (13) is 0.038 millimeter.
Flow perturbation and various interference can be used as noise, mainly influence the pixel precision of imaging, and be convenient for precision analysis, it is summed up as picture point extracts precision.For improving precision, adopt the multiple averaging method.For pure random noise, n average precision is the single precision
Figure C20061003399500063
As seen, guarantee and improve measuring accuracy, need to set about from following several respects:
1. in measuring process, keep the stable of camera.Owing to do not get static object of reference in measuring process, what promptly measure in essence is the variation of position to be measured (point) with respect to camera.Because object distance is much larger than image distance, promptly enlargement factor is very big, if unknowable change has taken place in measuring process camera parameter, the subtle change on the picture plane that it causes is with corresponding very big variation in kind.If camera is stable inadequately, can brings considerable influence to measurement result, even make measurement result lose practical significance.
2. adopt the camera of high optical resolution, reduce to take the visual field and make the cooperation mark P as far as possible o, P T, P B, P L, P RBe full of the visual field.The purpose of this measure is M, the increase m that reduces in the formula (13), promptly reduces in the formula
Figure C20061003399500071
.Though reducing M can correspondingly increase
Figure C20061003399500072
, but general, because M＞＞Δ,
Figure C20061003399500073
To the influence of measurement result precision more than
Figure C20061003399500074
The influence of item is remarkable.
3. employing lens distortion, the little camera of especially non-radiative symmetrical distortion.Reason is that camera do not do demarcation, can't eliminate the effects of the act for the lens distortion of lens distortion, especially non-radiative symmetry.
4. raising monumented point extraction precision and same state are repeatedly gathered and are averaged.
5. improve the precision of cooperation sign actual pitch.
6. adopt the high quality graphic capture card.The image fault that the high quality graphic capture card causes is little.
7. create and utilize the good working environment.Operation field should have stable power supply, stable atmospheric environment and suitable lighting condition.The best activity duration is the midnight in the early spring, late autumn or winter, best weather conditions are sombre, dry, calm (comprising before this in the daytime), disturbance in such activity duration and weather conditions downstream is minimum, and the control stream of people and wagon flow, is convenient to the enforcement of operation.
The present invention to the requirement of software is: software performance is reliable, and the man-machine interaction type is good.Software systems possess following function:
1. image management and processing;
2. monumented point accurately extracts automatically and manually;
3. first two field picture manually guides, and successive image extracts monumented point with following the tracks of automatically;
4. data are carried out desired processing;
5. measurement result output and demonstration.
To environment requirement be: operation field should have stable power supply, stable atmospheric environment and suitable lighting condition.Should there be significant vibroseis near during field experiment.
The present invention compared with prior art has the following advantages: adopt said method to measure, make the actual displacement amount of calculating target to be measured not need camera is demarcated, with the in-plane displacement amount of single camera with regard to energy high precision monitor distant object; Realization to the cooperation sign carry out that the whole audience is discerned automatically, tracking and sub-pix hi-Fix; Adopt high frequency to adopt the method elimination low frequency atmospheric disturbance influence that figure asks for average by program, make measuring accuracy higher.The present invention is applicable to the mean level displacement, landslide, the actual measurement in fields such as building sedimentation, inclination.
Description of drawings
Fig. 1 be among the present invention the cooperation identification plate and on the synoptic diagram of cooperation sign;
Fig. 2 is that the displacement of tested point on image is to the assigned direction perspective view;
Fig. 3 is an operation field synoptic diagram of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
As Fig. 1～shown in Figure 3, small-displacement measuring method in long-distance plane of the present invention may further comprise the steps:
Make the cooperation identification plate, as Fig. 1---the center of cooperation identification plate, above, below, left and the right-hand cooperation mark P of respectively drawing o, P T, P B, P L, P R, wherein upper and lower cooperation mark P T, P BBetween distance L TB(unit: millimeter) and left and right cooperation mark P L, P RBetween distance L LR(unit: millimeter) known.The method for making of cooperation identification plate is: process a flat board that can be connected with entity to be measured, each is dull and stereotyped to go up to draw P o, P T, P B, P L, P RFive is one group cooperation sign.P o, P T, P B, P L, P RCoplane, P oBe P T, P BDefinite straight line of institute and P L, P RThe intersection point of definite straight line, be again line segment P simultaneously TP BWith line segment P LP RMid point.P T, P o, P BThe corresponding sense of displacement to be measured (being generally vertical direction) of the direction of determining, P L, P o, P RCorresponding another sense of displacement to be measured (being generally horizontal direction) of the direction of determining.During actual measurement, identification plate and position to be measured (point) is connected and is synchronized with the movement in loading procedure.If need simultaneously-measured position to have T on the entity to be measured, then need T cooperation identification plate, T combination to indicate altogether.
Connect the cooperation identification plate and entity to be measured---cooperation identification plate and entity to be measured are connected, make upper and lower two cooperation signs along vertical direction, left and right two cooperation signs are along horizontal direction, and the displacement of entity to be measured is also along this both direction.
Gather the cooperation sign image---be erected at a distance camera collect and comprise above-mentioned five cooperation mark P under the various states o, P T, P B, P L, P RImage, and: a. makes the visual field less (promptly elongating focal length) as far as possible, to increase the true resolution of image; The cooperation sign that position to be measured (point) is located is positioned at picture centre, with the influence (because of image deformation mainly is symmetrical) that is reduced to image distortion.Whole the adopting in the figure process of same group of experiment, keep the various parameters (position, direction, focal length etc.) of camera constant.In order to suppress the influence of atmospheric disturbance and other white noise, under each state, all gather multiple image and resolve and be averaged.
Imaging ratio---the image of gathering during to original state of the image of gathering when calculating original state accurately extracts each cooperation sign center, P on the computed image T, P BBetween apart from l TBAnd P L, P RBetween apart from l LR(unit: pixel), then the imaging ratio on the both direction (unit: millimeter/pixel) be respectively:
k TB＝L TB/l TB (1)
k LR＝L LR/l LR (2)
Wherein, l TBAnd l LRBe respectively:
l TB = ( x B - x T ) 2 + ( y B - y T ) 2 - - - ( 3 )
l LR = ( x R - x L ) 2 + ( y R - y L ) 2 - - - ( 4 )
Record P on the image oDisplacement---the cooperation mark P that position to be measured (point) located when accurately extracting original state and follow-up each state oExact position on image; If the P that extracts when unloaded oThe picture position be (x 0, y 0), the P that extracts during the i time loading oThe picture position be (x i, y i), then can record P on the image oDisplacement (unit: pixel).
Calculate position to be measured (point) and be in actual displacement amount D on the vertical and horizontal both direction TBAnd D LR---with P on the image that records oDisplacement respectively to P T, P BDirection of determining (the horizontal shift direction of corresponding entity to be measured, with the x axle clamp angle of image coordinate system be ) and P L, P RThe direction of determining (the vertical displacement direction of corresponding entity to be measured, with the y axle clamp angle of image coordinate system be ψ) projection, as Fig. 2, P on the image then oDisplacement d on this both direction TBAnd d LR(unit: pixel) be respectively:
Figure C20061003399500093
d LR = ( x i - x 0 ) 2 + ( y i - y 0 ) 2 &CenterDot; cos [ arctan ( y i - y 0 x i - x 0 ) - &psi; ] - - - ( 6 )
Wherein,  and ψ are respectively:
&psi; = arctan ( y R - y L x R - x L ) - - - ( 8 )
Wherein, x T, y T, x B, y B, x L, y L, x R, y RBe respectively the P that records on the image of when zero load, gathering T, P B, P L, P RImage coordinate.
And position to be measured (point) is in the actual displacement amount D on this both direction TBAnd D LR(unit: millimeter) be respectively:
D TB＝k TB·d TB (9)
D LR＝k LR·d LR (10)
So far, promptly obtained the result who needs.
Comprehensive above formula (1)～(8) can be by the formula of the calculating of the measured value on image actual displacement amount:
D TB = [ L TB / ( x B - x T ) 2 + ( y B - y T ) 2 ] &CenterDot; ( x i - x 0 ) 2 + ( y i - y 0 ) 2 &CenterDot; cos [ arctan ( x i - x 0 y i - y 0 ) + arctan ( x B - x T y T - y B ) ] - - - ( 11 )
D LR = [ L LR / ( x R - x L ) 2 + ( y R - y L ) 2 ] &CenterDot; ( x i - x 0 ) 2 + ( y i - y 0 ) 2 &CenterDot; cos [ arctan ( y i - y 0 x i - x 0 - - arctan ( y R - y L x R - x L ) ] - - - ( 12 )
Assay method of the present invention is not limited to above embodiment, so long as the scheme of mentioning in this instructions all can be implemented.

Claims (10)

1, small-displacement measuring method in long-distance plane, it may further comprise the steps:
Make the cooperation identification plate---the center of cooperation identification plate, above and/or below, left and/or right-handly respectively draw a cooperation mark P o, P TAnd/or P B, P LAnd/or P R, wherein the distance between each cooperation sign is known, and this parasang is: millimeter;
Connect the cooperation identification plate and entity to be measured---cooperation identification plate and entity to be measured are connected, make upper and lower two cooperation signs along vertical direction, left and right two cooperation signs are along horizontal direction, and the displacement of entity to be measured is also along this both direction;
Gather the cooperation sign image---be erected at a distance camera collect and comprise above-mentioned cooperation mark P under the various states o, P TAnd/or P B, P LAnd/or P RImage;
Imaging ratio---the image of gathering during to original state of the image of gathering when calculating original state, accurately extract each cooperation sign center, distance between the distance on the computed image between the cooperation sign of vertical direction and the cooperation sign of horizontal direction, this parasang is: pixel, then the imaging ratio on the both direction is respectively: the ratio between the pixel distance in actual range on the cooperation identification plate between vertical direction cooperation sign and the image between vertical direction cooperation sign, ratio between the pixel distance in actual range on the cooperation identification plate between horizontal direction cooperation sign and the image between horizontal direction cooperation sign, imaging ratio unit is: millimeter/pixel;
Record P on the image oDisplacement---the cooperation mark P of position to be measured when accurately extracting original state and follow-up each state oExact position on image; If the P that extracts when unloaded oThe picture position be x 0, y 0, the P that extracts during the i time loading oThe picture position be x i, y i, then can record P on the image oDisplacement, displacement unit is: pixel;
Calculate position to be measured and be in actual displacement amount on the vertical and horizontal both direction---with P on the image that records oDisplacement respectively to vertical direction and horizontal direction projection, the horizontal shift direction of corresponding entity to be measured wherein, with the x axle clamp angle of image coordinate system be ; The vertical displacement direction of corresponding entity to be measured, with the y axle clamp angle of image coordinate system be ψ, calculate P on the image oDisplacement on this both direction, and the actual displacement amount that position to be measured is on this both direction is respectively: imaging ratio and P on the vertical direction oThe product of in the vertical direction displacement; Imaging ratio and P on the horizontal direction oThe product of top offset in the horizontal direction.
2, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: in the described collection cooperation sign image step, need to elongate camera focus, make the visual field less, to increase the true resolution of image;
3, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: in the described collection cooperation sign image step, make the cooperation sign of position to be measured be positioned at picture centre, to be reduced to the influence of image distortion.
4, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: in the described collection cooperation sign image step, whole the adopting in the figure process of same group of experiment, keep the various parameter constants of camera.
5, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: in the described collection cooperation sign image step, all gather multiple image and resolve and be averaged under each state.
6, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: the method for making of described cooperation identification plate is: the flat board that selection and entity to be measured are connected, and drafting has P on flat board o, P T, P B, P L, P RFive is one group cooperation sign; P o, P T, P B, P L, V RCoplane, P oBe P T, P BDefinite straight line of institute and P L, P RThe intersection point of definite straight line, be again line segment P simultaneously TP BWith line segment P LP RMid point; P T, P o, P BThe corresponding sense of displacement to be measured of the direction of determining, P L, P o, P RCorresponding another sense of displacement to be measured of the direction of determining.
7, small-displacement measuring method in long-distance plane according to claim 1, it is characterized in that: described camera is the quality digital camera, and outfit telephoto lens, camera focus is adjustable or focuses, used focal length when determining each camera actual measurement in the imaging area of object distance and imaging ratio and camera.
8, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: its support of described camera needs firm.
9, small-displacement measuring method in long-distance plane according to claim 1 is characterized in that: also adopted one to one in this method or the image pick-up card of one-to-many.
10, according to claim 1 or 9 described small-displacement measuring method in long-distance plane, it is characterized in that: this method also needs to use the computing machine of image pick-up card.
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桥梁位移的远距离测量新技术. 何振星，于起峰.广东公路交通，第4期. 2003 *
远距离、高精度二维动态位移测量. 何小元，衡伟，高卫.实验力学，第11卷第4期. 1996 *

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