CN103940345B - A kind of long-range displacement measurement system and method - Google Patents
A kind of long-range displacement measurement system and method Download PDFInfo
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Abstract
The present invention discloses a kind of long-range displacement measurement system and long-range displacement measurement method, and wherein remote displacement sensor comprises optical lens (1), image sensor (2), core controlling functions unit (5), process storage unit (6), trigger control unit (3) and remote communication unit (4); Wherein core controlling functions unit (5) comprises triggering signal detection module, the loading of target template and normalization module, image data acquiring module, image gray processing and Zoom module and target image matching detection module (7); The present invention adopts image sensor to obtain the image of target in measured target, and the displacement parameter of bridge is obtained by image procossing, have precision height, simple and reliable for structure, two dimension is measured in real time, measures the features such as range is big, is applicable to long-term, online, multimetering.
Description
Technical field
The invention belongs to mechanical meaurement technical field, it relates to a kind of displacement and deformation measuring device, the particularly displacement sensor of a kind of remote measurement that can be used for the targets such as bridge, dam, structural part.
Background technology
The distortion of the targets such as bridge, dam, structural part mainly comprises static deformation and dynamic deformation, static deformation refers to that ground sink, tilts and distortion that the change such as stress relaxation is very slow, dynamic deformation refers to the shortterm deflection owing to wind, temperature, earthquake and traffic load cause, and its parameter monitoring has important effect for the safety assessment analysis of target. A lot of country has all dropped into very big manpower and materials in the world, carries out the research of bridge deformation measuring technology.
The instrument of traditional bridge deformation detection has dial gauge, dial indicator, accelerometer, spirit-leveling instrument, transit instrument etc. At present, these instruments still widely use in bridge acceptance, periodic detection, but need professional and technical personnel, time-consuming, effort, and personal errors is big, can not realize online, real-time, automatic, intelligent measure far away. In recent years, the flourish development greatly having driven bridge deformation measuring technology of information technology, has emerged in large numbers many new technology and methods, and such as laser deflection method and GPS (GlobalPositionSystem) locate method of masurement. Laser flexometer can realize the displacement measurement of submillimeter, but range only can reach several tens cm, can not meet the measurement for bridge gross distortion that span is bigger, and its vertical translation can reach rice level; Gps position measurement method can realize the gross distortion of real-time online measuring bridge, but its precision intelligence reaches centimetre-sized, and costly, limits it and applies.
Since the latter stage seventies, solid state image sensor occurred, there are many scholars both at home and abroad taking image sensors such as CCD as medium, image processing techniques is used for the research of bridge, beams of concrete deformation measurement. Application number be 200820241096.0 Chinese patent " a kind of bridge moving displacement measuring device based on machine vision " disclose and a kind of combined the measuring apparatus measuring bridge dynamic deformation by laser source and CCD, by recording the change in location of laser light beam in bridge deformation process at bridge far-end CCD, calculate the deformation parameter of bridge. The main problem that current this kind of displacement sensor exists is: ccd image sensor needs and alignment laser conbined usage, adds the complicacy of system.
Summary of the invention
The present invention proposes the high precision remote displacement sensor based on image sensor and long-range displacement measurement method, by the method for optical imagery, target point position running parameter in time in the targets such as monitoring bridge, and calculate the displacement of target by analysis, there is two dimension in real time measurement, precision height, useful range big, relative low price, is well suited for long-term, online, multiple spot and automatically measures.
The technology contents of the present invention is as follows:
A kind of long-range displacement measurement system, the target being included in measured target setting and the remote displacement sensor arranged at distant location, remote displacement sensor is arranged on the fixing fulcrum that distortion can ignore;
Remote displacement sensor comprises optical lens, image sensor, core controlling functions unit, process storage unit, trigger control unit and remote communication unit;
Optical lens aims in measured target the target arranged;
Image sensor is CCD or cmos sensor, for obtaining the image of measured target;
Trigger control unit is for providing the triggering signal needed for remote displacement sensor;
Remote communication unit connects with process storage unit, for the long-range transmission of view data;
Process storage unit and core controlling functions unit are connected, for the Storage and Processing of view data;
Core controlling functions unit comprises triggering signal detection module, the loading of target template and normalization module, image data acquiring module, image gray processing and Zoom module and target image matching detection module;
Target template load and normalization module in advance feature according to target set up target template, and target template is carried out contracting and puts and rotation treatment, obtain coupling template group data, and store it in the flash storage of process storage unit; After triggering signal detection module receives triggering signal, image capture module obtains vision sensor data, after image gray processing and Zoom module operation process, obtains the data layout adapted with target image; In target image matching detection module, the vision sensor data after target feature templates group data and process is carried out matching detection, and calculate displacement parameter according to detected result, finally spread out of by remote communication unit.
In above-mentioned long-range displacement measurement system, target image matching detection module comprises target image rough matching unit, the accurate matching unit of target image and result identifying unit, wherein: the image after image gray processing and Zoom module process is divided into some regions by target image rough matching unit, and each sub regions data of target template group data and image are carried out correlation calculations, the rough hot spot region judging to obtain target image existence; View data in hot spot region and target feature templates data are carried out correlation calculations by pixel by the accurate matching unit of target image, judge to obtain the image position at target place; The process of result identifying unit obtains the coordinate information of target, and calculates the shift value of target.
In above-mentioned long-range displacement measurement system, target be on target object a specific pattern or non-stop run power up target.
In above-mentioned long-range displacement measurement system, powering up target is LED or the LD light bar lining up a shaped.
In above-mentioned long-range displacement measurement system, process storage unit comprises flash storage and 32 arm processors.
In above-mentioned long-range displacement measurement system, remote communication unit is wireless GPRS system or 3G wireless network transmission module.
In above-mentioned long-range displacement measurement system, optical lens is zoom lens.
In above-mentioned long-range displacement measurement system, core controlling functions unit is built by DSP.
A measuring method for long-range displacement, comprises the following steps:
[1] installation targets target in measured target;
[2] image sensor obtains target image, sets up target template according to the feature of target, and target template is carried out contracting and puts and rotation treatment, obtains coupling template group data, and stores it in the flash storage of process storage unit;
[3] displacement sensor receives triggering signal;
[4] image data acquiring module obtains the view data of image sensor;
[5], after image is carried out gray processing and Zoom module operation process, the data layout adapted with target image is obtained;
[6] view data after target feature templates group data and process is carried out matching detection, and calculate displacement parameter according to detected result;
[7] displacement parameter calculated is spread out of by remote communication unit.
In above-mentioned long-range displacement measurement method, step [6] comprises the following steps:
[6.1] image after step [5] being processed is divided into some regions, and the data of every sub regions are carried out correlation calculations with target feature templates group data one by one, judge to obtain the hot spot region of target image existence, and obtain the image zoom ratio and angle of rotation mated mutually with hot spot region image;
[6.2] view data in hot spot region and target feature templates data are carried out correlation calculations by pixel, judge to obtain the image position at target place;
[6.3] calculate the coordinate information of target by the image position at target place, and calculate the shift value of target.
The technique effect that the present invention has is as follows:
1, the present invention adopts image sensor to obtain the image of target in measured target, and the displacement parameter of bridge is obtained by image procossing, have, simple and reliable for structure, two dimension is measured in real time, measures the features such as range is big, is applicable to long-term, online, multimetering.
2, the present invention is provided with telecommunication transmission unit, the result measured can be passed through the wire transmission system such as wireless transmitting system or optical cable such as gprs system, 3G wireless network, transfer to the watchroom of far-end, meet long-range unmanned round-the-clock field job requirement on duty.
3, the core controlling functions unit of the present invention adopts embedded system, and compact construction is reliable, convenient application.
4, the optical lens of the present invention adopts zoom lens, and adaptive measuring distance, useful range are big, and measurement target has good adaptability.
5, the measuring system of the present invention is less demanding to target, and system can generate the target template group of different zoom when angle of rotation according to target, obtains the distance of target, size and displacement information; If adopting LED or the LD light bar powered up as target, then can realizing round-the-clock work in 24 hours, and have characteristic target and extract convenient and that accuracy is high feature, measuring accuracy is corresponding improve also.
6, the present invention obtains the To Template group data of different zoom rate and different rotary angle after being extracted by the characteristic target of target, it is placed in advance in flash memory, only need the data of the characteristic target template group data and image sensor that read storer to carry out comparison one by one in the measurements, substantially increase comparison efficiency; Simultaneously in data comparison process, the strategy utilizing image correlation algorithm and rough search and precise search to combine effectively improves comparison speed and accuracy, finally improves temporal resolution rate and the precision of measurement.
Accompanying drawing explanation
Fig. 1 is the principle schematic of remote displacement sensor of the present invention;
Fig. 2 is the flow process utilizing displacement sensor displacement of the present invention;
Fig. 3 is target image rough matching of the present invention and rough search principle schematic.
Reference numeral is as follows:
1 optical lens; 2 image sensors; 3 trigger control unit; 4 remote communication unit; 5 core controlling functions unit; 6 process storage unit; 7 target image matching detection modules; 10 targets; 11 target feature templates groups; 12 images containing target.
Embodiment
The remote displacement sensor that the long-range displacement measurement system of the present invention is included in measured target fixing target and arranges at distant location, remote displacement sensor is arranged on the fixing fulcrum that distortion can ignore.
As shown in Figure 1, the remote displacement sensor of the present invention comprises optical lens 1, image sensor 2, core controlling functions unit 5, process storage unit 6, trigger control unit 3 and remote communication unit 4.
Optical lens 1 aims in measured target the target arranged, the camera lens of optional varifocal in the application, by the target imaging of different distance, different size on image sensor, measurement target is had good adaptability by this kind of mode of operation, and have the advantages that useful range is big, wherein image sensor 2 is CCD or cmos sensor, for obtaining the image of measured target in real time.
The target of the present invention can power up target for a specific pattern on target object or non-stop run. This device is less demanding to target, if adopting LED or the LD light bar powered up as target, then can realize round-the-clock work in 24 hours, and has characteristic target and extract convenient and that accuracy is high feature, and measuring accuracy is corresponding improve also.
Trigger control unit 3 is for providing the triggering signal needed for remote displacement sensor, and sensor does not work at ordinary times, and only when extraneous triggering signal arrives, displacement sensor is just started working, and reduces data and stores the pressure with transfer. Remote communication unit 4 connects with process storage unit 6, for the long-range transmission of view data.
Remote communication unit 4 can be the wire transmission systems such as wireless GPRS system, 3G wireless network transmission module or optical cable, and measuring result transfers to the watchroom of far-end, meets long-range unmanned round-the-clock field job requirement on duty.
Process storage unit 6 comprises flash storage and 32 arm processors, and it connects with process storage unit 6, it is achieved the Storage and Processing of view data.
Core controlling functions unit 5 is the core of the present invention, comprises triggering signal detection module, target loading and characteristic extracting module, image data acquiring module, image gray processing and Zoom module and target image matching detection module 7.
Wherein target load and according to the feature of target, characteristic extracting module carries out that contracting is put in advance, after rotation treatment, obtain some coupling template group data of different zoom ratio and different rotary angle, and store it in the flash storage of process storage unit 6 for calling.
Target template pixel size can need to carry out free setting according to user, and in principle, the size of target template and the actual measurement environment pixel size after target imaging of getting the bid is more close, and the accuracy of measurement is more high; The template quantity put that can contract is relevant with the pixel size of template, and the template pixel after minimum zoom is not less than 4 pixel sizes; The angle of rotation calibration of template and support that maximum angle of rotation can also need setting according to user, minimum division value is 1 ��, and maximum support �� 180 �� rotate. Flash capacity is 1GB.
After triggering signal detection module receives triggering signal, image capture module obtains vision sensor data, first image acquisition data is carried out gray processing process, rgb image data is converted to yuv format data, wherein the Y value in yuv format data is the gray-scale value of image, and its conversion formula is as follows:
Y=0.2989*R+0.5870*G+0.1140*B
After gray processing processes, picture is compressed, obtains 1/2,1/4,1/8 respectively ... the picture group of 1/n size, n=2x, x=1,2,3 ... Then relevant matches calculating is carried out with template group data. Correlation analysis can be used for weigh two width picture similarity standards, the similarity of two width pictures is more high, then its relation conefficient is more big, and correlation calculations formula is as follows:
Wherein, DkFor the gradation data of picture, Avr is the mean value of picture gradation data; MkFor the gradation data of template picture, n is for calculating number, and its value equals width and the height product of picture.
By the picture group data dependence analysis after template group and compression, the region that can obtain and mark target image data and have maximum relation degree coefficient, this region is the target placement calculated, compare with the target placement information in reference point picture again, obtain the displacement information of mark target relative to reference point. Finally spread out of by remote communication unit 4. Wherein core controlling functions unit 5 is built by DSP, and this kind of embedded mode of operation can guarantee that compact construction is reliable, convenient application.
Measure to realize displacement parameter accurate, high efficiency, the target image matching detection process of the present invention adopts the mode of thickness combination, is described as follows: target image matching detection module 7 comprises target image rough matching unit, the accurate matching unit of target image and result identifying unit. In treating processes, first image after image gray processing and Zoom module process is divided into some regions by target image rough matching unit, and each sub regions data of target template group data and image are carried out correlation calculations, the rough hot spot region judging to obtain target image existence. Concrete calculate and treating processes as follows described in:
1) image rough matching
With template group respectively with compression after picture from the upper left corner, carry out correlation calculations, in order to accelerate the speed calculated, first mate fast, namely when carrying out correlation calculations, set step-length picture region mated, i.e. tolerance, tolerance can be arranged as required, and acquiescence setting tolerance is 32 pixels, like this when the picture group compressed is carried out correlation calculations, the step-length of coupling retrieval is 32, it is possible to improve the speed of retrieval greatly. Find out and there is maximum correlation coefficient value and matching degree coefficient is greater than picture and the x thereof of set(ting)value (being defaulted as 0.8), y-coordinate, and the Template Information (when angle of rotation is put in contracting) mated with it, then this region and adjacent peripheral zones thereof are exactly the hot picture region that may there is target, and possible template contracting puts when angle of rotation, complete the rough matching of image;
2) accurate matching way
After rough matching obtains the hot spot region of target in picture, in order to obtain the precise position information of target, also need accurately to mate location Calculation, calculating principle and process are identical with rough matching, but tolerance is set as 1 here, namely be equivalent to that hot spot region and template group data are carried out the relevant matches by pixel calculate, find correlation coefficient value maximum and also exceed setting matching degree thresholding (being defaulted as 0.95) data, the then x of these group data, y is the coordinate point of mark target image, ratio is put in the contracting that the template zoom ratio mated with it is mark target, angle of rotation is the angle of rotation of mark target.
3) judgement of target position
By the comparison with target placement in reference point picture, obtain the exact position of the image at target place, this position coordinate and original position coordinate are compared, namely obtains the shift value of measurement target.
The displacement measurement flow process of the present invention is as shown in Figure 2:
First installing in measured target or choosing target, target image is obtained by image sensor, feature according to target sets up target template, and target template is carried out contracting and puts and rotation treatment, obtain coupling template group data, and store it in the flash storage of process storage unit 6.
When displacement sensor receives triggering signal, image data acquiring module obtains the view data of image sensor, and after image carries out gray processing and Zoom module operation process, obtains the data layout adapted with target image.
Then enter images match testing process, carry out matching detection by the view data after target feature templates data and process, and calculate displacement parameter according to detected result. The matching detection of the present invention takes the method that image correlation algorithm and rough search and precise search combine, and greatly accelerates speed and the accuracy of measurement;
Wherein the process of rough search is as shown in Figure 3, first the image after process in early stage is divided into some regions, and the data of every sub regions are carried out correlation calculations with target feature templates group data one by one, find relative coefficient maximum and it is greater than the region of the threshold value of setting, then can be judged to that this region may exist target, it is defined as hot spot region, and is obtained zoom ratio and the angle of rotation of mating target template with it. For the image sensor of remote measurement, the contracting that its target image obtained shows as target image in the dynamic deformation of bridge is put and angle of rotation, therefore the target feature templates group comprising multiple scaling and multiple angle of rotation is formed after in advance deformation pattern possible in imaging for target being carried out feature extraction, subregion data after only template group data and image being divided carry out correlation calculations, can greatly improve computing speed. It should be noted that, in subregion quantity that in rough search, image divides and target feature templates group, the number of data wants appropriate, take into account measuring accuracy and the requirement of temporal resolution rate simultaneously.
The process of precise search is that by pixel, view data in hot spot region and target feature templates data are carried out correlation calculations, find the region that there is maximum correlation coefficient and be greater than setting thresholding (acquiescence 0.95), then this region is the position of the target finally measured, thus obtains the accurate coordinates information of target in picture.
Finally comparing according to present position coordinate and original position coordinate, calculate the shift value of target, and the displacement parameter calculated is spread out of by remote communication unit 4. The strategy that this kind utilizes image correlation algorithm and rough search and precise search to combine effectively improves comparison speed and accuracy, finally improves temporal resolution rate and the precision of measurement.
The present invention is applied in bridge displacement detects, and can the range of Displacement Measurement be 10m level at present, and measuring accuracy is mm level, and temporal resolution rate is 100ms.
Claims (10)
1. a long-range displacement measurement system, it is characterised in that: the target being included in measured target setting and the remote displacement sensor arranged at remote fixing fulcrum place;
Described remote displacement sensor comprises optical lens (1), image sensor (2), core controlling functions unit (5), process storage unit (6), trigger control unit (3) and remote communication unit (4);
Described optical lens (1) aims in measured target the target arranged;
Described image sensor (2) is CCD or cmos sensor, for obtaining the image of measured target;
Described trigger control unit (3) is for providing the triggering signal needed for remote displacement sensor;
Described remote communication unit (4) connects with process storage unit (6), for the long-range transmission of view data;
Described process storage unit (6) and core controlling functions unit (5) are connected, for the Storage and Processing of view data;
Described core controlling functions unit (5) comprises triggering signal detection module, the loading of target template and normalization module, image data acquiring module, image gray processing and Zoom module and target image matching detection module (7);
Described target template load and normalization module in advance feature according to target set up target template, and target template is carried out contracting and puts and rotation treatment, obtain coupling template group data, and store it in the flash storage of process storage unit (6); After triggering signal detection module receives triggering signal, image data acquiring module obtains vision sensor data, after image gray processing and Zoom module operation process, obtains the data layout adapted with target image; In target image matching detection module (7), the vision sensor data after target feature templates group data and process is carried out matching detection, and calculate displacement parameter according to detected result, finally spread out of by remote communication unit (4).
2. long-range displacement measurement system according to claim 1, it is characterised in that: described target image matching detection module comprises target image rough matching unit, the accurate matching unit of target image and result identifying unit; Wherein
Image after image gray processing and Zoom module process is divided into some regions by described target image rough matching unit, and each sub regions data of target template group data and image are carried out correlation calculations, the rough hot spot region judging to obtain target image existence;
View data in hot spot region and target feature templates data are carried out correlation calculations by pixel by the accurate matching unit of described target image, judge to obtain the image position at target place;
Described result identifying unit process obtains the coordinate information of target, and calculates the shift value of target.
3. long-range displacement measurement system according to claim 1 and 2, it is characterised in that: described target be on target object a specific pattern or non-stop run power up target.
4. long-range displacement measurement system according to claim 3, it is characterised in that: the described target that powers up is LED or the LD lamp lining up a shaped.
5. long-range displacement measurement system according to claim 1, it is characterised in that: described process storage unit (6) comprises flash storage and 32 arm processors.
6. long-range displacement measurement system according to claim 1, it is characterised in that: described remote communication unit (4) is wireless GPRS system or 3G wireless network transmission module.
7. long-range displacement measurement system according to claim 1, it is characterised in that: described optical lens (1) is zoom lens.
8. long-range displacement measurement system according to claim 1, it is characterised in that: described core controlling functions unit (5) is built by DSP.
9. one kind utilizes the measuring method that the long-range displacement measurement system described in claim 1 carries out long-range displacement, it is characterised in that, comprise the following steps:
[1] installation targets target in measured target;
[2] image sensor obtains target image, feature according to target sets up target template, and target template is carried out contracting and puts and rotation treatment, obtain coupling template group data, and store it in the flash storage of process storage unit (6);
[3] displacement sensor receives triggering signal;
[4] image data acquiring module obtains the view data of image sensor;
[5], after image is carried out gray processing and Zoom module operation process, the data layout adapted with target image is obtained;
[6] view data after target feature templates group data and process is carried out matching detection, and calculate displacement parameter according to detected result;
[7] displacement parameter calculated is spread out of by remote communication unit (4).
10. long-range displacement measurement method according to claim 9, it is characterised in that, described step [6] comprises the following steps:
[6.1] image after step [5] being processed is divided into some regions, and the data of every sub regions are carried out correlation calculations with target feature templates group data one by one, judge to obtain the hot spot region of target image existence, and obtain the image zoom ratio and angle of rotation mated mutually with hot spot region image;
[6.2] view data in hot spot region and target feature templates data are carried out correlation calculations by pixel, judge to obtain the image location information at target place;
[6.3] calculate the coordinate information of target by the image position at target place, and compare with original coordinates, calculate the shift value of target.
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| WO2008123510A1 (en) * | 2007-03-30 | 2008-10-16 | Kyoto University | Displacement measuring method, displacement measuring apparatus and target for displacement measurement |
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