CN106197287B - Self-calibration measuring device and method for large scale structure composition deformation or displacement parameter - Google Patents
Self-calibration measuring device and method for large scale structure composition deformation or displacement parameter Download PDFInfo
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- CN106197287B CN106197287B CN201610628659.0A CN201610628659A CN106197287B CN 106197287 B CN106197287 B CN 106197287B CN 201610628659 A CN201610628659 A CN 201610628659A CN 106197287 B CN106197287 B CN 106197287B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of self-calibration measuring devices and method for large scale structure composition deformation or displacement parameter, no less than one measurement target drone including imaging system and in large structure measurement point, it further include the benchmark parallel target for being mounted on deformation or change in displacement on large structure and region can be ignored, benchmark parallel target and measurement target drone are imaged on the different location of the sensitivity member of imaging system, and the displacement of measurement point or deformation parameter are calculated according to the result of measurement target drone and the result of benchmark parallel target.The present invention and overcome measuring system because environment temperature, timeliness or imaging system because itself installation foundation deform caused by measurement error, improve measurement accuracy.
Description
Technical field
The invention belongs to mechanical meaurement technical fields, are related to one kind and being used for large structure displacement and deformation measuring device,
The device and method of especially a kind of self-alignment long-range displacement or distortion measurement.
Background technology
Large structure includes bridge, dam, tunnel, slope and building construction etc., and deformation includes mainly static deformation
And dynamic deformation, static deformation refer to that ground sink, tilts and the very slow deformation of variations such as stress relaxation, dynamic deformation refer to by
Shortterm deflection caused by Yu Feng, temperature, earthquake, traffic load or site operation etc., parameter monitoring comment the safety of target
Estimate analysis to play an important role.
Traditional large structure such as bridge, the instrument of deformation detection have dial gauge, amesdial, accelerometer, spirit level,
Theodolite etc..Currently, these instruments are still widely used in bridge acceptance, periodic detection, but professional technician is needed,
Time-consuming, laborious, human error is big, far can not realize online, real-time, automatic, intelligent measure.In recent years, information technology is fluffy
The exhibition of breaking out has driven the development of bridge deformation measuring technique significantly, has emerged in large numbers many new technology and methods, such as laser amount of deflection
Method and GPS (Global Position System) positioning measurement method.Laser flexometer can realize the displacement measurement of submillimeter, but
It is that range is only capable of reaching several tens cm, the larger measurement for bridge large deformation of span cannot be met, vertical displacement is reachable
Meter level；GPS position measurement method can realize the large deformation of real-time online measuring bridge, but its precision intelligently reaches Centimeter Level, and
High cost limits its popularization and application.
Since latter stage seventies solid state image sensor occurs, there are many scholars with image sensings such as CCD both at home and abroad
Device is medium, and image processing techniques is used for the research of bridge, beams of concrete deformation measurement.Application No. is 200820241096.0
Chinese patent " a kind of bridge moving displacement measuring device based on machine vision " disclose and a kind of passing through lasing light emitter and CCD is combined
The measuring device for measuring bridge dynamic deformation passes through the position of laser beam during bridge distal end records bridge deformation with CCD
Variation is set, the deformation parameter of bridge is calculated.Main problem is existing for current this kind of displacement sensor：Ccd image senses
Device needs are used in combination with alignment laser, increase the complexity of system.
Application No. is 201410145554.0 Chinese patents " a kind of Real-time Monitoring System of Bridges " to disclose a kind of bridge
Power-up target is held away from the fixation target of bridge by the remote measuring unit of dynamic displacement in use, and is needed in bridge
The place for monitoring displacement is equipped with CCD cameras so that target is imaged in the photosensitive members of CCD, passes through the target figure obtained in real time
As the position on CCD, the dynamic displacement on bridge tested point is calculated.This scheme the problem is that：One, system is measured
Displacement and the deformation parameter of bridge are calculated by relative displacement of the measurement target drone in the imaging point on CCD for system, because CCD holds
It is vulnerable to the influence of the factors such as environment temperature, timeliness, measurement error is larger, needs frequent calibration that could realize the exhausted of displacement
To measuring；Two, limited by execution conditions, on the body of a bridge of the generally also fixed bridges of CCD, therefore the position where CCD also with
External environment, stress loading change and are deformed, and cause to be superimposed a system background error on the parametric results of measurement,
Affect measurement accuracy.
Invention content
The present invention proposes a kind of self-calibration measuring device and method for large scale structure composition deformation or displacement parameter,
A benchmark parallel target is increased on the basis of traditional measurement target, and the benchmark parallel target is fixed on displacement and deforms insignificant
Region is changed with time using the real-time monitoring criteria target of same imaging unit and measurement target drone position, overcomes imaging
Unit systematic error because of variation of ambient temperature and caused by itself being stressed variation, substantially increases measurement accuracy.
The technology contents of the present invention are as follows：
For the self-calibration measuring device of large scale structure composition deformation or displacement parameter, including data processing centre, imaging
System and no less than one measurement target drone in large structure measurement point, further include being mounted on large structure
It is first in the sensitivity of imaging system that the benchmark parallel target in region, the benchmark parallel target and measurement target drone can be ignored in deformation or change in displacement
Different location on be imaged, the displacement of measurement point or deformation parameter are calculated according to the result of measurement target drone and the result of benchmark parallel target
It obtains.
Above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, large structure includes bridge
Beam, dam, tunnel, slope and building construction.
Above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, imaging system measures target
Mark, benchmark parallel target are fixed on by the strut of different length on large structure so that measurement target drone and benchmark parallel target are being imaged
It is imaged on the different location of the sensitivity member of system.
It is above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, benchmark parallel target and measurement target
Target is specific pattern or the power-up target of continuous work.
Above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, power-up target is to line up one
LED the or LD light bar of setting shape.
Above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, imaging system includes optics
Camera lens, imaging sensor, core control function unit, processing storage unit and remote communication unit；Imaging sensor be CCD or
Cmos sensor, core control function unit include trigger signal detection module, image data acquiring module, image gray processing and
Zoom module and target image feature extraction and identification module are used for the processing and identification of target image；Handle storage unit with
Core control function unit is connected, and is used for the storage and processing of image data；The remote communication unit and processing storage are single
Member connection, is used for the long-range transmission of image data.
Above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, imaging system passes through wireless
Gprs system, mobile radio network transmission module or optical cable transmission system transmit measurement result to data processing centre.
It is above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, core control function unit
It is built by DSP.
Above-mentioned to be used in the self-calibration measuring device of large scale structure composition deformation or displacement parameter, imaging system is CCD pictures
Machine or cmos sensor.
For the self-calibration measurement method of large scale structure composition deformation or displacement parameter, include the following steps：
[1] it installs：Measurement target drone and benchmark parallel target are installed on large structure, wherein measurement target drone is mounted on to be measured
Region can be ignored in deformation or change in displacement in point position, benchmark parallel target setting；
[2] it measures：Open imaging system so that benchmark parallel target and measurement target drone are in the different positions of the sensitivity member of imaging system
Imaging is set, the shift value of benchmark parallel target and measurement target drone is obtained.
[3] it calibrates：Data processing is carried out to imaging system, obtains the shift value of benchmark parallel target and measurement target drone；And according to
The positional value of benchmark parallel target is modified calibration to the shift value of measurement target drone, deducts imaging system because of itself installation foundation position
The measurement error that shipper pole comes, the real displacement value of measurement point where obtaining measurement target drone.
It is above-mentioned to be used in the self-calibration measurement method of large scale structure composition deformation or displacement parameter, the calibration in step [3]
Step includes：
[3.1] according to the change in location value of measurement target drone, and the distance between measurement target drone and imaging system, imaging are combined
The shift value x1 of the measurement point where measurement target drone is calculated in the optical parameter of system；
[3.2] according to the change in location value of benchmark parallel target, and the distance between benchmark parallel target and imaging system, imaging are combined
The basis displacement value x0 of imaging system is calculated in the optical parameter of system；
[3.3] the displacement x 11=x1-x0 of calibrated rear measurement point.
The advantageous effects that the present invention has are as follows：
1, the present invention increases one on the basis of the displacement measuring device that existing CCD cameras and measurement target drone form
Benchmark parallel target, it is zero that caused displacement or deformation, which can be ignored, in the measurements；In installation and debugging so that benchmark parallel target and measurement target
It marks while being imaged on CCD cameras, and in data handling, true measurement point is corrected according to the shift value of benchmark parallel target
Shift value, to overcome measuring system because environment temperature, timeliness or imaging system are because of the deformation of itself installation foundation or displacement
Caused measurement error, improves measurement accuracy.
2, core of the invention control function unit uses embedded system, compact-sized reliable, facilitates application；It sets simultaneously
It is equipped with telecommunication transmission unit, the result of measurement can be passed through wireless transmitting systems or the light such as gprs system, 3G wireless networks
The line transmission systems such as cable are transmitted to the duty room of distal end, meet long-range unattended round-the-clock field work requirement.
3,24 hours round-the-clock works may be implemented using LED the or LD light bar of power-up as target in target of the invention
Make, and have the characteristics that characteristic target extraction is convenient and accuracy is high, measurement accuracy also accordingly improves.
Description of the drawings
Fig. 1 is measuring device of the present invention application schematic diagram on common bridge；
Fig. 2 is that Fig. 1 measuring devices are installed on common bridge using vertical view；
Target and measurement target drone the image space schematic diagram on CCD pixels on the basis of Fig. 3；
Fig. 4 is imaging system theory of constitution schematic diagram of the present invention；
Reference numeral is as follows：1-optical lens；2-imaging sensors；4-remote communication units；5-cores control work(
It can unit；6-processing storage units；11-large structures；12-imaging systems；13-measurement target drones；14-benchmark parallel targets；
15-struts；16-measurement target drone images；17-benchmark parallel target images；18-display screens.
Specific implementation mode
The measuring system of the present invention is mainly used for the displacement of certain key positions or distortion measurement on large structure, wherein
Large structure includes bridge, dam, tunnel, slope and building construction, below by taking bridge as an example.
As shown in Figure 1, the self-calibration measuring device for large scale structure composition deformation or displacement parameter, including imaging system
12, no less than one measurement target drone 13 in large structure measurement point, and deformed on large structure
Or change in displacement can be ignored the benchmark parallel target 14 in region, the sensitivity member of benchmark parallel target 14 and measurement target drone 13 in imaging system 12
It is imaged on different location, the displacement of measurement point or deformation parameter are according to the result of measurement target drone 13 and the result meter of benchmark parallel target 14
It obtains.
Imaging system, on the one hand since the factors such as environment temperature, timeliness influence, leads to measurement target drone in measuring application
Position movement occurs for 13 imaging on CCD；On the other hand, it is limited by execution conditions, the position that imaging system 12 is installed
As the stress loading applied and lead to the displacement of imaging system itself, so generation system error, needs to deduct.Such as
Imaging system 12 and measurement target drone 13, when there is load-carrying vehicle to pass through, imaging system are installed in the general position of the bridge body of a bridge
12 itself can generate a systematic displacement error because of the weight of load-carrying vehicle, at this moment be obtained with the measurement of imaging system 12
The displacement of measurement target drone 13 be the equal of being superimposed a Systematic Errors.The present invention in large structure deformation or position
It moves variation region can be ignored and be mounted with benchmark parallel target 14, according to relative motion principle, benchmark parallel target that imaging system measurement obtains
14 displacement is exactly the systematic error of itself of imaging system 12, and the displacement or deformation of accurate measurement point can be obtained after deduction.
As shown in Fig. 2, imaging system 12, measurement target drone 13 and benchmark parallel target 14 are fixed on by the strut 15 of different length
On bridge so that measurement target drone 13 and benchmark parallel target 14 are imaged on the different location of the sensitivity member of imaging system 12.Basic target
Mark can be fixed on the insignificant bridge pier of deformation.Measurement target drone 13 can be more, in figure for the sake of simplicity, only draw one
Only.
The imaging of measurement target drone 13 and benchmark parallel target 14 in the photosensitive members of CCD is as shown in figure 3,16,17 respectively survey in figure
Target image and benchmark parallel target image are measured, 18 be display screen.It is zero or displacement very little since benchmark parallel target 14 is in displacement
Near bridge pier, therefore its displacement is negligible, and measurement target drone 13 and imaging system 12 are in bridge middle part displacement and deformation most
Big region can make the image of measurement target drone 13 generate the displacement x 1 of upper and lower directions, form when load-carrying vehicle drives into bridge
As system CCD itself generate background displacement be exactly benchmark parallel target 14 displacement x O, it is deducted, accurate survey can be obtained
Amount point shift value.
As shown in Figure 4, imaging system includes optical lens 1, imaging sensor 2, core control function unit 5, handles and deposit
Storage unit 6 and remote communication unit 4；Imaging sensor 2 is CCD or cmos sensor, and core control function unit 5 includes triggering
Signal detection module, image data acquiring module, image gray processing and Zoom module and target image feature extraction and identification mould
Block is used for the processing and identification of target image；Processing storage unit 6 is connected with core control function unit 5, is used for image data
Storage and processing；Remote communication unit 4 couples with processing storage unit 6, is used for the long-range transmission of image data.
Optical lens 1 aims at the target that is arranged in measured target, in the application the camera lens of optional varifocal, by difference away from
From on, different size of target imaging to imaging sensor, this working method has good adaptability to measuring target, and
Have the characteristics that measurement range is big, wherein imaging sensor 2 is CCD or cmos sensor, for obtaining measured target in real time
Image.
The target of the present invention can be the power-up target of the specific pattern or continuous work on target object.The present apparatus
It is of less demanding to target, if 24 hours round-the-clock works may be implemented as target using LED the or LD light bar of power-up
Make, and have the characteristics that characteristic target extraction is convenient and accuracy is high, measurement accuracy also accordingly improves.
Trigger control unit is used to provide the trigger signal needed for remote displacement sensor, and sensor does not work usually, only
Have when extraneous trigger signal arrives, displacement sensor is just started to work, and the pressure of data storage and data transmission is reduced.Far
Journey communication unit 4 couples with processing storage unit 6, is used for the long-range transmission of image data.
Remote communication unit 4, which can be the mobile radio networks transmission module or optical cable etc. such as wireless GPRS system, 3G, 4G, to be had
Line Transmission system transmits measurement result to the duty room of distal end, meets long-range unattended round-the-clock field work and wants
It asks.
The present invention is as follows for large scale structure composition deformation or the specific measuring process of displacement parameter：
[1] it installs：Measurement target drone and benchmark parallel target are installed on large structure, wherein measurement target drone is mounted on to be measured
Region can be ignored in deformation or change in displacement in point position, benchmark parallel target setting；
[2] it measures：Open imaging system so that benchmark parallel target and measurement target drone are in the different positions of the sensitivity member of imaging system
Set imaging；
[3] it calibrates：Data processing is carried out to imaging system, obtains the shift value of benchmark parallel target and measurement target drone；And according to
The positional value of benchmark parallel target is modified calibration to the shift value of measurement target drone, deducts imaging system because of itself installation foundation position
The measurement error that shipper pole comes, the real displacement value of measurement point where obtaining measurement target drone.
Calibration steps wherein in step [3] includes：
[3.1] according to the change in location value of measurement target drone, and the distance between measurement target drone and imaging system, imaging are combined
The shift value x1 of the measurement point where measurement target drone is calculated in the optical parameter of system；
[3.2] according to the change in location value of benchmark parallel target, and the distance between benchmark parallel target and imaging system, imaging are combined
The basis displacement value x0 of imaging system is calculated in the optical parameter of system；
[3.3] the displacement x 11=x1-x0 of calibrated rear measurement point.
Wherein step [3.3] is calibrated to the displacement of measurement target drone, overcome because of the displacement of imaging system installation foundation or
Region can be ignored since benchmark parallel target is fixed on deformation or change in displacement on large structure in error caused by deformation, therefore it is surveyed
The shift value measured can be equivalent to the displacement of imaging system own foundation generation, deducted and just obtain measurement target drone institute
Measurement point real displacement value, in calculating displacement upwards be positive value, be downwards negative value.
The present invention is applied in bridge displacement detection, and the range of measurable displacement is 10m grades at present, measurement accuracy
Up to 0.1mm grades, temporal resolution 100ms.
Claims (1)
1. the self-calibration measurement method for large scale structure composition deformation or displacement parameter, which is characterized in that include the following steps：
[1] it installs：Measurement target drone and benchmark parallel target are installed on large structure, wherein measurement target drone is mounted on point to be measured
It sets, region can be ignored in deformation or change in displacement in benchmark parallel target setting；
[2] it measures：Open imaging system so that benchmark parallel target and measurement target drone are on the different location of the sensitivity member of imaging system
Imaging；
[3] it calibrates：Data processing is carried out to imaging system, obtains the shift value of benchmark parallel target and measurement target drone；And according to benchmark
The shift value of target is modified calibration to the shift value of measurement target drone, deducts imaging system because of itself installation foundation displacement band
The measurement error come, the real displacement value of measurement point where obtaining measurement target drone；
Calibration steps in the step [3] includes：
[3.1] according to the change in location value of measurement target drone, and the distance between measurement target drone and imaging system, imaging system are combined
Optical parameter, the shift value x1 of the measurement point where measurement target drone is calculated；
[3.2] according to the change in location value of benchmark parallel target, and the distance between benchmark parallel target and imaging system, imaging system are combined
Optical parameter, the basis displacement value x0 of imaging system is calculated；
[3.3] the displacement x 11=x1-x0 of calibrated rear measurement point.
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| CN115993094B (en) * | 2023-03-01 | 2023-09-12 | 大连交通大学 | Large membrane structure roof displacement monitoring method and system based on CCD camera |
| CN116952144A (en) * | 2023-08-09 | 2023-10-27 | 中国地质大学（北京） | Method, device, system and medium for long-term monitoring of structural displacement |
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