CN107238375A - Detect the one camera photogrammetric survey method of bridge rubber bearing displacement - Google Patents
Detect the one camera photogrammetric survey method of bridge rubber bearing displacement Download PDFInfo
- Publication number
- CN107238375A CN107238375A CN201710299844.4A CN201710299844A CN107238375A CN 107238375 A CN107238375 A CN 107238375A CN 201710299844 A CN201710299844 A CN 201710299844A CN 107238375 A CN107238375 A CN 107238375A
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- camera
- image
- rubber bearing
- carried out
- bridge rubber
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
Abstract
The invention discloses a kind of one camera photogrammetric survey method for detecting bridge rubber bearing displacement, comprise the following steps：1) multiple coded targets are pasted in the position to be detected of bridge rubber bearing；2) the bridge pad image of 5 coded targets contained above is shot from different perspectives in multiple positions using single digital camera；3) index point automatic identification is carried out using Digital Image Processing algorithm；4) three dimensions point reconstruct and optimization are carried out using photogrammetric algorithm.The inventive method composition is simple, workable；The data of acquisition can be calculated in real time, and can carry out subsequent treatment to provide foundation for bearing damage grade assessment.
Description
Technical field
The present invention relates to technical field of bridge engineering, a kind of one camera for detecting bridge rubber bearing displacement is specifically provided
Photogrammetric survey method.
Background technology
With the Large scale construction of highway, railway and Urban Bridge, the usage amount of bridge rubber bearing is increased rapidly.
Bridge under arms during influenceed by various conditions, its rubber support disease increases year by year, infringement speed gradually accelerate.Rubber
Glue bearing after there is disease, will have a strong impact on the use function of bridge as the connection of bridge superstructure and substructure.
It is one of important disease during bridge rubber bearing disease is evaluated that bearing displacement, which is transfinited, is judged or straight essentially by naked eyes at present
Chi measurement bearing displacement.The operating efficiency of conventional method is relatively low and not accurate enough.Therefore, live noncontact is carried out to rubber support
Detection, is extremely important.
The content of the invention
Technical problem：, can the invention provides a kind of one camera photogrammetric survey method for detecting bridge rubber bearing displacement
Quickly and easily to realize the non-contact detecting of bridge rubber bearing displacement.
Technical scheme：The one camera photogrammetric survey method of the detection bridge rubber bearing displacement of the present invention, including following step
Suddenly：
1) multiple coded targets are pasted onto to the position to be observed of bridge rubber bearing；
2) using single digital camera multiple positions from different perspectives with focus away from shoot 5 coding makers contained above
The bridge pad image of point；
3) index point automatic identification is carried out using Digital Image Processing algorithm；
4) reconstruct and optimization of three dimensions point are carried out using photogrammetric algorithm, is specially：With the parameter of dispatching from the factory of camera
It is used as the estimate of camera internal parameter；Continuously-directional is carried out to image, position and the posture of camera is determined, multiple cameras are obtained
External parameter, and carry out the three-dimensional coordinate reconstruct of spatial point；Using the pixel coordinate of index point as observation, by single camera
Inner parameter, multiple camera external parameters and multiple spatial point three-dimensional coordinates utilize the light-stream adjustment of self-calibration as initial value
It is iterated optimization；
5) according to the step 4) the three dimensions point coordinates of reconstruct, with reference to the length standard of coordinate system, calculate bridge rubber
The change in displacement of glue bearing key position, obtains bearing displacement.
Further, in the inventive method, the step 3) idiographic flow be：Use respectively in spatial domain image enhaucament
Gray value contrast stretching and two methods of gaussian filtering denoising, image is pre-processed, using Canny rim detections progress
Whole pixel edge is extracted, and edge connection is carried out by recursive algorithm；Then with closed edge principle, size criterion, circularity criterion,
Ellipse fitting error constraints and location criteria, carry out object filtering, obtain the information of coded target in image；Coding is clicked through
Row decoding, obtains corresponding encoded radio；Using the ellipse fitting center of circle positioning positioned based on gaussian curve approximation sub-pixel edge
Algorithm carries out the sub-pixel positioning of mark dot center.
Further, in the inventive method, the step 4) in, image of the posture angle in 25-35 degree of camera is chosen,
It is described to image continuously-directional, be that image is oriented using relative orientation method.
Further, in the inventive method, the step 5) in, the length standard of coordinate system is determined according to station meter
's.
The inventive method shoots multiple the bridge pad images for including coded target, binding number using single digital camera
Word image processing techniques and photogrammetric survey method, the purpose for carrying out non-contact detecting is shifted to bearing to realize.
Beneficial effect：The present invention compared with prior art, with advantages below：
(1) abutment surface visual inspection.Judge compared to naked eyes and ruler measuring method, the present invention utilizes photogrammetric side
Method can obtain the original image of bridge rubber bearing, directly perceived effective, and be conducive to information to store.
(2) abutment surface is detected in real time.The present invention is by radio transmitting device, and the image that digital camera is shot is passed in real time
Notebook computer is transported to, is calculated in real time with photogrammetric survey method with reference to digital image processing techniques, with other acoustic imagings, red
The detection techniques such as outer detection are compared, and computational efficiency is higher.
(3) device composition is simple, workable.The present invention uses coded target, only needs single digital camera not
Multiple series of images is shot to bearing with position, notebook computer is calculated in real time, and automaticity is higher, and the data obtained
Subsequent treatment can be carried out to provide foundation for bearing damage grade assessment.
Brief description of the drawings
Fig. 1 is the notebook computer pie graph for calculating in real time；
Fig. 2 is the digital camera schematic diagram for shooting image；
Fig. 3 is the bridge pad schematic diagram for pasting coded target.
Have in figure：1. notebook computer；2. router；3. wireless receiver；4. digital camera；5. coded target；6.
Station meter；7. rubber support；8. bridge pier；9. bridge beam body.
Embodiment
This explanation is further described with reference to embodiment and Figure of description.
One camera photogrammetric survey method for bridge rubber bearing displacement detection comprises the following steps：
1) choose the ring-like coded target 5 of concentric circles as coded target of the invention, by solid matte paper print it is multiple
Coded target is pasted onto the position to be observed of rubber support 7 between bridge pier 8 and beam body 9；
2) radio transmitting device is passed through：Wireless receiver 3 and router 2, digital camera 4 is connected with notebook computer 1,
Using single digital camera in multiple positions from different perspectives to focus away from shooting multiple bridge pads for including coded target
Image, by radio transmitting device by shooting image real-time Transmission to notebook computer 1；
3) digital image processing techniques and photogrammetric survey method are used, image is handled in real time, coding maker is rebuild
The three-dimensional coordinate of point：
Index point automatic identification, including image preprocessing, rim detection, target sieve are carried out using Digital Image Processing algorithm
Choosing, coded target decoding, the sub-pixel positioning of mark dot center.Concrete operations are：Use respectively in spatial domain image enhaucament
Gray value contrast stretching and two methods of gaussian filtering denoising, image is pre-processed, to improve picture contrast and drop
The influence of low noise；Whole pixel edge extraction is carried out using Canny rim detections, edge connection is carried out by recursive algorithm；Mesh
Encoded point is decoded after mark screening, corresponding encoded radio is obtained；Using based on the positioning of gaussian curve approximation sub-pixel edge
Ellipse fitting center of circle location algorithm carry out the sub-pixel positioning of mark dot center.
The three dimensions point reconstruct of one camera, including image detection, image outline orientation are carried out using photogrammetric algorithm
Determine camera position and posture, the reconstruct of coded target three-dimensional coordinate, bundle adjustment optimum results.Concrete operations are：With camera
Estimate of the parameter as camera internal reference of dispatching from the factory；Multiple images for including public sign point are shot, it is continuously fixed that image is carried out
To the multiple Camera extrinsics of acquisition, and carry out the three-dimensionalreconstruction of spatial point；, will be single using the pixel coordinate of index point as observation
Camera internal reference, multiple Camera extrinsics and multiple spatial point three-dimensional coordinates as initial value, entered using the light-stream adjustment of self-calibration
Row iteration optimizes.
4) according to the coded target three-dimensional coordinate reconstructed, determined to measure the length standard of coordinate system by station meter 6, meter
The change in displacement of bridge rubber bearing key position is calculated, bearing displacement is obtained.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvement and equivalent substitution can also be made, these are to the present invention
Claim be improved with the technical scheme after equivalent substitution, each fall within protection scope of the present invention.
Claims (4)
1. a kind of one camera photogrammetric survey method for detecting bridge rubber bearing displacement, it is characterised in that this method includes following
Step：
1) multiple coded targets are pasted onto to the position to be observed of bridge rubber bearing；
2) using single digital camera in multiple positions from different perspectives to focus away from shooting 5 coded targets contained above
Bridge pad image；
3) index point automatic identification is carried out using Digital Image Processing algorithm；
4) reconstruct and optimization of three dimensions point are carried out using photogrammetric algorithm, is specially：Using camera dispatch from the factory parameter as
The estimate of camera internal parameter；Continuously-directional is carried out to image, position and the posture of camera is determined, obtained outside multiple cameras
Parameter, and carry out the three-dimensional coordinate reconstruct of spatial point；Using the pixel coordinate of index point as observation, by single camera internal
Parameter, multiple camera external parameters and multiple spatial point three-dimensional coordinates are carried out as initial value using the light-stream adjustment of self-calibration
Iteration optimization；
5) according to the step 4) the three dimensions point coordinates of reconstruct, with reference to the length standard of coordinate system, calculate bridge rubber branch
The change in displacement of seat key position, obtains bearing displacement.
2. the one camera photogrammetric survey method of detection bridge rubber bearing displacement according to claim 1, it is characterised in that
The step 3) idiographic flow be：Respectively with the gray value contrast stretching and gaussian filtering denoising in spatial domain image enhaucament
Two methods, are pre-processed to image, are carried out whole pixel edge extraction using Canny rim detections, are entered by recursive algorithm
Row edge is connected；Then with closed edge principle, size criterion, circularity criterion, ellipse fitting error constraints and location criteria, enter
Row object filtering, obtains the information of coded target in image；Encoded point is decoded, corresponding encoded radio is obtained；Using
The sub-pix for carrying out mark dot center based on the ellipse fitting center of circle location algorithm that gaussian curve approximation sub-pixel edge is positioned is determined
Position.
3. the one camera photogrammetric survey method of detection bridge rubber bearing displacement according to claim 1, it is characterised in that
The step 4) in, image of the posture angle in 25-35 degree of camera is chosen, it is described to image continuously-directional, it is to utilize phase
Orientation method is oriented to image.
4. the one camera photogrammetric survey method of the detection bridge rubber bearing displacement according to claim 1,2 or 3, its feature
It is, the step 5) in, the length standard of coordinate system is determined according to station meter.
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| CN201710299844.4A CN107238375A (en) | 2017-04-28 | 2017-04-28 | Detect the one camera photogrammetric survey method of bridge rubber bearing displacement |
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| CN201710299844.4A CN107238375A (en) | 2017-04-28 | 2017-04-28 | Detect the one camera photogrammetric survey method of bridge rubber bearing displacement |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108844499A (en) * | 2018-05-03 | 2018-11-20 | 岭南师范学院 | A kind of Measurement Approach of Leaf Area |
| CN109297428A (en) * | 2018-11-21 | 2019-02-01 | 武汉珈鹰智能科技有限公司 | A kind of high-precision deformation based on unmanned plane patrols survey technology method |
| CN110986760A (en) * | 2019-11-11 | 2020-04-10 | 同济大学 | Three-dimensional reconstruction-based method and system for checking size of special-shaped structure |
| CN111188419A (en) * | 2020-01-22 | 2020-05-22 | 哈尔滨工业大学 | Rod piece connecting node based on crack identification technology and crack identification method thereof |
| CN112313493A (en) * | 2018-09-27 | 2021-02-02 | 松下知识产权经营株式会社 | Detection device and detection method |
| CN112637553A (en) * | 2020-11-25 | 2021-04-09 | 浙江大学 | Bridge structure modal analysis method based on monitoring video |
| CN113007037A (en) * | 2019-12-20 | 2021-06-22 | 财团法人船舶暨海洋产业研发中心 | Structure monitoring system and method |
| CN113532375A (en) * | 2021-07-02 | 2021-10-22 | 武汉市市政建设集团有限公司 | Pier key point measuring method based on unmanned aerial vehicle measurement and coding mark point identification |
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| CN101566465A (en) * | 2009-05-18 | 2009-10-28 | 西安交通大学 | Method for measuring object deformation in real time |
| CN102654391A (en) * | 2012-01-17 | 2012-09-05 | 深圳大学 | Stripe projection three-dimensional measurement system based on bundle adjustment principle and calibration method thereof |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101566465A (en) * | 2009-05-18 | 2009-10-28 | 西安交通大学 | Method for measuring object deformation in real time |
| CN102654391A (en) * | 2012-01-17 | 2012-09-05 | 深圳大学 | Stripe projection three-dimensional measurement system based on bundle adjustment principle and calibration method thereof |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108844499A (en) * | 2018-05-03 | 2018-11-20 | 岭南师范学院 | A kind of Measurement Approach of Leaf Area |
| CN112313493A (en) * | 2018-09-27 | 2021-02-02 | 松下知识产权经营株式会社 | Detection device and detection method |
| CN109297428A (en) * | 2018-11-21 | 2019-02-01 | 武汉珈鹰智能科技有限公司 | A kind of high-precision deformation based on unmanned plane patrols survey technology method |
| CN110986760A (en) * | 2019-11-11 | 2020-04-10 | 同济大学 | Three-dimensional reconstruction-based method and system for checking size of special-shaped structure |
| CN113007037A (en) * | 2019-12-20 | 2021-06-22 | 财团法人船舶暨海洋产业研发中心 | Structure monitoring system and method |
| CN111188419A (en) * | 2020-01-22 | 2020-05-22 | 哈尔滨工业大学 | Rod piece connecting node based on crack identification technology and crack identification method thereof |
| CN112637553A (en) * | 2020-11-25 | 2021-04-09 | 浙江大学 | Bridge structure modal analysis method based on monitoring video |
| CN112637553B (en) * | 2020-11-25 | 2021-11-23 | 浙江大学 | Bridge structure modal analysis method based on monitoring video |
| CN113532375A (en) * | 2021-07-02 | 2021-10-22 | 武汉市市政建设集团有限公司 | Pier key point measuring method based on unmanned aerial vehicle measurement and coding mark point identification |
| CN113532375B (en) * | 2021-07-02 | 2022-05-20 | 武汉市市政建设集团有限公司 | Pier key point measuring method based on unmanned aerial vehicle measurement and coding mark point identification |
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Application publication date: 20171010 |