CN107328502A - A kind of anchor rod pallet board load visualization digital imaging method - Google Patents
A kind of anchor rod pallet board load visualization digital imaging method Download PDFInfo
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- CN107328502A CN107328502A CN201710535284.8A CN201710535284A CN107328502A CN 107328502 A CN107328502 A CN 107328502A CN 201710535284 A CN201710535284 A CN 201710535284A CN 107328502 A CN107328502 A CN 107328502A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 15
- 238000012800 visualization Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 27
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
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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
Abstract
The present invention relates to a kind of anchor rod pallet board load visualization digital imaging method, suitable for the non-contact type measuring method of underground rockbolt stress, the multiple image before and after pallet deformation is specifically shot using CCD camera, space identity is carried out to the multiple image before and after being tested tray surface deformation using Digital Speckle Correlation Method, calculating obtains three-dimensional coordinate, the threedimensional model that fitting is set up before and after tray surface deformation, obtains data before and after tray surface deformation；The quick three-dimensional deformation analysis contrast of three-dimensional space data obtains strain field before and after by being deformed to pallet, obtains stress field with reference to pallet bending stiffness, the real-time load that can obtain anchor pole is integrated to stress field inverse；The present invention more traditional foil gauge and displacement transducer, anchor rod drawing device and flat jack, load tray visualization digital imaging technique are easy to use, quickly realize 3 D deformation and strain measurement.
Description
Technical field
The present invention relates to a kind of anchor rod pallet board load visualization digital imaging method, it is adaptable to underground and tunnel rockbolt stress
Non-contact type measuring method.
Background technology
Anchor pole is most widely used support reinforcement mode in mining engineering, and the purpose of anchor pole load observation is analysis tunnel
In the load change situation of viability anchor pole, anchor pole working condition is monitored, actual measurement can be provided to adjust and changing supporting parameter
Foundation.And rockbolt installation is in drilling, in air-tight state, it is impossible to directly observe its and carry out ess-strain, traditional contact
Measuring method, such as foil gauge, fibre optical sensor, displacement transducer, have that function is single, measurement point is few, data are limited, and reason
By the shortcoming that calculation error is larger；And contactless vision measuring method, with its operated quickly and conveniently property and quickly grow, just from biography
The mark point coordinates vision measurement of system progressively develops into three-dimensional whole field vision measurement.
The dynamic deformation and strain data of only measurement anchor pole three-dimensional whole field could accurately disclose its dynamic property, therefore compel
Be essential it is deformed under complex working condition progress three-dimensional whole field accurately measure, provide science data for the correlative study of anchor pole,
And existing traditional detection method based on contact because its own exist the problem of, it is impossible to solve this problem well.
The content of the invention
The present invention provides a kind of anchor rod pallet board load visualization digital imaging method, can not only quickly realize 3 D deformation and
Strain measurement, the object range that can obtain whole audience displacement, is applicable test is wide, measuring environment is had no special requirements.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of anchor rod pallet board load visualization digital imaging method, comprises the following steps：
The first step：Pallet is installed on the metope of tunnel, then anchor pole is fixed at tray center position, does not apply pretightning force
When be defined as deformation before pallet, apply pretightning force after be defined as deformation after pallet；
Second step：The first video camera and the second video camera are laid in both sides respectively on the central shaft of anchor rod pallet board, in pallet
And first lay the first light source between video camera, secondary light source is laid between pallet and the second video camera；
3rd step：System coordinates demarcation is carried out using binocular stereo vision principle and Zhang Zhengyou plane references method；
4th step：Pallet before first light source, the deformation of secondary light source directive, in tray surface formation speckle image, is used
First video camera, the second video camera to formed speckle image pallet be observed, by speckle image a certain luminous point as
Plane coordinates is calculated, and obtains the three-dimensional coordinate of luminous point before deforming；
5th step：Pretightning force is applied to pallet so that pallet deforms, after the first light source, the deformation of secondary light source directive
Anchor rod pallet board, in tray surface formation speckle image, the speckle image before deformation and the speckle image after deformation are carried out
Match somebody with somebody, the points of two width speckle images is determined to relation according to maximum correlation coefficient, so as to find in the 4th step luminous point after pallet deformation
Position；
6th step：After matching is finished, the plane coordinates of the picture of luminous point in speckle image after deformation is calculated, change is drawn
The three-dimensional coordinate of luminous point after shape；
7th step：The whole audience three of the difference, as pallet between the three-dimensional coordinate after three-dimensional coordinate and deformation before deformation
Tie up displacement；
8th step：On the reference picture drawn after pallet deformation, set centered on tested point and refer to sub-district, pass through son
The mode of area's matching, searches out its corresponding target sub-district on a reference, the center of target sub-district is tested point
Correspondence position in the target image；Displacement for each point in target sub-district using least square fitting obtains displacement letter
Number, using this function as the functional value of target subregion central spot, strain value is obtained to the function derivation；
9th step：Another target sub-district is selected, the strain value obtained after pallet deformation is calculated by said process again, so
Repeat to obtain pallet whole audience strain value；
Tenth step：The quick three-dimensional deformation analysis contrast of three-dimensional space data is strained before and after by being deformed to pallet
, stress field is obtained with reference to pallet bending stiffness, the real-time load that can obtain anchor pole is integrated to stress field inverse；It is specific to calculate
Method is as follows：
ω-amount of deflection；
K-coefficient of subgrade reaction；
D-anchor rod pallet board bending stiffness；
E-modulus of elasticity；
μ-Poisson's ratio；
H-anchor rod pallet board thickness；
The distance at r-supporting plate center to required point；
Q-concentrfated load；
A-anchor rod pallet board radius
As present invention further optimization, both sides are laid the first video camera and second and taken the photograph respectively on the central shaft of pallet
Camera, wherein, the first video camera, the second video camera are set with central shaft in 45 degree of angles respectively；
As present invention further optimization, the first light source, pallet and second are laid between pallet and the first video camera
Secondary light source is laid between video camera, wherein, the first light source, secondary light source are set with central shaft in 60 degree of angles respectively, the first light
Source is about at pallet and the partially outer 15cm in the first video camera centre position, and secondary light source is about in pallet and the second video camera centre position
At partially outer 15cm；
As present invention further optimization, the first described video camera and the second video camera use CCD camera；
As present invention further optimization, reference picture is handled by sub-pix, and its denoising uses small wave converting method
Handled.
By above technical scheme, relative to prior art, the invention has the advantages that：
The present invention more traditional foil gauge and displacement transducer, anchor rod drawing device and flat jack, load tray visualization number
Word imaging technique is easy to use, and the first Application technology can quickly realize 3 D deformation and strain on anchor pole and pallet
Measurement；The present invention does not need optical fringe processing simultaneously, with light path is relatively easy, noncontact, high accuracy, can obtain entirely
Displacement, be applicable the object range of test extensively, the advantages of had no special requirements to measuring environment.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure diagram of the preferred embodiments of the present invention；
In figure：1 is the first video camera, and 2 be the second video camera, and 3 be the first light source, and 4 be secondary light source, and 5 be anchor pole, and 6 are
Pallet, 7 be control computer.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As shown in figure 1, the present invention includes following technical characteristic：First video camera 1, the second video camera 2, the first light source 3, the
Two light sources 4, anchor pole 5, pallet 6, control computer 7.
A kind of anchor rod pallet board load visualization digital imaging method of the present invention, comprises the following steps：
The first step：Pallet is installed on the metope of tunnel, then anchor pole is fixed at tray center position, does not apply pretightning force
When be defined as deformation before pallet, apply pretightning force after be defined as deformation after pallet；
Second step：The first video camera and the second video camera are laid in both sides respectively on the central shaft of anchor rod pallet board, in pallet
And first lay the first light source between video camera, secondary light source is laid between pallet and the second video camera；
3rd step：System coordinates demarcation is carried out using binocular stereo vision principle and Zhang Zhengyou plane references method；
4th step：Pallet before first light source, the deformation of secondary light source directive, in tray surface formation speckle image, is used
First video camera, the second video camera to formed speckle image pallet be observed, by speckle image a certain luminous point as
Plane coordinates is calculated, and obtains the three-dimensional coordinate of luminous point before deforming；
5th step：Pretightning force is applied to pallet so that pallet deforms, after the first light source, the deformation of secondary light source directive
Anchor rod pallet board, in tray surface formation speckle image, the speckle image before deformation and the speckle image after deformation are carried out
Match somebody with somebody, the points of two width speckle images is determined to relation according to maximum correlation coefficient, so as to find in the 4th step luminous point after pallet deformation
Position；Wherein, with the image I before the first video camera, the second camera system records deformation of body1With the image I after deformation2,
By digital picture related algorithm, I is weighed1With I2Matching degree, determine before deformation of body and deformation after corresponding geometric point,
Contrasted, matched and calculated.Conventional formula of correlation coefficient is：
In formula：I1(xi,yj) represent certain point (x in the preceding sub-district A of deformationi,yj) place gray value；I2(xi *,yj *) represent deformation
Certain point (x in sub-district B afterwardsi *,yj *) gray value；WithIt is sub-district A and sub-district B average gray value respectively；xi *=xi+
xdef, yj*=yj+ydef, wherein (xdef,+ydef) it is displacement of the P points along x and y directions；When coefficient correlation is 1, represent
Two sub-districts are perfectly correlated；When coefficient correlation is 0, represent that two sub-districts are completely uncorrelated.Change xdefWith+ydef's
Value, i.e., image after deformation moves up sub-area, can obtain different C values so that C takes the xdef and+y of maximumdefI.e.
It is the displacement component at subregion center；
6th step：After matching is finished, the plane coordinates of the picture of luminous point in speckle image after deformation is calculated, change is drawn
The three-dimensional coordinate of luminous point after shape；
7th step：The whole audience three of the difference, as pallet between the three-dimensional coordinate after three-dimensional coordinate and deformation before deformation
Tie up displacement；
8th step：On the reference picture drawn after pallet deformation, set centered on tested point and refer to sub-district, pass through son
The mode of area's matching, searches out its corresponding target sub-district on a reference, the center of target sub-district is tested point
Correspondence position in the target image；Displacement for each point in target sub-district using least square fitting obtains displacement letter
Number, using this function as the functional value of target subregion central spot, strain value is obtained to the function derivation；Matched using sub-district
With the method for formula of correlation coefficient, the speed and precision of matching are improved；
9th step：Another target sub-district is selected, the strain value obtained after pallet deformation is calculated by said process again, so
Repeat to obtain pallet whole audience strain value；
Tenth step：The quick three-dimensional deformation analysis contrast of three-dimensional space data is strained before and after by being deformed to pallet
, stress field is obtained with reference to pallet bending stiffness, the real-time load that can obtain anchor pole is integrated to stress field inverse；
As present invention further optimization, both sides are laid the first video camera and second and taken the photograph respectively on the central shaft of pallet
Camera, wherein, the first video camera, the second video camera are set with central shaft in 45 degree of angles respectively；
As present invention further optimization, the first light source, pallet and second are laid between pallet and the first video camera
Secondary light source is laid between video camera, wherein, the first light source, secondary light source are set with central shaft in 60 degree of angles respectively, the first light
Source is about at pallet and the partially outer 15cm in the first video camera centre position, and secondary light source is about in pallet and the second video camera centre position
At partially outer 15cm；
As present invention further optimization, the first described video camera and the second video camera use CCD camera；
As present invention further optimization, reference picture is handled by sub-pix, and its denoising uses small wave converting method
Handled, improve precision；
As present invention further optimization, binocular stereo vision principle and Zhang Zhengyou plane reference methods are used in step 3
System coordinates demarcation is carried out, specific demarcation comprises the following steps：
The first step：The calibrating template of plane net trellis is set up, using plane center of circle scaling board or plane black and white chessboard mark
Home position on fixed board, calibrating template or black and white checkerboard grid hand over justice point to be exactly to demarcate control point, and by known demarcation
The coordinate value at control point is defined as the coordinate value of world coordinate system；
Second step：After calibrating template is set up, calibrating template is shot from different perspectives, the calibration mold of several different angles is obtained
Plate image；
3rd step：Image procossing is carried out to calibrating template, obtains demarcating the coordinate at control point on each width uncalibrated image；
4th step：Coordinate and image coordinate that control point is demarcated on calibrating template are substituted into the first video camera, the second shooting
In machine model, the first video camera, the analytic solutions of the second camera parameters are obtained；
5th step：Deflection factor is obtained by minimum variance；
6th step：Obtained according to Non-Linear Programming in final iteration result, including the first video camera, the second video camera,
Outer parameter.
Digital Speckle Correlation Method measuring system is made up of hardware and software two parts, hardware components by the first video camera,
Second video camera, control computer composition, are responsible for the work such as collection, the preservation of test piece deformation image；Software section is then to adopting
The scattered image collected is handled, obtains required deformation information.
In image acquisition process, it should be noted that
Erection on camera：The image capturing system of three-dimensional digital image correlation method is first using two CCD cameras
Video camera, the second video camera to measured object focal imaging, obtain the digital picture on measured object surface before and after deformation from different perspectives；
In practical operation, it is necessary to assure visual field and field depth of the tested region during amoeboid movement all the time in two cameras
Within.
Demarcation on camera：The calibration process of three-dimensional digital image correlation method is as follows:It is same first by two CCD cameras
When shoot calibrating template, the calibrating templates of different postures is imaged, then the first video camera, the second video camera each carry out single-phase
Machine is demarcated, and finally carries out double camera demarcation.
In image processing process, it should be noted that
First have to carry out sub-pix processing to picture, the first video camera, the digital picture of the second camera acquisition are pixels
Point is discrete, and each pixel has a quantization error of up to ± 1/2 pixel under image coordinate system, this error be by
What the hardware configuration of CCD camera was determined；In addition the Pixel Dimensions and pixel quantity that CCD gathers image are limited, because
The determination of pixel correspondence yardstick, so strongly limit the precision for the half-tone information that measurement is obtained, the application, which is used, is based on spatial domain
The sub-pix matching algorithm of iteration improves measurement accuracy, then carries out image denoising, image denoising uses wavelet transformation, main mistake
Journey is first, by the singularity of detection image Wavelet Modulus Maxima point come reconstruction image；Second, by using wavelet transformation system
Several processing, image is being rebuild using the coefficient after being processed；3rd, use the correlation between multi-scale wavelet coefficient
Re-establishing filter is being carried out after handling wavelet coefficient.
Main thought based on Noise Elimination from Wavelet Transform is using the multiple dimensioned characteristic of wavelet analysis, first to by noise pollution
Image carries out wavelet transformation, then obtained wavelet coefficient is uniformly processed with threshold values, obtains a new wavelet coefficient；
Then it carries out inverse transformation, finally obtains the image removed after noise；It is finally images match, the task of images match is to find
Corresponding points in two width digital pictures, its precision is directly connected to the precision of measured object pattern and deformation measurement；What is matched is basic
Process is as follows：First, on a reference, region to be measured is determined by way of being manually specified；Then, in region to be measured,
Grid is evenly dividing, mesh point is tested point；Finally, using coefficient correlation image matching method, calculating obtains all to be measured
The correspondence position in the target of point, completes images match task.
In data handling procedure, it should be noted that
Space identity, meter are carried out to the multiple image before and after the deformation of tested tray surface using Digital Speckle Correlation Method
Calculation obtains three-dimensional coordinate, and the threedimensional model that fitting is set up before and after tray surface deformation obtains data before and after tray surface deformation；It is logical
The quick three-dimensional deformation analysis contrast for crossing three-dimensional space data before and after being deformed to pallet obtains strain field, with reference to pallet bending stiffness
Stress field is obtained, the real-time load that can obtain anchor pole is integrated to stress field inverse.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in the application art.Should also
Understand, those terms defined in such as general dictionary, which should be understood that, to be had and the meaning in the context of prior art
The consistent meaning of justice, and unless defined as here, will not be explained with idealization or excessively formal implication.
The implication of "and/or" described herein refers to that the simultaneous situation of respective individualism or both is wrapped
Including including.
The implication of " connection " described herein can be that being directly connected between part can also be passed through between part
Other parts are indirectly connected with.
Using the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (4)
1. a kind of anchor rod pallet board load visualization digital imaging method, it is characterised in that：Comprise the following steps：
The first step：Pallet is installed on the metope of tunnel, then anchor pole is fixed at tray center position, does not apply fixed during pretightning force
Justice is the pallet before deformation, applies the pallet being defined as after pretightning force after deformation；
Second step：The first video camera and the second video camera are laid in both sides respectively on the central shaft of anchor rod pallet board, in pallet and
The first light source is laid between one video camera, secondary light source is laid between pallet and the second video camera；
3rd step：System coordinates demarcation is carried out using binocular stereo vision principle and Zhang Zhengyou plane references method；
4th step：Pallet before first light source, the deformation of secondary light source directive, in tray surface formation speckle image, uses first
Video camera, the second video camera are observed to the pallet for forming speckle image, by the plane of the picture of a certain luminous point in speckle image
Coordinate is calculated, and obtains the three-dimensional coordinate of luminous point before deforming；
5th step：Pretightning force is applied to pallet so that pallet deforms, the anchor after the first light source, the deformation of secondary light source directive
Lever bracket disk, in tray surface formation speckle image, the speckle image before deformation is matched with the speckle image after deformation, root
The points of two width speckle images is determined to relation according to maximum correlation coefficient, so as to find the position of luminous point after pallet deformation in the 4th step
Put；
6th step：After matching is finished, the plane coordinates of the picture of luminous point in speckle image after deformation is calculated, drawn after deformation
The three-dimensional coordinate of luminous point；
7th step：The three-dimensional position of the whole audience of the difference between the three-dimensional coordinate after three-dimensional coordinate and deformation before deformation, as pallet
Move；
8th step：On the reference picture drawn after pallet deformation, set centered on tested point and refer to sub-district, pass through sub-district
The mode matched somebody with somebody, searches out its corresponding target sub-district on a reference, and the center of target sub-district is tested point at this
Correspondence position in target image；Displacement for each point in target sub-district using least square fitting obtains displacement function, will
This function obtains strain value as the functional value of target subregion central spot to the function derivation；
9th step：Another target sub-district is selected, the strain value obtained after pallet deformation is calculated by said process again, so repeats
So as to obtain pallet whole audience strain value；
Tenth step：The quick three-dimensional deformation analysis contrast of three-dimensional space data obtains strain field before and after by being deformed to pallet, ties
Close pallet bending stiffness and obtain stress field, the real-time load that can obtain anchor pole is integrated to stress field inverse.
2. anchor rod pallet board load visualization digital imaging method according to claim 1, it is characterised in that：In pallet
The first video camera and the second video camera are laid in both sides respectively on heart axle, wherein, the first video camera, the second video camera respectively with center
Axle is set in 45 degree of angles
Anchor rod pallet board load visualization digital imaging method according to claim 1, it is characterised in that：In pallet and first
The first light source is laid between video camera, secondary light source is laid between pallet and the second video camera, wherein, the first light source, the second light
Source is respectively with central shaft in the settings of 60 degree angles, and the first light source is about at pallet and the partially outer 15cm in the first video camera centre position, and the
Two light sources are about at pallet and the partially outer 15cm in the second video camera centre position.
3. anchor rod pallet board load visualization digital imaging method according to claim 1, it is characterised in that：Described first
Video camera and the second video camera use CCD camera.
4. anchor rod pallet board load visualization digital imaging method according to claim 1, it is characterised in that：Reference picture is led to
Sub-pix processing is crossed, its denoising is handled using small wave converting method.
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| CN109029279A (en) * | 2018-07-23 | 2018-12-18 | 清华大学 | Deformation measurement method and device |
| CN109029279B (en) * | 2018-07-23 | 2020-01-10 | 清华大学 | Deformation measuring method and device |
| CN109493329A (en) * | 2018-11-02 | 2019-03-19 | 河北工业大学 | Digital Image Correlation Method based on local mesh reflnement |
| CN112504523A (en) * | 2020-11-05 | 2021-03-16 | 郑州大学 | Method for measuring stress field through two-dimensional non-contact computer vision |
| CN112504523B (en) * | 2020-11-05 | 2022-05-06 | 郑州大学 | Method for measuring stress field through two-dimensional non-contact computer vision |
| CN112344871A (en) * | 2020-11-18 | 2021-02-09 | 中冶赛迪工程技术股份有限公司 | Deformation detection system and deformation detection method for temperature measurement sampling probe gun |
| CN112924197A (en) * | 2021-03-25 | 2021-06-08 | 中国重汽集团济南动力有限公司 | Suspension deformation motion monitoring device and method |
| CN113280750A (en) * | 2021-06-09 | 2021-08-20 | 武汉大学 | Three-dimensional deformation monitoring method and device |
| CN113280750B (en) * | 2021-06-09 | 2022-08-30 | 武汉大学 | Three-dimensional deformation monitoring method and device |
| CN116467928A (en) * | 2023-03-08 | 2023-07-21 | 中煤科工开采研究院有限公司 | Anchor rod stress inversion model construction method and system based on tray laser scanning |
| CN116467928B (en) * | 2023-03-08 | 2023-11-21 | 中煤科工开采研究院有限公司 | Anchor rod stress inversion model construction method and system based on tray laser scanning |
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