CN109975141A - A kind of Experiment Analysis System and method for test specimen strain in blasting process - Google Patents
A kind of Experiment Analysis System and method for test specimen strain in blasting process Download PDFInfo
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/30—Investigating strength properties of solid materials by application of mechanical stress by applying a single impulsive force, e.g. by falling weight
- G01N3/313—Investigating strength properties of solid materials by application of mechanical stress by applying a single impulsive force, e.g. by falling weight generated by explosives
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
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Abstract
The embodiment of the present invention discloses a kind of Experiment Analysis System and method for test specimen strain in blasting process.It is related to blasting technique field, the state that can be adapted for the different moments in blasting process to test specimen carries out 3-D image high speed acquisition.It include: blasting experiment loading device, sync control device, image collecting device and image processing and analyzing device；Image collecting device includes first camera group, second camera group, third phase unit, the 4th phase unit and the 5th phase unit, any phase unit includes at least the first visual angle camera, the second visual angle camera and light compensating lamp, and the first visual angle camera, the second visual angle camera and test specimen are triangularly arranged；First camera group, second camera group, third phase unit, the 4th phase unit and the 5th phase unit circular array are set to around the test specimen；Multiple camera groups shoot different predetermined time test specimen blasting process images respectively, with the purpose of cooperative achievement high-speed capture.The present invention is suitable for the theoretical research analysis scene to blasting technique.
Description
Technical field
The present invention relates to blasting technique field more particularly to a kind of experimental analysis systems strained for test specimen in blasting process
System and method.
Background technique
Drilling and blasting method refers to and reaches the method for excavating rock purpose by drilling, powder charge, explosion, as drilling and blasting method is in rock
Fast development and extensive use in exploitation, it is accordingly also increasingly heavier to the analysis and research of explosion dynamic process and its mechanism of action
It wants.
Inventor has found in the implementation of the present invention: currently, after blasting technique research field is usually to explosion
The parameters such as the strain of test specimen made by experimental study analysis, the strain of the test specimen in few pairs of blasting process ground in real time
Study carefully analysis, and in order to realize the real-time analysis and research to straining in blasting process, when needing different in blasting process to test specimen
The state at quarter carries out 3-D image high speed acquisition, for this reason, it may be necessary to which (it is thousands of that shooting speed reaches each second by means of ultrahigh speed camera
Ten thousand even more than one hundred million time cameras) blasting process is shot, still, current satisfactory ultrahigh speed camera depend on into
Mouthful, and cost is high.
Summary of the invention
In view of this, the embodiment of the present invention provide it is a kind of in blasting process test specimen strain Experiment Analysis System and side
Method, the state that can be adapted for the different moments in blasting process to test specimen carries out 3-D image high speed acquisition, compared to application
Ultrahigh speed camera carries out the scheme of High-speed Image Acquisition, advantage of lower cost, so as to realize to the test specimen in blasting process
Strain analyze and research, with for blasting engineering practice theoretical direction is provided.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
In a first aspect, the embodiment of the present invention provides a kind of image-pickup method suitable for blasting process, the experiment point
Analysis system includes: blasting experiment loading device, sync control device, image collecting device and image processing and analyzing device；
Wherein, blasting experiment loading device is used for loading specimen, is prefabricated with blasthole on the test specimen；
Sync control device includes: signal trigger and pulse igniting device, and the signal trigger connects image all the way and adopts
Acquisition means, another way are connect by pulse igniting device with the TNT explosive fuse cord of the installation in the blasthole；
Image collecting device includes first camera group, second camera group, third phase unit, the 4th phase unit and the 5th camera
Group, any phase unit is extremely in the first camera group, second camera group, third phase unit, the 4th phase unit and the 5th phase unit
It include less the first visual angle camera, the second visual angle camera and light compensating lamp, first visual angle camera, the second visual angle camera and test specimen are in
Triangular arrangement；
First camera group, second camera group, third phase unit, the 4th phase unit and the setting of the 5th phase unit circular array
Around the test specimen；
The first camera group is used for the first pulse control signal sent according to sync control device, and shooting first is default
Image in first blasting process of the test specimen at moment；
The second camera group is used for the second pulse control signal sent according to sync control device, and shooting second is default
Second blasting process image of the test specimen at moment；
The third phase unit is used for the third pulse control signal sent according to sync control device, and shooting third is default
The third blasting process image of the test specimen at moment；
The 4th phase unit is used for the 4th pulse control signal sent according to sync control device, and shooting the 4th is default
4th blasting process image of the test specimen at moment；
The 5th phase unit is used for the 5th pulse control signal sent according to sync control device, and shooting the 5th is default
5th blasting process image of the test specimen at moment；First predetermined time, the second predetermined time, third predetermined time, the 4th
Predetermined time and the 5th predetermined time are different, the first camera group, second camera group, third phase unit, the 4th phase unit and
The shooting speed of 5th phase unit is 2,000,000/second；
Image processing and analyzing device, the blasting process of the test specimen for the different predetermined times to image acquisition device
Image handled, and the test specimen strain in blasting process is analyzed based on treated image.
Preferably, first predetermined time is 1+5n, and the second predetermined time is 2+5n, and third predetermined time is 3+5n,
4th predetermined time is 4+5n, the 5th predetermined time 5+5n；Wherein, n >=0, and n is integer.
Second aspect, the embodiment of the present invention also provide a kind of experiment analytical method strained for test specimen in blasting process,
Comprising steps of being fixedly clamped the test specimen for being prefabricated with blasthole on blasting experiment device；
Pack is put into the blasthole of the test specimen；
The primacord of pack is connected on the pulse igniting device of sync control device；
The switch of the signal trigger of sync control device and light compensating lamp is connected；
Trigger signal is sent to light compensating lamp by the signal trigger, is opened light compensating lamp and was continued for the first predetermined time
Section, so that light compensating lamp illumination brightness reaches preset requirement；
When monitoring that light compensating lamp illumination brightness reaches preset requirement, first camera group, second camera group, third phase are triggered
Unit, the 4th phase unit and the 5th phase unit shoot image according to preset shooting time；The first camera group, second camera
Group, third phase unit, the 4th phase unit and the 5th phase unit include at least the first visual angle camera and the second visual angle camera；
After triggering first camera group, second camera group, third phase unit, the 4th phase unit and the shooting of the 5th phase unit
The second predetermined time, by signal trigger send pulse igniting signal give pulse igniting device so that pulse igniting device ignite
Explosive；
First camera group shoots the first blasting process image of the test specimen of the first predetermined time；
Second camera group shoots the second blasting process image of the test specimen of the second predetermined time；
Third phase unit shoots the third blasting process image of the test specimen of third predetermined time；
4th phase unit shoots the 4th blasting process image of the test specimen of the 4th predetermined time；
5th phase unit shoots the 5th blasting process image of the test specimen of the 5th predetermined time；So that multiple phase aircrew cooperations
Realize that ultrahigh speed shoots test specimen blasting process image；First predetermined time, the second predetermined time, third predetermined time,
Four predetermined times and the 5th predetermined time are different；The ultrahigh speed shooting speed is 10,000,000/second；
By the first, second, third, fourth of the test specimen that camera group is shot respectively and the 5th the image of blasting process be sent to
Image processing and analyzing device；
Image processing and analyzing device handles described image, and based on treated image to the examination in blasting process
Part strain is analyzed.
Preferably, described image processing analytical equipment handles described image, and based on treated image to quick-fried
Test specimen strain during broken carries out analysis and includes:
The first visual angle camera based on first group of camera and the test specimen for the different angle that the second visual angle camera is shot respectively are quick-fried
Image during broken, 3-D image of the building test specimen in the first blasting process；
The first visual angle camera based on second group of camera and the test specimen for the different angle that the second visual angle camera is shot respectively are quick-fried
Image during broken, 3-D image of the building test specimen in the second blasting process；
The test specimen of the different angle shot respectively based on the first visual angle camera of third group camera and the second visual angle camera is quick-fried
Image during broken, 3-D image of the building test specimen in third blasting process；
The first visual angle camera based on the 4th group of camera and the test specimen for the different angle that the second visual angle camera is shot respectively are quick-fried
Image during broken, 3-D image of the building test specimen in the 4th blasting process；
The first visual angle camera based on the 5th group of camera and the test specimen for the different angle that the second visual angle camera is shot respectively are quick-fried
Image during broken, 3-D image of the building test specimen in the 5th blasting process；
The 3-D image of the first blasting process based on building to the test specimen in the first predetermined time blasting process strain into
Row analysis；
The 3-D image of the second blasting process based on building to the test specimen in the second predetermined time blasting process strain into
Row analysis；
The 3-D image of third blasting process based on building to the test specimen in third predetermined time blasting process strain into
Row analysis；
The 3-D image of the 4th blasting process based on building to the test specimen in the 4th predetermined time blasting process strain into
Row analysis；
The 3-D image of the 5th blasting process based on building to the test specimen in the 5th predetermined time blasting process strain into
Row analysis.
Preferably, the different angles that the first visual angle camera based on first group of camera is shot respectively from the second visual angle camera
Image in the test specimen blasting process of degree, constructing test specimen in the 3-D image of the first blasting process includes:
Obtain the first one-tenth of the first subregion on test specimen in the first blasting process image that the first visual angle camera is shot
Picpointed coordinate；
According to pole constraint formulations pr TFpl=0 determines that the first imaging point coordinate is shot in the second visual angle camera
Corresponding second imaging point coordinate in one blasting process image；The first imaging point coordinate and the second imaging point coordinate are test specimen
On the first subregion in respective coordinates point of the same point in different images；Wherein, PrIt is the neat of the first imaging point coordinate
Secondary coordinate, PlIt is the homogeneous coordinates of the second imaging point coordinate；
F is fundamental matrix,Wherein, ArIt is the first visual angle camera internal reference, AlIt is the second visual angle camera
Internal reference, R are the spin matrixs between two cameras, and T is the expression symbol of transformation matrix, txIt is translation vector in the x direction, tyIt is
Translation vector in y-direction；tsIt is the translation vector on direction；S is converted by the translation vector of two cameras；
One is determined in the first subregion on test specimen based on obtained the first imaging point coordinate and the second imaging point coordinate
The three dimensional space coordinate of corresponding points；
It repeats the above steps, obtains one group of discrete three-dimensional coordinate that all the points are constituted in the first subregion on test specimen；
Using interpolation or curve fitting algorithm, three of the first subregion of test specimen in the first predetermined time blasting process are constructed
Tie up image.
Preferably, the different angles that the first visual angle camera based on second group of camera is shot respectively from the second visual angle camera
Image in the test specimen blasting process of degree, constructing test specimen in the 3-D image of the second blasting process includes:
Obtain the first one-tenth of the first subregion on test specimen in the second blasting process image that the first visual angle camera is shot
Picpointed coordinate；
According to pole constraint formulations pr TFpl=0 determines that the first imaging point coordinate is shot in the second visual angle camera
Corresponding second imaging point coordinate in two blasting process images；The first imaging point coordinate and the second imaging point coordinate are test specimen
On the first subregion in respective coordinates point of the same point in different images；Wherein, Pr is the neat of the first imaging point coordinate
Secondary coordinate, PlIt is the homogeneous coordinates of the second imaging point coordinate；
F is fundamental matrix,Wherein, ArIt is the first visual angle camera internal reference, AlIt is the second visual angle camera
Internal reference, R are the spin matrixs between two cameras, and T is the expression symbol of transformation matrix, txIt is translation vector in the x direction, tyIt is
Translation vector in y-direction；tsIt is the translation vector on direction；S is converted by the translation vector of two cameras；
One is determined in the first subregion on test specimen based on obtained the first imaging point coordinate and the second imaging point coordinate
The three dimensional space coordinate of corresponding points；
It repeats the above steps, obtains one group of discrete three-dimensional coordinate that all the points are constituted in the first subregion on test specimen；
Using interpolation or curve fitting algorithm, three of the first subregion of test specimen in the second predetermined time blasting process are constructed
Tie up image；
Repeat the process of the 3-D image of the first subregion of test specimen in above-mentioned the second predetermined time of building blasting process
Step, construct respectively third predetermined time, in the 4th predetermined time and the 5th predetermined time blasting process test specimen the first sub-district
The 3-D image in domain.
Preferably, first son determined based on the first obtained imaging point coordinate and the second imaging point coordinate on test specimen
The three dimensional space coordinate of a corresponding points includes: in region
Obtain the focal length of the first visual angle camera and the second visual angle camera；
Based on obtained the first imaging point coordinate, the second imaging point coordinate and the focal length,
According to formulaCalculate the three dimensional space coordinate of corresponding points；
Wherein, the spin matrix between two camerasAnd translation vector
Preferably, described image is handled in image processing and analyzing device, and based on treated image to explosion
After test specimen strain in the process is analyzed further include: by the test specimen strain analysis result in blasting process with spreadsheet format
It exports and stores.
Preferably, first predetermined time is 1+5n, and the second predetermined time is 2+5n, and third predetermined time is 3+5n,
4th predetermined time is 4+5n, the 5th predetermined time 5+5n；Wherein, n >=0, and n is integer
Experiment Analysis System and method provided in an embodiment of the present invention for test specimen strain in blasting process, comprising: quick-fried
Broken experiment loading device, sync control device, image collecting device and image processing and analyzing device；By being loaded in blasting experiment
Multiple phase units are arranged in array around test specimen on device, control burst time and multiple phase units using sync control device
Timing is shot, the blasting process image of different predetermined times, the shooting speed of each phase unit are shot using each phase unit
For 2,000,000/second, the shape of the different moments in blasting process to test specimen can be realized by the collaboration shooting of multiple groups camera in this way
State carries out 3-D image ultrahigh speed acquisition collection, compared to the scheme that application ultrahigh speed camera carries out High-speed Image Acquisition, cost phase
To lower, so as to realize that the strain to the test specimen in blasting process is analyzed and researched, to be provided for blasting engineering practice
Theoretical direction.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is Experiment Analysis System one example structure schematic diagram of the present invention for test specimen strain in blasting process；
Fig. 2 is that an embodiment is realized to the test specimen camera that the state of different moments is shot in blasting process in Fig. 1
Group layout stracture schematic diagram；
Fig. 3 is that one example structure schematic diagram of loading device is tested in Fig. 1 borehole blasting.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
A kind of Experiment Analysis System strained for test specimen in blasting process of the embodiment of the present invention, is suitable for carrying out explosion
Theoretical research analysis, can be to the test specimen state progress ultrahigh speed Image Acquisition of different moments in blasting process, so as to reality
Now to test specimen in blasting process dynamic strain variation process analysis.
Fig. 1 is Experiment Analysis System one example structure schematic diagram of the present invention for test specimen strain in blasting process, institute
Stating Experiment Analysis System includes: blasting experiment loading device 100, sync control device 200, image collecting device 300 and image
Handle analytical equipment 400.
Wherein, blasting experiment loading device 100 is used for loading specimen, is prefabricated with blasthole on the test specimen.
Shown in referring to Fig. 3, in one embodiment of the invention, blasting experiment loading device 100 includes first support
101, second support 102, the first gripping block 103 in the first support 101 and second in second support 102
Gripping block 104, the first gripping block 103 and the second gripping block 104 adjustable position in the horizontal direction, to adapt to different sizes
Test specimen 105 clamping.
Sync control device 200 includes: signal trigger 201 and pulse igniting device 202,201 1 Lu Lian of signal trigger
Image collecting device 300 is connect, another way is connected by the TNT explosive fuse cord of the installation in pulse igniting device 202 and the blasthole
It connects, to explosive initiation.
Image collecting device 300 includes first camera group 301, second camera group 302, third phase unit 303, the 4th camera
Group 304 and the 5th phase unit 305, first camera group 301, second camera group 302, third phase unit 303, the 4th phase unit 304
And the 5th any phase unit in phase unit 305 includes at least the first visual angle camera 3010, the second visual angle camera 3011 and light filling
Lamp, the first visual angle camera 3010, the second visual angle camera 3011 are triangularly arranged with test specimen.
First camera group 301, second camera group 302, third phase unit 303, the 4th phase unit 304 and the 5th phase unit
305 circular arrays are set to around the test specimen.
First camera group 301 is used for the first pulse control signal sent according to sync control device, and shooting first is default
Image in first blasting process of the test specimen at moment.
Second camera group 302 is used for the second pulse control signal sent according to sync control device, and shooting second is default
Second blasting process image of the test specimen at moment.
Third phase unit 303 is used for the third pulse control signal sent according to sync control device, and shooting third is default
The third blasting process image of the test specimen at moment.
4th phase unit 304 is used for the 4th pulse control signal sent according to sync control device, and shooting the 4th is default
4th blasting process image of the test specimen at moment.
5th phase unit 305 is used for the 5th pulse control signal sent according to sync control device, and shooting the 5th is default
5th blasting process image of the test specimen at moment.
First predetermined time, the second predetermined time, third predetermined time, the 4th predetermined time and the 5th predetermined time
Difference, first camera group 301, second camera group 302, third phase unit 303, the 4th phase unit 304 and the 5th phase unit 305
Shooting speed is 2,000,000/second；Such five group pattern is set to the camera around test specimen and passes through the figure of shooting different moments respectively
Picture, so that it may which cooperative achievement shooting speed reaches 10,000,000/second of ultrahigh speed camera shooting speed.
It is understood that can also realize the bat of higher speed by the way that more multiple groups camera is arranged based on theory of the invention
Take the photograph image.
Image processing and analyzing device 400, the explosion of the test specimen for the different predetermined times to image acquisition device
The image of process is handled, and image analyzes the test specimen strain in blasting process based on treated.
Experiment Analysis System provided in an embodiment of the present invention for test specimen strain in blasting process, comprising: blasting experiment
Loading device, sync control device, image collecting device and image processing and analyzing device；By on blasting experiment loading device
Test specimen around array multiple phase units are set, when controlling the shooting of burst time and multiple phase units using sync control device
Sequence, the blasting process image of different predetermined times is shot using each phase unit, and the shooting speed of each phase unit is 2,000,000
/ second, it can realize that the state of the different moments in blasting process to test specimen carries out by the collaboration shooting of multiple groups camera in this way
3-D image ultrahigh speed acquisition collection, compared to application ultrahigh speed camera carry out High-speed Image Acquisition scheme, advantage of lower cost,
So as to realize that the strain to the test specimen in blasting process is analyzed and researched, referred to providing theory for blasting engineering practice
It leads.
In another embodiment of the present invention, first predetermined time is 1+5n, and the second predetermined time is 2+5n, the
Three predetermined times are 3+5n, and the 4th predetermined time is 4+5n, the 5th predetermined time 5+5n；Wherein, n >=0, and n is integer.
In order to clearly illustrate the technical solution and its effect of the embodiment of the present invention, now in conjunction with to it is different in blasting process when
The experiment scene that the strain of the test specimen at quarter is analyzed is described below:
In order to study the variation of test specimen strain of different phase in blasting process, need to carry out the blasting process of test specimen
Ultrahigh speed shooting, can directly select ultrahigh speed camera, but higher cost.
By using the Experiment Analysis System of the embodiment of the present invention, referring to shown in Fig. 1 and 2, in explosively loading experimental provision
Multiple phase units, such as 5 phase units are arranged in surrounding, realize the explosion of test specimen in each phase unit using two general cameras
The shooting of the different angle of journey, but the shooting speed of every group of camera is smaller, is selected as 2,000,000/second, by utilizing synchronously control
Device controls each phase unit and is shot according to scheduled timing, i.e., makes different cameras according to different triggering right moments for camera
Group shoots the image of different predetermined times, for example, shot the 1st, 6,11,16 second by first group of camera, the
Two groups of cameras are shot the 2nd, 7,12,7 second, and third group camera is shot the 3rd, 8,13,18 second,
4th group of camera is shot the 4th, 9,14,19 second, and the 5th group of camera shoots the 5th, 10,15,20
Second.In this manner it is possible to using polyphaser collaboration shooting the 1st, 2,3,4,5,6,7 second, with
Achieve the purpose that low speed camera high-speed capture image, when the quantity of phase unit is enough, so that it may realize that ultrahigh speed image is adopted
Collection compared to the scheme for directly applying ultrahigh speed camera to carry out High-speed Image Acquisition, advantage of lower cost, and may be implemented to examination
The strain analysis of part blasting process is studied, to provide theoretical direction for blasting engineering practice.
Embodiment two
The present invention also embodiment provides a kind of experiment analytical method strained for test specimen in blasting process, is based on real
The innovation and creation that the Experiment Analysis System of the offer of example one is made are applied, can be adapted for dividing the strain in test specimen blasting process
Analysis research, to provide theoretical direction for blasting engineering practice.
The method includes the steps: the test specimen for being prefabricated with blasthole is fixedly clamped on blasting experiment device.
Pack is put into the blasthole of the test specimen；The primacord of pack is connected to the pulse igniting of sync control device
On device；The switch of the signal trigger of sync control device and light compensating lamp is connected.
Trigger signal is sent to light compensating lamp by the signal trigger, is opened light compensating lamp and was continued for the first predetermined time
Section, so that light compensating lamp illumination brightness reaches preset requirement.
When monitoring that light compensating lamp illumination brightness reaches preset requirement, first camera group, second camera group, third phase are triggered
Unit, the 4th phase unit and the 5th phase unit shoot image according to preset shooting time；The first camera group, second camera
Group, third phase unit, the 4th phase unit and the 5th phase unit include at least the first visual angle camera and the second visual angle camera.
After triggering first camera group, second camera group, third phase unit, the 4th phase unit and the shooting of the 5th phase unit
The second predetermined time, by signal trigger send pulse igniting signal give pulse igniting device so that pulse igniting device ignite
Explosive.
First camera group shoots the first blasting process image of the test specimen of the first predetermined time；Second camera group shooting second
Second blasting process image of the test specimen of predetermined time；Third phase unit shoots the third explosion of the test specimen of third predetermined time
Journey image；4th phase unit shoots the 4th blasting process image of the test specimen of the 4th predetermined time；5th phase unit shooting the 5th
5th blasting process image of the test specimen of predetermined time；So that multiple phase unit cooperative achievement ultrahigh speeds shoot test specimen blasting process
Image.
First predetermined time, the second predetermined time, third predetermined time, the 4th predetermined time and the 5th predetermined time
It is different；Preferably, first predetermined time be 1+5n, the second predetermined time be 2+5n, third predetermined time be 3+5n, the 4th
Predetermined time is 4+5n, the 5th predetermined time 5+5n；Wherein, n >=0, and n is integer；The unit at its moment is the second.The superelevation
Fast shooting speed is 10,000,000/second.
By the first, second, third, fourth of the test specimen that camera group is shot respectively and the 5th the image of blasting process be sent to
Image processing and analyzing device；Image processing and analyzing device handles described image, and based on treated image to explosion
Test specimen strain in the process is analyzed.
Experiment analytical method provided in an embodiment of the present invention for test specimen strain in blasting process, comprising: by quick-fried
Multiple phase units are arranged in array around test specimen on broken experiment loading device, control burst time and more using sync control device
The shooting timing of a phase unit shoots the blasting process image of different predetermined times, each phase unit using each phase unit
Shooting speed be 2,000,000/second, being shot by the collaboration of multiple groups camera can realize to test specimen in blasting process not in this way
State in the same time carries out 3-D image ultrahigh speed acquisition collection, compared to the side that application ultrahigh speed camera carries out High-speed Image Acquisition
Case, advantage of lower cost, so as to realize that the strain to the test specimen in blasting process is analyzed and researched, for blasting engineering
Practice provides theoretical direction.
In one embodiment of the invention, described image processing analytical equipment handles described image, and is based on
Treated image carries out analysis to the test specimen strain in blasting process
The first visual angle camera based on first group of camera and the test specimen for the different angle that the second visual angle camera is shot respectively are quick-fried
Image during broken, 3-D image of the building test specimen in the first blasting process；The first visual angle camera based on second group of camera
Image in the test specimen blasting process of the different angle shot respectively with the second visual angle camera constructs test specimen in the second blasting process
3-D image；The test specimen for the different angle that the first visual angle camera and the second visual angle camera based on third group camera are shot respectively
Image in blasting process, 3-D image of the building test specimen in third blasting process；The first visual angle phase based on the 4th group of camera
Image in the test specimen blasting process for the different angle that machine and the second visual angle camera are shot respectively constructs test specimen in the 4th explosion
The 3-D image of journey；The examination for the different angle that the first visual angle camera and the second visual angle camera based on the 5th group of camera are shot respectively
Image in part blasting process, 3-D image of the building test specimen in the 5th blasting process.
The 3-D image of the first blasting process based on building to the test specimen in the first predetermined time blasting process strain into
Row analysis；The 3-D image of the second blasting process based on building strains the test specimen in the second predetermined time blasting process and carries out
Analysis；The 3-D image of third blasting process based on building divides the test specimen strain in third predetermined time blasting process
Analysis；The 3-D image of the 4th blasting process based on building divides the test specimen strain in the 4th predetermined time blasting process
Analysis；The 3-D image of the 5th blasting process based on building divides the test specimen strain in the 5th predetermined time blasting process
Analysis.
In the present embodiment, by the blasting process image of the test specimen for the different moments for shooting each phase unit, rebuild
For 3-D image, stress-strain analysis software can use, for example, 3-D image pair of the Matalab software based on the reconstruction
The strain of test specimen is analyzed, more intuitively from the stress in the test specimen blasting process found out under different moments in 3-D image
Or strain conditions.
In another embodiment of the present invention, the first visual angle camera based on first group of camera and the second visual angle phase
Image in the test specimen blasting process for the different angle that machine is shot respectively, 3-D image packet of the building test specimen in the first blasting process
It includes:
Obtain the first one-tenth of the first subregion on test specimen in the first blasting process image that the first visual angle camera is shot
Picpointed coordinate；First subregion is the object analyzed test specimen strain calculation, is a region on test specimen, including a point
Collection, to analyze whole region, needs first to calculate one of those point.
According to pole constraint formulations pr TFpl=0 determines that the first imaging point coordinate is shot in the second visual angle camera
Corresponding second imaging point coordinate in one blasting process image；The first imaging point coordinate and the second imaging point coordinate are test specimen
On the first subregion in respective coordinates point of the same point in different images；Wherein, PrIt is the neat of the first imaging point coordinate
Secondary coordinate, PlIt is the homogeneous coordinates of the second imaging point coordinate；
F is fundamental matrix,Wherein, ArIt is the first visual angle camera internal reference, AlIt is the second visual angle camera
Internal reference, the outer ginseng of camera: R is the spin matrix between two cameras, and T is the expression symbol of transformation matrix, txIt is in the x direction flat
The amount of shifting to, tyIt is translation vector in y-direction；tsIt is the translation vector on direction；S is to be translated towards quantitative change by two cameras
It gets in return.
Wherein, the first visual angle camera internal reference and the second visual angle camera internal reference and outer ginseng can be obtained by camera calibration, tool
Body camera calibration method can use traditional camera standardization, the self-calibration method based on active vision；Since camera calibration method is
The prior art of machine vision metrology technical field, just repeats no more.
One is determined in the first subregion on test specimen based on obtained the first imaging point coordinate and the second imaging point coordinate
The three dimensional space coordinate of corresponding points；In this way, a point in the first subregion of test specimen is clapped by two cameras in a certain angle
Its correspondence imaging point in different perspectives image is taken the photograph, two correspondences shot according to the first visual angle camera and the second visual angle camera
The imager coordinate of point can find out the three-dimensional coordinate of corresponding points.
It repeats the above steps, obtains one group of discrete three-dimensional coordinate that all the points are constituted in the first subregion on test specimen；
Using interpolation or curve fitting algorithm, three of the first subregion of test specimen in the first predetermined time blasting process are constructed
Tie up image.
Specifically, first son determined based on the first obtained imaging point coordinate and the second imaging point coordinate on test specimen
The three dimensional space coordinate of a corresponding points includes: the focal length for obtaining the first visual angle camera and the second visual angle camera in region；It is based on
Obtained the first imaging point coordinate, the second imaging point coordinate and the focal length；
According to formulaCalculate the three dimensional space coordinate of corresponding points；
Wherein, the spin matrix between two camerasAnd translation vectorSpin matrix and flat
The amount of shifting to becomes the outer ginseng of camera, can be obtained by camera calibration.
In one embodiment of the invention, camera calibration can be carried out based on flat normal template, with camera shooting one
A scaling board with known dimensions figure different directions multiple image, by obtain characteristic point image coordinate and its
Three dimensional space coordinate can calculate the inside and outside parameter of camera.
Specifically, the method and step for calculating the inside and outside parameter of camera can be with are as follows:
S10, homography matrix is solved
The technical solution that camera inside and outside parameter is sought using camera calibration of the present embodiment in order to facilitate understanding carries out term
It is explained as follows: homography matrix: the mapping relations of representation space point to imaging point；Any space is chosen in camera standard template
Point P, if its homogeneous coordinates is M=(Xw, Yw, Zw, 1)T, on the image plane the pixel homogeneous coordinates of imaging point p be m=(u,
V, 1)T。
N characteristic point d is extracted from camera standard template, substitutes into formula 1-1 respectively:In, then the relational expression of available n 1-1, all formulas are combined
Get up available Lh=0, wherein L is the coefficient matrix of 2n × 9.As feature point number n > 4, Lh=0 is an overdetermination
Equation group can use singular value decomposition (SVD) method and calculate the optimal solution of equation group, and then acquires homography matrix H,
S20, the inside and outside parameter of one camera is calculated.
Specific steps: h is usediThe i-th column vector of representing matrix H, i.e. H=[h1 h2 h3], enable [h1 h2 h3]=λ A [r1 r2
t]；
It is understood that since spin matrix is orthogonal matrix, so the scalar product of its any two column vector is 0,
And each column vector is unit vector, for r1And r2, there is r1 Tr2=0 and | | r1| |=| | r2| |=1, namely exist
Two constraint conditions:
The internal reference matrix of cameraWherein γ is the out of plumb factor, it is indicating imaging surface X-axis and Y-axis just
The property handed over, γ is approximately equal to 0 under normal conditions.Enable B=A-TA-1, it is available:
By above formula it can be seen that B is a symmetrical matrix, it is possible to it is rewritten as the form indicated with six-vector,
It is denoted as b=[B11 B12 B22 B13 B23 B33]T.Each column vector in homography matrix H is enabled to may be expressed as hi=[hi1
hi2 hi3]T, it can derive following relationship:
hi TBhj=Vij Tb (1.24)
Wherein, Vij=[hi1hj1 hi1hj2+hi2hj1 hi2hj2 hi3hj1+hi1hj3 hi3hj2+hi2hj3 hi3hj3], therefore, formula
(1.22) two constraint conditions can rewrite again are as follows:
Assuming that having taken N width calibration maps, then there is Vb=0, wherein V is the matrix of 2N × 6.Vector b contains 6 unknown numbers,
Therefore as N >=3, the optimal solution b of equation group can be calculated using singular value decomposition (SVD).After obtaining vector b
Solve each value in internal reference matrix A:
Known internal reference matrix A can further calculate out the outer of camera according to formula (1.21) and the characteristic of spin matrix
Ginseng:
But due to picture noise and experiment miss etc. because influence, calculated spin matrix R0=[r1 r2 r3] not
Meet its due characteristic, it is therefore desirable to R0It optimizes, can be found out most using F norm is established by singular value decomposition
Good spin matrix R.After obtaining all inside and outside ginsengs of single camera, also needs to optimize all these parameters, establish such as
Under non-linear minimisation model:
Wherein, mijIndicate that the real image pixel coordinate of j-th of feature point extraction in the i-th width calibration picture, A are in camera
Join matrix, RiFor the spin matrix of the i-th width calibration maps, tiFor the translation vector of the i-th width calibration maps, MijIndicate the i-th width calibration maps
In j-th of characteristic point space coordinate,It is the pixel of this feature point found out by the known quantity in bracket
Coordinate.Using above-mentioned model and LM optimization algorithm is combined, the inside and outside parameter of camera of optimization can be found out.
S30, distortion factor is calculated.
In the present embodiment, ideal and actual image pixel can further be derived according to formula (1.7) and (1.8)
The relationship of coordinate has:
Assuming that having taken N width calibration maps and every width picture is extracted n characteristic point, therefore the actual pixels of all these points
CoordinateIt can obtain.By the space coordinate of calculated inside and outside parameter and all characteristic points above, they
Ideal pixel coordinate (u, v) can also obtain, therefore, all the points are combined, formula (1.29) can be rewritten as k=d,
Wherein k=[k1 k2]T.K can be solved using linear least square:
K=(DTD)-1DTd (1.30)
After calculating distortion factor, slightly change and combine LM algorithm to the Optimized model of (1.28), it can be further right
All parameters optimize.Function is as follows:
S40, the outer ginseng matrix for calculating dual camera systems.
By scaling method described above, for single camera, it is assumed that have taken N width image, then the available phase
N number of outer ginseng matrix.Therefore, for the dual camera systems of the present embodiment, available first visual angle camera and the second visual angle phase
The respective outer ginseng matrix of machine, respectively Rli、tli、Rri、tri, wherein i=1,2 ... N.For any point in the i-th width image, it is assumed that
Its coordinate in world coordinate system, the first visual angle camera coordinates system and the second visual angle camera coordinates system is respectively Xw、XlAnd Xr,
Then have:
Disappear X in above formulaw, available Xr=RriRli -1Xli+tri-RriRli -1tli, therefore, under each calibration position, two
The position transformational relation R of camerai、tiIt can indicate are as follows:
Due in dual camera systems, the position of two cameras be it is relatively-stationary always, therefore, calculated each Ri、ti
Be it is approximately equal, formula can be passed throughIt averages to obtain and joins matrix outside final phase unit.
It should be noted that above-mentioned is only a kind of method preferably through camera calibration that simply lists, phase is calculated
The process of the inside and outside parameter of machine；It should not be construed as the exclusiveness that other obtain ginseng scheme inside and outside camera to limit.
In order to realize to the strain in test specimen blasting process the dynamic change of different moments observation and analysis, as one
Alternative embodiment, the different angle that the first visual angle camera based on second group of camera and the second visual angle camera are shot respectively
Image in test specimen blasting process, building test specimen include: the first son obtained on test specimen in the 3-D image of the second blasting process
First imaging point coordinate of the region in the second blasting process image that the first visual angle camera is shot；According to pole constraint formulations
pr TFpl=0 determines the first imaging point coordinate corresponding the in the second blasting process image that the second visual angle camera is shot
Two imaging point coordinates；The first imaging point coordinate and the second imaging point coordinate are the same point in the first subregion on test specimen
Respective coordinates point in different images；Wherein, PrIt is the homogeneous coordinates of the first imaging point coordinate, PlIt is the second imaging point coordinate
Homogeneous coordinates.
Wherein, F is fundamental matrix,Wherein, ArIt is the first visual angle camera internal reference, AlIt is the second view
Angle camera internal reference, R are the spin matrixs between two cameras, and T is the expression symbol of transformation matrix, txIt is being translated towards in the x direction
Amount, tyIt is translation vector in y-direction；tsIt is the translation vector on direction；S is converted by the translation vector of two cameras
It arrives；A correspondence in the first subregion on test specimen is determined based on obtained the first imaging point coordinate and the second imaging point coordinate
The three dimensional space coordinate of point.
It repeats the above steps, obtains one group of discrete three-dimensional coordinate that all the points are constituted in the first subregion on test specimen；
Using interpolation or curve fitting algorithm, the 3-D image of the first subregion of test specimen in the second predetermined time blasting process is constructed.
In addition, in building third predetermined time, the 4th predetermined time and the 5th predetermined time blasting process test specimen first
The three of first subregion of test specimen in the scheme and building first or second predetermined time blasting process of the 3-D image of subregion
The step of tieing up the process of image is identical.It is used as an alternative embodiment as a result, repeats above-mentioned the second predetermined time of building blasting process
The step of process of the 3-D image of first subregion of middle test specimen, respectively construct third predetermined time, the 4th predetermined time and
The 3-D image of first subregion of test specimen in 5th predetermined time blasting process.
In one embodiment of the invention, for the ease of checking to the strain analysis data in test specimen blasting process,
Described image is handled in image processing and analyzing device, and image strains the test specimen in blasting process based on treated
After being analyzed further include: the test specimen strain analysis result in blasting process is exported and stored with spreadsheet format.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (9)
1. a kind of Experiment Analysis System strained for test specimen in blasting process, which is characterized in that the Experiment Analysis System packet
It includes: blasting experiment loading device, sync control device, image collecting device and image processing and analyzing device；
Wherein, blasting experiment loading device is used for loading specimen, is prefabricated with blasthole on the test specimen；
Sync control device includes: signal trigger and pulse igniting device, and the signal trigger connects image collector all the way
It sets, another way is connect by pulse igniting device with the TNT explosive fuse cord of the installation in the blasthole；
Image collecting device includes first camera group, second camera group, third phase unit, the 4th phase unit and the 5th phase unit,
Any phase unit at least wraps in the first camera group, second camera group, third phase unit, the 4th phase unit and the 5th phase unit
The first visual angle camera, the second visual angle camera and light compensating lamp are included, first visual angle camera, the second visual angle camera and test specimen are in triangle
Shape arrangement；
First camera group, second camera group, third phase unit, the 4th phase unit and the 5th phase unit circular array are set to institute
It states around test specimen；
The first camera group is used for the first pulse control signal sent according to sync control device, shoots the first predetermined time
Test specimen the first blasting process in image；
The second camera group is used for the second pulse control signal sent according to sync control device, shoots the second predetermined time
Test specimen the second blasting process image；
The third phase unit is used for the third pulse control signal sent according to sync control device, shoots third predetermined time
Test specimen third blasting process image；
The 4th phase unit is used for the 4th pulse control signal sent according to sync control device, shoots the 4th predetermined time
Test specimen the 4th blasting process image；
The 5th phase unit is used for the 5th pulse control signal sent according to sync control device, shoots the 5th predetermined time
Test specimen the 5th blasting process image；First predetermined time, the second predetermined time, third predetermined time, the 4th preset
Moment and the 5th predetermined time are different, the first camera group, second camera group, third phase unit, the 4th phase unit and the 5th
The shooting speed of phase unit is 2,000,000/second；
Image processing and analyzing device, the figure of the blasting process of the test specimen for the different predetermined times to image acquisition device
As being handled, and based on treated, image analyzes the test specimen strain in blasting process.
2. system according to claim 1, which is characterized in that first predetermined time is 1+5n, the second predetermined time
For 2+5n, third predetermined time is 3+5n, and the 4th predetermined time is 4+5n, the 5th predetermined time 5+5n；Wherein, n >=0, and n is
Integer.
3. a kind of experiment analytical method strained for test specimen in blasting process, which is characterized in that comprising steps of
The test specimen for being prefabricated with blasthole is fixedly clamped on blasting experiment device；
Pack is put into the blasthole of the test specimen；
The primacord of pack is connected on the pulse igniting device of sync control device；
The switch of the signal trigger of sync control device and light compensating lamp is connected；
Trigger signal is sent to light compensating lamp by the signal trigger, is opened light compensating lamp and is continued the first predetermined amount of time,
So that light compensating lamp illumination brightness reaches preset requirement；
When monitoring that light compensating lamp illumination brightness reaches preset requirement, first camera group, second camera group, third camera are triggered
Group, the 4th phase unit and the 5th phase unit shoot image according to preset shooting time；The first camera group, second camera
Group, third phase unit, the 4th phase unit and the 5th phase unit include at least the first visual angle camera and the second visual angle camera；
The after triggering first camera group, second camera group, third phase unit, the 4th phase unit and the shooting of the 5th phase unit
Two predetermined times sent pulse igniting signal by signal trigger and give pulse igniting device, so that pulse igniting device ignition charge；
First camera group shoots the first blasting process image of the test specimen of the first predetermined time；
Second camera group shoots the second blasting process image of the test specimen of the second predetermined time；
Third phase unit shoots the third blasting process image of the test specimen of third predetermined time；
4th phase unit shoots the 4th blasting process image of the test specimen of the 4th predetermined time；
5th phase unit shoots the 5th blasting process image of the test specimen of the 5th predetermined time；So that multiple phase unit cooperative achievements
Ultrahigh speed shoots test specimen blasting process image；First predetermined time, the second predetermined time, third predetermined time, the 4th are in advance
If moment and the 5th predetermined time are different；The ultrahigh speed shooting speed is 10,000,000/second；
By the first, second, third, fourth of the test specimen that camera group is shot respectively and the 5th the image of blasting process be sent to image
Handle analytical equipment；
Image processing and analyzing device handles described image, and image answers the test specimen in blasting process based on treated
Change is analyzed.
4. according to the method described in claim 3, it is characterized in that, described image handle analytical equipment to described image at
Reason, and analysis is carried out to the test specimen strain in blasting process based on treated image and includes:
The test specimen explosion for the different angle that the first visual angle camera and the second visual angle camera based on first group of camera are shot respectively
Image in journey, 3-D image of the building test specimen in the first blasting process；
The test specimen explosion for the different angle that the first visual angle camera and the second visual angle camera based on second group of camera are shot respectively
Image in journey, 3-D image of the building test specimen in the second blasting process；
The test specimen explosion for the different angle that the first visual angle camera and the second visual angle camera based on third group camera are shot respectively
Image in journey, 3-D image of the building test specimen in third blasting process；
The test specimen explosion for the different angle that the first visual angle camera and the second visual angle camera based on the 4th group of camera are shot respectively
Image in journey, 3-D image of the building test specimen in the 4th blasting process；
The test specimen explosion for the different angle that the first visual angle camera and the second visual angle camera based on the 5th group of camera are shot respectively
Image in journey, 3-D image of the building test specimen in the 5th blasting process；
The 3-D image of the first blasting process based on building divides the test specimen strain in the first predetermined time blasting process
Analysis；
The 3-D image of the second blasting process based on building divides the test specimen strain in the second predetermined time blasting process
Analysis；
The 3-D image of third blasting process based on building divides the test specimen strain in third predetermined time blasting process
Analysis；
The 3-D image of the 4th blasting process based on building divides the test specimen strain in the 4th predetermined time blasting process
Analysis；
The 3-D image of the 5th blasting process based on building divides the test specimen strain in the 5th predetermined time blasting process
Analysis.
5. according to the method described in claim 4, it is characterized in that, the first visual angle camera and based on first group of camera
Image in the test specimen blasting process for the different angle that two visual angle cameras are shot respectively constructs test specimen the three of the first blasting process
Tieing up image includes:
Obtain first imaging point of the first subregion on test specimen in the first blasting process image that the first visual angle camera is shot
Coordinate；
According to pole constraint formulations pr TFpl=0 to determine that the first imaging point coordinate is shot in the second visual angle camera first quick-fried
Corresponding second imaging point coordinate in broken procedural image；The first imaging point coordinate and the second imaging point coordinate are on test specimen
Respective coordinates point of the same point in different images in first subregion；Wherein, Pr is the homogeneous seat of the first imaging point coordinate
Mark, P1It is the homogeneous coordinates of the second imaging point coordinate；
F is fundamental matrix,Wherein, ArIt is the first visual angle camera internal reference, A1It is the second visual angle camera internal reference,
R is the spin matrix between two cameras, and T is the expression symbol of transformation matrix, txIt is translation vector in the x direction, tyIt is in the side y
Upward translation vector；tsIt is the translation vector on direction；S is converted by the translation vector of two cameras；
A correspondence in the first subregion on test specimen is determined based on obtained the first imaging point coordinate and the second imaging point coordinate
The three dimensional space coordinate of point；
It repeats the above steps, obtains one group of discrete three-dimensional coordinate that all the points are constituted in the first subregion on test specimen；
Using interpolation or curve fitting algorithm, the three-dimensional figure of the first subregion of test specimen in the first predetermined time blasting process is constructed
Picture.
6. according to the method described in claim 5, it is characterized in that, the first visual angle camera and based on second group of camera
Image in the test specimen blasting process for the different angle that two visual angle cameras are shot respectively constructs test specimen the three of the second blasting process
Tieing up image includes:
Obtain first imaging point of the first subregion on test specimen in the second blasting process image that the first visual angle camera is shot
Coordinate；
According to pole constraint formulations pr TFpl=0 to determine that the first imaging point coordinate is shot in the second visual angle camera second quick-fried
Corresponding second imaging point coordinate in broken procedural image；The first imaging point coordinate and the second imaging point coordinate are on test specimen
Respective coordinates point of the same point in different images in first subregion；Wherein, PrIt is the homogeneous seat of the first imaging point coordinate
Mark, P1It is the homogeneous coordinates of the second imaging point coordinate；
F is fundamental matrix,Wherein, ArIt is the first visual angle camera internal reference, A1It is the second visual angle camera internal reference,
R is the spin matrix between two cameras, and T is the expression symbol of transformation matrix, txIt is translation vector in the x direction, tyIt is in the side y
Upward translation vector；tsIt is the translation vector on direction；S is converted by the translation vector of two cameras；
A correspondence in the first subregion on test specimen is determined based on obtained the first imaging point coordinate and the second imaging point coordinate
The three dimensional space coordinate of point；
It repeats the above steps, obtains one group of discrete three-dimensional coordinate that all the points are constituted in the first subregion on test specimen；
Using interpolation or curve fitting algorithm, the three-dimensional figure of the first subregion of test specimen in the second predetermined time blasting process is constructed
Picture；
The step of repeating the process of the 3-D image of the first subregion of test specimen in above-mentioned the second predetermined time of building blasting process,
Construct respectively third predetermined time, in the 4th predetermined time and the 5th predetermined time blasting process the first subregion of test specimen three
Tie up image.
7. method according to claim 5 or 6, which is characterized in that described based on the first obtained imaging point coordinate and
Two imaging point coordinates determine that the three dimensional space coordinate of a corresponding points in the first subregion on test specimen includes:
Obtain the focal length of the first visual angle camera and the second visual angle camera；
Based on obtained the first imaging point coordinate, the second imaging point coordinate and the focal length,
According to formulaCalculate the three dimensional space coordinate of corresponding points；
Wherein, the spin matrix between two camerasAnd translation vector
8. according to the method described in claim 3, it is characterized in that, at image processing and analyzing device is to described image
Reason, and after being analyzed based on treated image the test specimen strain in blasting process further include: by the examination in blasting process
Part strain analysis result is exported and is stored with spreadsheet format.
9. according to any method of claim 3 to 6, which is characterized in that first predetermined time is 1+5n, and second is pre-
If the moment is 2+5n, third predetermined time is 3+5n, and the 4th predetermined time is 4+5n, the 5th predetermined time 5+5n；Wherein, n >=
0, and n is integer.
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