CN112051139B - Segment joint shear rigidity measuring method, system, equipment and storage medium - Google Patents
Segment joint shear rigidity measuring method, system, equipment and storage medium Download PDFInfo
- Publication number
- CN112051139B CN112051139B CN202010939567.0A CN202010939567A CN112051139B CN 112051139 B CN112051139 B CN 112051139B CN 202010939567 A CN202010939567 A CN 202010939567A CN 112051139 B CN112051139 B CN 112051139B
- Authority
- CN
- China
- Prior art keywords
- calibration
- point
- segment
- image
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000012544 monitoring process Methods 0.000 claims abstract description 105
- 238000010008 shearing Methods 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 13
- 238000004590 computer program Methods 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 10
- 239000000126 substance Substances 0.000 claims description 8
- 230000008569 process Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01N3/02—Details
- G01N3/06—Special adaptations of indicating or recording means
- G01N3/068—Special adaptations of indicating or recording means with optical indicating or recording means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
-
- 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
- G01N3/24—Investigating strength properties of solid materials by application of mechanical stress by applying steady shearing forces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01N2203/0014—Type of force applied
- G01N2203/0025—Shearing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/0641—Indicating or recording means; Sensing means using optical, X-ray, ultraviolet, infrared or similar detectors
Abstract
The invention is suitable for the technical field of measurement, and provides a method, a system, equipment and a storage medium for measuring the shear rigidity of a segment joint, wherein the method comprises the following steps: shooting a calibration point on a segment to be measured by using two cameras, acquiring a pixel coordinate and a three-dimensional coordinate of the calibration point, and calibrating the cameras respectively to obtain calibration parameters corresponding to the cameras; the method comprises the steps that a segment to be detected generates a slab staggering amount under the continuous action of shearing force, a camera is used for obtaining a starting point image and an end point image of a monitoring point at a joint of the segment to be detected, pixel coordinates of the monitoring point in the starting point image and the end point image are read, and a three-dimensional coordinate of the monitoring point is calculated by combining a calibration parameter corresponding to the camera; and obtaining the slab staggering amount of the segment to be measured under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the shear rigidity value of the segment to be measured. The invention adopts a non-contact camera measurement mode, avoids generating a large amount of consumables in the measurement process, and has high measurement precision and low measurement cost.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a method, a system, equipment and a storage medium for measuring the shear rigidity of a segment joint.
Background
The lining structure in the shield tunnel is a discontinuous structure formed by connecting a plurality of segments by bolts, the determination of the mechanical property of a segment joint is difficult, and the shear rigidity of the joint has a remarkable influence on the calculation of the internal force of the structure and the detection of the joint bolts among a plurality of parameters of the mechanical property of the joint, so that the calculation of the shear rigidity of the joint is an important research content. The traditional method for measuring the shear stiffness of a joint is to attach a resistance strain gauge to the joint structure, also known as an electrical measurement method. The method is convenient to operate and wide in application, but has some defects, for example, one strain gauge can only measure the shear rigidity of one joint, the strain gauge cannot be recycled generally, and as the shear rigidity of the joint presents a nonlinear characteristic, the value of the shear rigidity is uncertain, so that a plurality of groups of experiments are required, a large amount of raw materials are consumed in each experiment, and the measurement cost is too high.
Disclosure of Invention
The invention aims to provide a method, a system, equipment and a storage medium for measuring the shear rigidity of a pipe sheet joint, and aims to solve the problems of excessive measurement consumables and high measurement cost in the prior art.
In a first aspect, the present invention provides a method for measuring shear stiffness of a pipe segment joint, the method comprising the steps of:
shooting a calibration point on a segment to be measured by using two cameras, acquiring a pixel coordinate and a three-dimensional coordinate of the calibration point, and calibrating the cameras respectively to obtain calibration parameters corresponding to the cameras;
the method comprises the steps that the segment to be detected generates a slab staggering amount under the continuous action of shearing force, a starting point image and an end point image of a monitoring point at a joint of the segment to be detected are obtained through a camera, pixel coordinates of the monitoring point in the starting point image and the end point image are read, and the three-dimensional coordinates of the monitoring point are calculated by combining with a calibration parameter corresponding to the camera;
and obtaining the slab staggering amount of the segment to be measured under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the shearing rigidity value of the segment to be measured.
In a second aspect, the present invention provides a system for measuring shear stiffness of a pipe segment joint, the system comprising:
the calibration unit is used for shooting a calibration point on a segment to be measured by using two cameras, acquiring pixel coordinates and three-dimensional coordinates of the calibration point, and respectively calibrating the cameras to obtain calibration parameters corresponding to the cameras;
the three-dimensional coordinate calculation unit is used for generating a slab staggering amount under the continuous action of shearing force of the segment to be detected, acquiring a starting point image and an end point image of a monitoring point at the joint of the segment to be detected through the camera, reading pixel coordinates of the monitoring point in the starting point image and the end point image, and calculating the three-dimensional coordinate of the monitoring point by combining with a calibration parameter corresponding to the camera; and
and the shear rigidity value calculation unit is used for obtaining the slab staggering amount of the segment to be measured under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the shear rigidity value of the segment to be measured.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.
The embodiment of the invention measures the segment to be measured by arranging two cameras, shoots the calibration points on the segment to be measured by using the two cameras, calibrates the cameras, converts the two-dimensional coordinate into the three-dimensional coordinate of the space by using the collinearity equation, obtains the slab staggering amount of the segment to be measured under the shearing force according to the three-dimensional coordinate of the monitoring point, calculates the shearing rigidity value of the segment to be measured, realizes the non-contact measurement of the shearing rigidity of the segment joint, has no material consumption in the measuring process and has high measuring precision.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of a measuring apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a reaction frame in a measuring apparatus according to an embodiment of the present invention;
FIG. 3 is a flow chart of an implementation of a method for measuring shear stiffness of a pipe segment joint according to an embodiment of the present invention;
fig. 4 is a top view of a segment to be measured in the measuring apparatus according to the first embodiment of the present invention;
fig. 5 is a schematic view of a segment to be tested under stress according to an embodiment of the present invention;
fig. 6 is a schematic view of a segment under shear force according to an embodiment of the present invention;
fig. 7 is another schematic view of a segment to be tested under a shearing force according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a shear stiffness measurement system for a pipe segment joint according to a second embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the first embodiment is as follows:
in the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 shows a schematic diagram of a measuring device provided in a first embodiment of the present invention, and fig. 2 shows a schematic diagram of a reaction frame in the measuring device provided in the first embodiment of the present invention, the measuring device is provided with two cameras, a first camera 1 and a second camera 2, the first camera 1 and the second camera 2 are fixed on a tripod, the tripod can be lifted and rotated to ensure that a calibration point and a monitoring point on a segment 3 to be measured can be photographed, the segment 3 to be measured is placed on a support 4, a stand column of the reaction frame 9 is anchored on the ground, a hydraulic jack 6 is arranged on a cross beam of the reaction frame 9, and by adjusting a horizontal slider 7 and a vertical slider 8 at the same time, the hydraulic jack 6 can transmit a load to the segment 3 to be measured through a loading plate 5.
Fig. 3 is a flow chart of an implementation of a shear stiffness measurement method for a pipe segment joint according to an embodiment of the present invention, which only shows parts related to the embodiment of the present invention for convenience of description, and is detailed as follows:
in step S101, two cameras are used to capture a calibration point on a segment to be measured, so as to obtain a pixel coordinate and a three-dimensional coordinate of the calibration point, and the cameras are respectively calibrated to obtain calibration parameters corresponding to the cameras;
in the embodiment of the invention, the camera needs to be calibrated before measurement, namely, calibration parameters of the camera are obtained through calculation. The method comprises the steps of establishing an original point of a coordinate system at the middle point of the bottom of a support, taking the transverse direction of a to-be-measured pipe piece as an x axis, taking the longitudinal direction of the to-be-measured pipe piece as a y axis, taking the vertical direction of the to-be-measured pipe piece as a z axis, and selecting more than 6 non-coplanar points on the to-be-measured pipe piece as calibration points. Like fig. 4, splice the section of jurisdiction, section of jurisdiction internal diameter 1m, external diameter 1.2m corresponds arc length central angle and is 60, and the section of jurisdiction that awaits measuring is formed by 5 section of jurisdiction cross concatenations, and A, B, C, D, E, F, G, H is the section of jurisdiction angular point, and ab, cd are the circumferential weld, and ad, bc are the longitudinal joint. A, B, C, D, E, F, G, H is selected as the index point. During calibration, the two cameras need to be calibrated respectively, the cameras are adjusted to enable the cameras to shoot the 6 calibration points simultaneously, a calibration image is obtained through the cameras, the calibration image comprises the 6 calibration points, the calibration image is read to obtain pixel coordinates and three-dimensional coordinates of the calibration points, and calibration parameters of the cameras are determined by combining a collinearity equation.
Further, the method comprises the steps of shooting a calibration point on a segment to be measured by using two cameras, acquiring a pixel coordinate and a three-dimensional coordinate of the calibration point, calibrating the cameras respectively, and obtaining calibration parameters corresponding to the cameras, wherein the steps comprise:
selecting at least 6 non-coplanar points on a segment to be measured as the calibration points, and acquiring a first calibration image of the calibration points through a first camera;
and reading a first pixel coordinate and a first three-dimensional coordinate of the calibration point in the first calibration image, and obtaining calibration parameters of the first camera according to the relation between the first pixel coordinate and the first three-dimensional coordinate.
Specifically, according to the relationship between the first pixel coordinate (μ (I), v (I)) and the first three-dimensional coordinate (x (I), y (I), z (I)):
X(I)S(I)0+Y(I)S(I)1+Z(I)S(I)2+S(I)3-μ(I)X(I)S(I)8-μ(I)Y(I)S(I)9-μ(I)Z(I)S(I)10＝μ(I)
X(I)S(I)4+Y(I)S(I)5+Z(I)S(I)6+S(I)7-v(I)X(I)S(I)8-v(I)Y(I)S(I)9-v(I)Z(I)S(I)10＝v(I)
calculating to obtain calibration parameters S (I) of the first camera0～S(I)10。
In the embodiment of the present invention, a first camera is calibrated, 8 non-coplanar points are selected as calibration points on a segment to be measured, which are A, B, C, D, E, F, G, H respectively, the first camera is adjusted so that the first camera can acquire a first calibration image containing the 8 calibration points, that is, the first calibration image includes the 8 calibration points, and by reading the first calibration image, first pixel coordinates of the calibration points in the first calibration image, which are (μ (I) respectively, can be obtainedA，v(I)A)、(μ(I)B，v(I)B)、(μ(I)C，v(I)C)、(μ(I)D，v(I)D)、(μ(I)E，v(I)E)、(μ(I)F，v(I)F)、(μ(I)G，v(I)G)、(μ(I)H，v(I)H) And a first three-dimensional coordinate of (X), (I)A，Y(I)A，Z(I)A)、(X(I)B，Y(I)B，Z(I)B)、(X(I)C，Y(I)C，Z(I)C)、(X(I)D，Y(I)D，Z(I)D)、(X(I)E，Y(I)E，Z(I)E)、(X(I)F，Y(I)F，Z(I)F)、(X(I)G，Y(I)G，Z(I)G)、(X(I)H，Y(I)H，Z(I)H). Substituting the first pixel coordinate and the first three-dimensional coordinate into the following formula:
X(I)S(I)0+Y(I)S(I)1+Z(I)S(I)2+S(I)3-μ(I)X(I)S(I)8-μ(I)Y(I)S(I)9-μ(I)Z(I)S(I)10＝μ(I)
X(I)S(I)4+Y(I)S(I)5+Z(I)S(I)6+S(I)7-v(I)X(I)S(I)8-v(I)Y(I)S(I)9-v(I)Z(I)S(I)10＝v(I)
wherein, S (I)0～S(I)10And the calibration parameters of the first camera.
The above formula is expressed as a matrix:
L(I)S(I)＝U(I)
wherein the content of the first and second substances,
S(I)T＝[S(I)0 S(I)1 S(I)2 S(I)3 S(I)4 S(I)5 S(I)6 S(I)7 S(I)8 S(I)9 S(I)10]
U(I)T＝[μ(I)A v(I)A…μ(I)H v(I)H]
applying a least squares solution: s (I) ═ L (I)TL(I))-1L(I)TU (I) to obtain S (I) and obtain the calibration parameters S (I) of the first camera0～S(I)10。
Further, the method comprises the steps of shooting a calibration point on a segment to be measured by using two cameras, acquiring a pixel coordinate and a three-dimensional coordinate of the calibration point, calibrating the cameras respectively, and obtaining calibration parameters corresponding to the cameras, and further comprises the following steps:
selecting at least 6 non-coplanar points on a segment to be measured as calibration points, and acquiring a second calibration image of the calibration points through a second camera;
and reading a second pixel coordinate and a second three-dimensional coordinate of the calibration point in a second calibration image, and obtaining a calibration parameter of the second camera according to the relationship between the second pixel coordinate and the second three-dimensional coordinate.
Specifically, according to the relationship between the second pixel coordinate (μ (Π), v (Π)) and the second three-dimensional coordinate (X (Π), Y (Π), Z (Π)):
X(Π)S(Π)0+Y(Π)S(Π)1+Z(Π)S(Π)2+S(Π)3-μ(Π)X(Π)S(Π)8-μ(Π)Y(Π)S(Π)9-μ(Π)Z(Π)S(Π)10＝μ(Π)
X(Π)S(Π)4+Y(Π)S(Π)5+Z(Π)S(Π)6+S(Π)7-v(Π)X(Π)S(Π)8-v(Π)Y(Π)S(Π)9-v(Π)Z(Π)S(Π)10＝v(Π)
calculating to obtain the calibration parameter S (pi) of the second camera0～S(Π)10。
In the embodiment of the present invention, a second camera is calibrated, 8 non-coplanar points are selected as calibration points on a segment to be measured, which are A, B, C, D, E, F, G, H respectively, the second camera is adjusted so that the second camera can acquire a second calibration image containing the 8 calibration points, that is, the second calibration image includes the 8 calibration points, and second pixel coordinates of the calibration points in the second calibration image, which are (μ Π) respectively, can be obtained by reading the second calibration imageA，v(Π)A)、(μ(Π)B，v(Π)B)、(μ(Π)C，v(Π)C)、(μ(Π)D，v(Π)D)、(μ(Π)E，v(Π)E)、(μ(Π)F，v(Π)F)、(μ(Π)G，v(Π)G)、(μ(Π)H，v(Π)H) And a second three-dimensional coordinate of (X (pi)A，Y(Π)A，Z(Π)A)、(X(Π)B，Y(Π)B，Z(Π)B)、(X(Π)C，Y(Π)C，Z(Π)C)、(X(Π)D，Y(Π)D，Z(Π)D)、(X(Π)E，Y(Π)E，Z(Π)E)、(X(Π)F，Y(Π)F，Z(Π)F)、(X(Π)G，Y(Π)G，Z(Π)G)、(X(Π)H，Y(Π)H，Z(Π)H). Substituting the second pixel coordinate and the second three-dimensional coordinate into the following formula:
X(Π)S(Π)0+Y(Π)S(Π)1+Z(Π)S(Π)2+S(Π)3-μ(Π)X(Π)S(Π)8-μ(Π)Y(Π)S(Π)9-μ(Π)Z(Π)S(Π)10＝μ(Π)
X(Π)S(Π)4+Y(Π)S(Π)5+Z(Π)S(Π)6+S(Π)7-v(Π)X(Π)S(Π)8-v(Π)Y(Π)S(Π)9-v(Π)Z(Π)S(Π)10＝v(Π)
wherein, S (pi)0～S(Π)10And the calibration parameters of the second camera.
The above formula is expressed as a matrix:
L(Π)S(Π)＝U(Π)
wherein the content of the first and second substances,
S(Π)T＝[S(Π)0 S(Π)1 S(Π)2 S(Π)3 S(Π)4 S(Π)5 S(Π)6 S(Π)7 S(Π)8S(Π)9 S(Π)10]
U(Π)T＝[μ(Π)A v(Π)A…μ(Π)H v(Π)H]
applying a least squares solution: s (pi) ═ L (pi)TL(Π))-1L(Π)TU (Π) to obtain S (Π) and S (Π) to obtain calibration parameters S (Π) of the second camera0～S(Π)10。
In step S102, the segment to be detected generates a slab staggering amount under the continuous action of the shearing force, a start point image and an end point image of a monitoring point at a joint of the segment to be detected are obtained through the camera, pixel coordinates of the monitoring point in the start point image and the end point image are read, and a three-dimensional coordinate of the monitoring point is calculated by combining with a calibration parameter corresponding to the camera.
In the embodiment of the invention, 2 hydraulic jacks are used for loading the segment to be detected, the stress of the segment to be detected is in the circumferential direction and the longitudinal direction, as shown in figure 5, the segment to be detected generates a shearing dislocation amount under the continuous action of a shearing force M, a starting point image and an end point image of a monitoring point P, Q at the joint of the segment to be detected are obtained through a camera, the starting point image is a state image of the segment to be detected at the initial stress, the end point image is a state image when the joint of the segment to be detected is damaged, the dislocation amount delta between the monitoring points P, Q at the joint of the segment to be detected is almost 0 at the initial stress of the segment to be detected under the action of the shearing force M, as shown in figure 6, the starting point image of the monitoring points at the joint of the segment to be detected is obtained through the camera, the joint of the segment to be detected is gradually staggered during the continuous loading process, the dislocation amount delta between the monitoring points P, Q at the joint of the segment to be detected is gradually increased, as shown in fig. 7, the monitoring point P is moved to P ', the monitoring point Q is moved to Q', and when the joint of the segment to be measured is damaged, the shooting is stopped, and at this time, the terminal image of the monitoring point at the joint of the segment to be measured is obtained through the camera. And reading the pixel coordinates of the monitoring points according to the starting point image and the end point image, and calculating the three-dimensional coordinates of the monitoring points by combining the calibration parameters corresponding to the camera.
Further, the method comprises the steps of acquiring a starting point image and an end point image of a monitoring point at a joint of a segment to be detected through a camera, and reading pixel coordinates of the monitoring point in the starting point image and the end point image, and comprises the following steps:
reading the starting point pixel coordinate of the first monitoring point and the starting point pixel coordinate of the second monitoring point in the starting point image, and
and reading the end point pixel coordinate of the first monitoring point and the end point pixel coordinate of the second monitoring point in the end point image.
In the embodiment of the invention, under the action of a shearing force M, when a to-be-measured segment is stressed at the beginning, the dislocation delta between a first monitoring point P and a second monitoring point Q at the joint of the to-be-measured segment is almost 0, at the moment, a starting point image of the monitoring point at the joint of the to-be-measured segment is obtained through a camera, the starting point pixel coordinate of the first monitoring point P in the starting point image is read, and the starting point pixel coordinate of the first monitoring point P in the first starting point image is obtained through the first camera
Acquiring the starting point pixel coordinate of the first monitoring point P in the second starting point image by the second camera
And the first camera acquires the start of the second monitoring point Q in the first start imagePoint pixel coordinates
The second camera acquires the starting point pixel coordinate of a second monitoring point Q in a second starting point image
In lasting loading process, the section of jurisdiction joint department that awaits measuring staggers gradually, and the wrong platform volume delta between the monitoring point P, Q of the section of jurisdiction joint department that awaits measuring grow gradually, first monitoring point P remove to P ', second monitoring point Q removes to Q' and destroys in the twinkling of an eye when the section of jurisdiction joint department that awaits measuring destroys, stops shooting, obtains the terminal point image of the monitoring point of the section of jurisdiction joint department that awaits measuring through the camera this moment, reads the terminal point pixel coordinate who obtains first monitoring point in the first terminal point image by first camera
Obtaining the endpoint pixel coordinate of the first monitoring point in the second endpoint image by the second camera
And acquiring the endpoint pixel coordinate of the second monitoring point in the first endpoint image by the first camera
Obtaining endpoint pixel coordinates of a second monitoring point in a second endpoint image by a second camera
Further, the step of reading the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the three-dimensional coordinates of the monitoring points by combining the calibration parameters corresponding to the camera comprises the following steps:
calculating to obtain a starting point three-dimensional coordinate of the first monitoring point according to the starting point pixel coordinate of the first monitoring point and the calibration parameter corresponding to the camera;
calculating to obtain the end point three-dimensional coordinate of the first monitoring point according to the end point pixel coordinate of the first monitoring point and the calibration parameter corresponding to the camera;
calculating to obtain a starting point three-dimensional coordinate of the second monitoring point according to the starting point pixel coordinate of the second monitoring point and the calibration parameter corresponding to the camera; and
and calculating to obtain the terminal three-dimensional coordinate of the second monitoring point according to the terminal pixel coordinate of the second monitoring point and the calibration parameter corresponding to the camera.
In the embodiment of the invention, the calibration parameters of the first camera and the second camera are respectively S (I)0～S(I)10、S(Π)0～S(Π)10The pixel coordinates of the starting point of the first monitoring point are respectively
And
calculating to obtain a three-dimensional coordinate W of a starting point of the first monitoring pointP(XP，YP，ZP)：
WP＝(S′P TS′P)-1S′P TUP
Wherein the content of the first and second substances,
in the embodiment of the invention, the calibration parameters of the first camera and the second camera are respectively S (I)0～S(I)10、S(Π)0～S(Π)10The destination pixel coordinates of the first monitoring point are respectively
And
calculating to obtain a three-dimensional coordinate W of a starting point of the first monitoring pointP′(XP′，YP′，ZP′)：
WP′＝(S′P′ TS′P′)-1S′P′ TUP′′
Wherein the content of the first and second substances,
in the embodiment of the invention, the calibration parameters of the first camera and the second camera are respectively S (I)0～S(I)10、S(Π)0～S(Π)10The pixel coordinates of the starting point of the second monitoring point are respectively
And
calculating to obtain a three-dimensional coordinate W of a starting point of a second monitoring pointQ(XQ，YQ，ZQ)：
Wθ＝(S′Q TS′Q)-1S′Q TUQ
Wherein the content of the first and second substances,
in an embodiment of the present invention, the targets of the first camera and the second cameraThe definite parameters are respectively S (I)0～S(I)10、S(Π)0～S(Π)10The coordinates of the end point pixels of the second monitoring point are respectively
And
calculating to obtain the end point three-dimensional coordinate W of the second monitoring pointQ′(XQ′，YQ′，ZQ′)：
WQ′＝(S′Q′ TS′Q′)-1s′Q′ TUQ′
Wherein the content of the first and second substances,
in step S103, the slab staggering amount of the segment to be measured under the shearing force is obtained according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and the shear rigidity value of the segment to be measured is calculated.
In the embodiment of the invention, the three-dimensional coordinates of the monitoring points are respectively (X)P，YP，ZP)、(XP′，YP′，ZP′)、(XQ，YQ，ZQ)、(XQ′，YQ′，ZQ′) Calculating the slab staggering quantity delta of the segment to be measured under the action of the shearing force:
wherein the content of the first and second substances,
calculating the shear rigidity value K of the segment to be measured:
the two cameras are arranged to measure the segment to be measured, and the collinear equation is utilized to convert the two-dimensional coordinate into a three-dimensional coordinate of a space, so that the non-contact measurement of the shear rigidity of the segment joint is realized.
Example two:
fig. 8 is a schematic structural diagram of a shear stiffness measurement system for a pipe segment joint according to a second embodiment of the present invention, and for convenience of illustration, only the parts related to the second embodiment of the present invention are shown. In an embodiment of the present invention, a segment joint shear stiffness measurement system includes:
the calibration unit 81 is configured to capture a calibration point on a segment to be measured by using two cameras, obtain pixel coordinates and three-dimensional coordinates of the calibration point, and calibrate the cameras respectively to obtain calibration parameters corresponding to the cameras;
the three-dimensional coordinate calculation unit 82 is used for generating a slab staggering amount under the continuous action of shearing force, acquiring a starting point image and an end point image of a monitoring point at the joint of the segment to be detected through the camera, reading pixel coordinates of the monitoring point in the starting point image and the end point image, and calculating the three-dimensional coordinate of the monitoring point by combining with a calibration parameter corresponding to the camera; and
and the shear rigidity value calculation unit 83 is used for obtaining the slab staggering amount of the segment to be measured under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the shear rigidity value of the segment to be measured.
Further, the calibration unit 81 includes:
the first calibration image acquisition unit is used for selecting at least 6 non-coplanar points on the to-be-measured duct piece as the calibration points and acquiring a first calibration image of the calibration points through a first camera; and
the first camera calibration unit is used for reading a first pixel coordinate and a first three-dimensional coordinate of the calibration point in the first calibration image, and obtaining a calibration parameter of the first camera according to the relation between the first pixel coordinate and the first three-dimensional coordinate.
Further, the calibration unit 81 further includes:
the second calibration image acquisition unit is used for selecting at least 6 non-coplanar points on the to-be-measured duct piece as the calibration points and acquiring a second calibration image of the calibration points through a second camera;
and the second camera calibration unit is used for reading a second pixel coordinate and a second three-dimensional coordinate of the calibration point in the second calibration image and obtaining a calibration parameter of the second camera according to the relationship between the second pixel coordinate and the second three-dimensional coordinate.
Further, the three-dimensional coordinate calculation unit 82 further includes:
a starting point pixel coordinate reading unit for reading the starting point pixel coordinate of the first monitoring point, the starting point pixel coordinate of the second monitoring point in the starting point image, an
And the end point pixel coordinate reading unit is used for reading the end point pixel coordinate of the first monitoring point and the end point pixel coordinate of the second monitoring point in the end point image.
It should be noted that, for the information interaction, execution process, and other contents between the above systems/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example three:
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 9, the electronic apparatus 9 of this embodiment includes: at least one processor 90 (only one processor is shown in fig. 9), a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, the steps in any of the various method embodiments described above being implemented when the computer program 92 is executed by the processor 90;
shooting a calibration point on a segment to be measured by using two cameras, acquiring a pixel coordinate and a three-dimensional coordinate of the calibration point, and calibrating the cameras respectively to obtain calibration parameters corresponding to the cameras;
the method comprises the steps that the segment to be detected generates a slab staggering amount under the continuous action of shearing force, a starting point image and an end point image of a monitoring point at a joint of the segment to be detected are obtained through a camera, pixel coordinates of the monitoring point in the starting point image and the end point image are read, and the three-dimensional coordinates of the monitoring point are calculated by combining with a calibration parameter corresponding to the camera;
and obtaining the slab staggering amount of the segment to be measured under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the shearing rigidity value of the segment to be measured.
The electronic device 9 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The mobile terminal may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is merely an example of the electronic device 9, and does not constitute a limitation of the electronic device 9, and may include more or less components than those shown, or combine some of the components, or different components, such as an input-output device, a network access device, etc.
The Processor 90 may be a Central Processing Unit (CPU), and the Processor 90 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may in some embodiments be an internal storage unit of the mobile terminal 9, such as a hard disk or a memory of the mobile terminal 9. The memory 91 may also be an external storage device of the mobile terminal 9 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the mobile terminal 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the mobile terminal 9. The memory 91 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program can implement the steps in the above method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or system capable of carrying computer program code to a camera system/mobile terminal, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed system/network device and method may be implemented in other ways. For example, the above-described system/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of measuring shear stiffness of a tube sheet joint, the method comprising the steps of:
shooting a calibration point on a segment to be measured by using two cameras, acquiring a pixel coordinate and a three-dimensional coordinate of the calibration point, and calibrating the cameras respectively to obtain calibration parameters corresponding to the cameras;
the method comprises the steps that the segment to be detected generates a slab staggering amount under the continuous action of shearing force, a starting point image and an end point image of a monitoring point at a joint of the segment to be detected are obtained through a camera, pixel coordinates of the monitoring point in the starting point image and the end point image are read, and the three-dimensional coordinates of the monitoring point are calculated by combining with a calibration parameter corresponding to the camera;
obtaining the slab staggering amount of the to-be-detected segment under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, wherein the three-dimensional coordinates of the monitoring points are respectively (X)P，YP，ZP)、(XP′，YP′，ZP′)、(XQ，YQ，ZQ)、(XQ′，YQ′，ZQ′) Calculating the slab staggering quantity delta of the segment to be measured under the action of the shearing force:
wherein the content of the first and second substances,
2. The method according to claim 1, wherein the step of capturing the calibration point on the segment to be measured by using two cameras to obtain the pixel coordinate and the three-dimensional coordinate of the calibration point, and calibrating the cameras respectively to obtain the calibration parameters corresponding to the cameras comprises:
selecting at least 6 non-coplanar points on the segment to be measured as the calibration points, and acquiring a first calibration image of the calibration points through a first camera;
and reading a first pixel coordinate and a first three-dimensional coordinate of the calibration point in the first calibration image, and obtaining a calibration parameter of the first camera according to the relation between the first pixel coordinate and the first three-dimensional coordinate.
3. The method according to claim 2, wherein the step of reading a first pixel coordinate and a first three-dimensional coordinate of the calibration point in the first calibration image and obtaining the calibration parameters of the first camera according to the relationship between the first pixel coordinate and the first three-dimensional coordinate comprises:
according to the relation of the first pixel coordinate (μ (I), v (I)) and the first three-dimensional coordinate (x (I), y (I), z (I)):
X(I)S(I)0+Y(I)S(I)1+Z(I)S(I)2+S(I)3-μ(I)X(I)S(I)8-μ(I)Y(I)S(I)9-μ(I)Z(I)S(I)10＝μ(I)
X(I)S(I)4+Y(I)S(I)5+Z(I)S(I)6+S(I)7-v(I)X(I)S(I)8-v(I)Y(I)S(I)9-v(I)Z(I)S(I)10＝v(I)
calculating to obtain calibration parameters S (I) of the first camera0～S(I)10。
4. The method according to claim 1, wherein the step of capturing the calibration point on the segment to be measured by using two cameras to obtain the pixel coordinate and the three-dimensional coordinate of the calibration point, and calibrating the cameras respectively to obtain the calibration parameters corresponding to the cameras further comprises:
selecting at least 6 non-coplanar points on the segment to be measured as the calibration points, and acquiring a second calibration image of the calibration points through a second camera;
and reading a second pixel coordinate and a second three-dimensional coordinate of the calibration point in the second calibration image, and obtaining a calibration parameter of the second camera according to the relationship between the second pixel coordinate and the second three-dimensional coordinate.
5. The method according to claim 4, wherein the step of reading the second pixel coordinate and the second three-dimensional coordinate of the calibration point in the second calibration image and obtaining the calibration parameter of the second camera according to the relationship between the second pixel coordinate and the second three-dimensional coordinate comprises:
according to the relation of said second pixel coordinates (μ (Π), v (Π)) and said second three-dimensional coordinates (X (pi), Y (pi), Z (pi)):
X(П)S(П)0+Y(П)S(П)1+Z(П)S(П)2+S(П)3-μ(П)X(П)S(П)8-μ(П)Y(П)S(П)9-μ(П)Z(П)S(П)10＝μ(П)
X(П)S(П)4+Y(П)S(П)5+Z(П)S(П)6+S(П)7-v(П)X(П)S(П)8-v(П)Y(П)S(П)9-v(П)Z(П)S(П)10＝v(П)
calculating to obtain the calibration parameter S (pi) of the second camera0～S(Π)10。
6. The method of claim 1, wherein the step of capturing a start image and an end image of a monitoring point at the joint of the segment to be tested by said camera and reading the pixel coordinates of said monitoring point in said start image and said end image comprises:
reading the starting point pixel coordinate of the first monitoring point and the starting point pixel coordinate of the second monitoring point in the starting point image, and
and reading the end point pixel coordinate of the first monitoring point and the end point pixel coordinate of the second monitoring point in the end point image.
7. The method of claim 6, wherein the step of reading the pixel coordinates of the monitoring points in the starting point image and the end point image and calculating the three-dimensional coordinates of the monitoring points by combining the calibration parameters corresponding to the camera comprises:
calculating to obtain a starting point three-dimensional coordinate of the first monitoring point according to the starting point pixel coordinate of the first monitoring point and the calibration parameter corresponding to the camera;
calculating to obtain a terminal three-dimensional coordinate of the first monitoring point according to the terminal pixel coordinate of the first monitoring point and the calibration parameter corresponding to the camera;
calculating to obtain a starting point three-dimensional coordinate of the second monitoring point according to the starting point pixel coordinate of the second monitoring point and the calibration parameter corresponding to the camera; and
and calculating to obtain the terminal three-dimensional coordinate of the second monitoring point according to the terminal pixel coordinate of the second monitoring point and the calibration parameter corresponding to the camera.
8. A blade joint shear stiffness measurement system, the system comprising:
the calibration unit is used for shooting a calibration point on a segment to be measured by using two cameras, acquiring pixel coordinates and three-dimensional coordinates of the calibration point, and respectively calibrating the cameras to obtain calibration parameters corresponding to the cameras;
the three-dimensional coordinate calculation unit is used for generating a slab staggering amount under the continuous action of shearing force of the segment to be detected, acquiring a starting point image and an end point image of a monitoring point at the joint of the segment to be detected through the camera, reading pixel coordinates of the monitoring point in the starting point image and the end point image, and calculating the three-dimensional coordinate of the monitoring point by combining with a calibration parameter corresponding to the camera; and
and the shear rigidity value calculation unit is used for obtaining the slab staggering amount of the segment to be measured under the shearing force according to the pixel coordinates of the monitoring points in the starting point image and the end point image, and calculating the shear rigidity value of the segment to be measured.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010939567.0A CN112051139B (en) | 2020-09-09 | 2020-09-09 | Segment joint shear rigidity measuring method, system, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010939567.0A CN112051139B (en) | 2020-09-09 | 2020-09-09 | Segment joint shear rigidity measuring method, system, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112051139A CN112051139A (en) | 2020-12-08 |
| CN112051139B true CN112051139B (en) | 2022-02-18 |
Family
ID=73610475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010939567.0A Active CN112051139B (en) | 2020-09-09 | 2020-09-09 | Segment joint shear rigidity measuring method, system, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112051139B (en) |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3613995A1 (en) * | 1986-04-25 | 1987-10-29 | Martin Becker | Apparatus for carrying out material tests |
| CN101038156A (en) * | 2007-04-05 | 2007-09-19 | 同济大学 | Portable measuring system for surface three-dimensional appearance of rock |
| CN102620672B (en) * | 2011-12-01 | 2015-01-14 | 中国人民解放军63653部队 | Application of image mosaic technology in tunnel surrounding rock deformation noncontact measurement |
| CN104537162B (en) * | 2014-12-16 | 2017-07-11 | 上海交通大学 | Determine shield tunnel liner interannular seam resistance faulting of slab ends and open deformability method |
| CN106548509A (en) * | 2016-10-20 | 2017-03-29 | 中国科学院光电研究院 | A kind of 3-dimensional image generation method based on CUDA and three-dimensional imaging load |
| CN106951706B (en) * | 2017-03-20 | 2019-07-02 | 浙江大学城市学院 | A kind of ground preloading causes existing shield tunnel to be displaced calculation method |
| CN108154535B (en) * | 2017-12-04 | 2020-02-11 | 中国人民解放军国防科技大学 | Camera calibration method based on collimator |
| CN108918254A (en) * | 2018-08-21 | 2018-11-30 | 中铁第勘察设计院集团有限公司 | Simulate the experimental rig and method of Shield-bored tunnels section of jurisdiction primary stress |
| CN109373978B (en) * | 2018-10-18 | 2020-04-07 | 西安科技大学 | Surrounding rock displacement monitoring method for roadway surrounding rock similar simulation |
| CN209280254U (en) * | 2019-01-31 | 2019-08-20 | 江西科技师范大学 | A kind of tunnel interannular shearing rigidity calibration experiment demonstrating model |
| CN110726726A (en) * | 2019-10-30 | 2020-01-24 | 中南大学 | Quantitative detection method and system for tunnel forming quality and defects thereof |
| CN111222275B (en) * | 2020-01-07 | 2022-08-02 | 河海大学 | Method for establishing segment ring floating and dislocation fine model separated from shield tail |
| CN111476705A (en) * | 2020-05-28 | 2020-07-31 | 中国科学院空天信息创新研究院 | Active and passive three-dimensional imaging real-time processing system and method |
-
2020
- 2020-09-09 CN CN202010939567.0A patent/CN112051139B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112051139A (en) | 2020-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108235776B (en) | Calibration method and device of ADAS camera, storage medium and terminal equipment | |
| CN100458359C (en) | Small-displacement measuring system in long-distance plane | |
| US10419742B2 (en) | Method and device for capturing image and storage medium | |
| KR102533148B1 (en) | Log scaling system and related methods | |
| GB2554796A (en) | Testing 3D imaging systems | |
| CN112927306B (en) | Calibration method and device of shooting device and terminal equipment | |
| CN112912932A (en) | Calibration method and device of vehicle-mounted camera and terminal equipment | |
| WO2020034136A1 (en) | Vehicle load measurement method and apparatus, terminal device, and storage medium | |
| CN113304966A (en) | Dynamic dispensing compensation method and device, computer equipment and storage medium thereof | |
| CN112051139B (en) | Segment joint shear rigidity measuring method, system, equipment and storage medium | |
| CN107818542A (en) | The restorative procedure and device of a kind of anamorphose | |
| CN111583244A (en) | Bridge deformation detection method and system | |
| CN112051160B (en) | Segment joint bending stiffness measuring method, system, equipment and storage medium | |
| CN1223826C (en) | Image measuring system and method | |
| CN110207842B (en) | Correction method for sub-pixel level edge effect and terminal equipment | |
| CN111136655B (en) | Method and device for acquiring inspection point | |
| TWI528329B (en) | System and method for analyzing profile images of products | |
| CN201072334Y (en) | Automatic slit measurer | |
| CN110298834B (en) | Correction method of pixel-level edge effect and terminal equipment | |
| CN114509049B (en) | PTZ repeated positioning precision measuring method and PTZ repeated positioning precision measuring system based on image processing | |
| CN113343554B (en) | Arch dam underwater damage identification method, terminal equipment and storage medium | |
| CN103808646A (en) | Image analyzer and method for measuring line fractal dimension of granular material | |
| CN108391106A (en) | Optical projection system, projection device and method for displaying projection | |
| CN107657607B (en) | Method and system for testing and tracking position error | |
| CN112304421B (en) | Processing method of gray scale intensity data, storage medium and terminal equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230616 Address after: No. 66, Gongchang Road, Xinhu Street, Guangming District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen, Zhongshan University Patentee after: SUN YAT-SEN University Address before: 510275 No. 135 West Xingang Road, Guangzhou, Guangdong, Haizhuqu District Patentee before: SUN YAT-SEN University |